{"id":"https://openalex.org/W2909431709","doi":"https://doi.org/10.3390/s19020249","title":"A Robust Indoor Localization System Integrating Visual Localization Aided by CNN-Based Image Retrieval with Monte Carlo Localization","display_name":"A Robust Indoor Localization System Integrating Visual Localization Aided by CNN-Based Image Retrieval with Monte Carlo Localization","publication_year":2019,"publication_date":"2019-01-10","ids":{"openalex":"https://openalex.org/W2909431709","doi":"https://doi.org/10.3390/s19020249","mag":"2909431709","pmid":"https://pubmed.ncbi.nlm.nih.gov/30634639"},"language":"en","primary_location":{"id":"doi:10.3390/s19020249","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19020249","pdf_url":"https://www.mdpi.com/1424-8220/19/2/249/pdf?version=1547118332","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/19/2/249/pdf?version=1547118332","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5039440798","display_name":"Song Xu","orcid":"https://orcid.org/0000-0002-4263-5632"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Song Xu","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China"],"raw_orcid":"https://orcid.org/0000-0002-4263-5632","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110571619","display_name":"Wusheng Chou","orcid":null},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wusheng Chou","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China","State Key Laboratory of Virtual Reality Technology and Systems, Beihang University, Beijing 100191, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"State Key Laboratory of Virtual Reality Technology and Systems, Beihang University, Beijing 100191, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102317561","display_name":"Hongyi Dong","orcid":"https://orcid.org/0009-0001-5203-0223"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongyi Dong","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5039440798"],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":{"value":2600,"currency":"CHF","value_usd":3137},"apc_paid":{"value":2600,"currency":"CHF","value_usd":3137},"fwci":81.8135,"has_fulltext":true,"cited_by_count":65,"citation_normalized_percentile":{"value":0.99822727,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"19","issue":"2","first_page":"249","last_page":"249"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7976577877998352},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7355936169624329},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7301698327064514},{"id":"https://openalex.org/keywords/monte-carlo-localization","display_name":"Monte Carlo localization","score":0.7286409735679626},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.633853018283844},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5103828310966492},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.48922133445739746},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.43119820952415466},{"id":"https://openalex.org/keywords/monte-carlo-method","display_name":"Monte Carlo method","score":0.4280802309513092},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.4200895428657532},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.35339659452438354},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11690926551818848}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7976577877998352},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7355936169624329},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7301698327064514},{"id":"https://openalex.org/C106480740","wikidata":"https://www.wikidata.org/wiki/Q6904694","display_name":"Monte Carlo localization","level":4,"score":0.7286409735679626},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.633853018283844},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5103828310966492},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.48922133445739746},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.43119820952415466},{"id":"https://openalex.org/C19499675","wikidata":"https://www.wikidata.org/wiki/Q232207","display_name":"Monte Carlo method","level":2,"score":0.4280802309513092},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.4200895428657532},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.35339659452438354},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11690926551818848},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":6,"locations":[{"id":"doi:10.3390/s19020249","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19020249","pdf_url":"https://www.mdpi.com/1424-8220/19/2/249/pdf?version=1547118332","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},{"id":"pmid:30634639","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/30634639","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":"Journal Article"},{"id":"pmh:oai:europepmc.org:5346103","is_oa":true,"landing_page_url":"http://europepmc.org/pmc/articles/PMC6359079","pdf_url":null,"source":{"id":"https://openalex.org/S4306400806","display_name":"Europe PMC (PubMed Central)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1303153112","host_organization_name":"European Bioinformatics Institute","host_organization_lineage":["https://openalex.org/I1303153112"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:6359079","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/6359079","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors (Basel)","raw_type":"Text"},{"id":"pmh:oai:doaj.org/article:376c583ca9c14d5fbfcf5678da08904d","is_oa":true,"landing_page_url":"https://doaj.org/article/376c583ca9c14d5fbfcf5678da08904d","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 19, Iss 2, p 249 (2019)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/19/2/249/","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3390/s19020249","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s19020249","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19020249","pdf_url":"https://www.mdpi.com/1424-8220/19/2/249/pdf?version=1547118332","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2616550356","display_name":"\u8fd1\u6d45\u6d77\u6c34\u4e0b\u6355\u635e\u673a\u5668\u4eba\u7684\u57fa\u7840\u7406\u8bba\u4e0e\u5173\u952e\u6280\u672f\u7814\u7a76","funder_award_id":"61633002","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2909431709.pdf","grobid_xml":"https://content.openalex.org/works/W2909431709.grobid-xml"},"referenced_works_count":50,"referenced_works":["https://openalex.org/W204268067","https://openalex.org/W650778099","https://openalex.org/W1518703880","https://openalex.org/W1524680991","https://openalex.org/W1556531089","https://openalex.org/W1577287243","https://openalex.org/W1601378499","https://openalex.org/W1883248133","https://openalex.org/W1922773808","https://openalex.org/W1947481528","https://openalex.org/W1973693867","https://openalex.org/W2012592962","https://openalex.org/W2016809778","https://openalex.org/W2023431868","https://openalex.org/W2027883219","https://openalex.org/W2046166954","https://openalex.org/W2069021608","https://openalex.org/W2091503252","https://openalex.org/W2100989187","https://openalex.org/W2104524378","https://openalex.org/W2105308437","https://openalex.org/W2118434577","https://openalex.org/W2121765205","https://openalex.org/W2121839820","https://openalex.org/W2124231513","https://openalex.org/W2125363383","https://openalex.org/W2125795712","https://openalex.org/W2128017662","https://openalex.org/W2128921765","https://openalex.org/W2130660124","https://openalex.org/W2136906136","https://openalex.org/W2141362318","https://openalex.org/W2148876197","https://openalex.org/W2160584648","https://openalex.org/W2216595815","https://openalex.org/W2340690086","https://openalex.org/W2341939958","https://openalex.org/W2402652555","https://openalex.org/W2470322391","https://openalex.org/W2474696196","https://openalex.org/W2491664569","https://openalex.org/W2522940611","https://openalex.org/W2554408715","https://openalex.org/W2728498859","https://openalex.org/W2769581371","https://openalex.org/W2951019013","https://openalex.org/W2963125676","https://openalex.org/W6634739074","https://openalex.org/W6636190929","https://openalex.org/W6704465940"],"related_works":["https://openalex.org/W1577509784","https://openalex.org/W1750372561","https://openalex.org/W3004220299","https://openalex.org/W1501082329","https://openalex.org/W2410890952","https://openalex.org/W2146873086","https://openalex.org/W2539990421","https://openalex.org/W1986073206","https://openalex.org/W1969934852","https://openalex.org/W2162539792"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,19,44,62,82,94,132],"novel":[4],"multi-sensor-based":[5],"indoor":[6],"global":[7,24],"localization":[8,12,21,25,35,51,134,202,208],"system":[9,26],"integrating":[10],"visual":[11],"aided":[13],"by":[14,97,111],"CNN-based":[15],"image":[16,54,112,163],"retrieval":[17,113],"with":[18],"probabilistic":[20],"approach.":[22],"The":[23,155],"consists":[27],"of":[28,75,93,99,127,140,162],"three":[29],"parts:":[30],"coarse":[31],"place":[32,41],"recognition,":[33],"fine":[34,80],"and":[36,146,180,195],"re-localization":[37,168],"from":[38,61,201],"kidnapping.":[39],"Coarse":[40],"recognition":[42],"exploits":[43,159],"monocular":[45],"camera":[46],"to":[47,70,88,123,136,165,205],"realize":[48,166],"the":[49,72,76,79,90,107,125,138,141,151,160,167,181,185],"initial":[50,119],"based":[52,169],"on":[53,170,193],"retrieval,":[55],"in":[56,105,143],"which":[57,106],"off-the-shelf":[58],"features":[59],"extracted":[60],"pre-trained":[63],"Convolutional":[64],"Neural":[65],"Network":[66],"(CNN)":[67],"are":[68,114],"adopted":[69],"determine":[71],"candidate":[73,108],"locations":[74,109],"robot.":[77],"In":[78],"localization,":[81,104],"laser":[83],"range":[84],"finder":[85],"is":[86,153],"equipped":[87],"estimate":[89],"accurate":[91],"pose":[92],"mobile":[95],"robot":[96,128,142,152],"means":[98],"an":[100],"adaptive":[101,148],"Monte":[102],"Carlo":[103],"obtained":[110],"considered":[115],"as":[116],"seeds":[117],"for":[118],"random":[120],"sampling.":[121],"Additionally,":[122],"address":[124],"problem":[126],"kidnapping,":[129],"we":[130],"present":[131],"closed-loop":[133,156],"mechanism":[135,157],"monitor":[137],"state":[139],"real":[144],"time":[145],"make":[147],"adjustments":[149],"when":[150],"kidnapped.":[154],"effectively":[158],"correlation":[161],"sequences":[164],"Long-Short":[171],"Term":[172],"Memory":[173],"(LSTM)":[174],"network.":[175],"Extensive":[176],"experiments":[177],"were":[178],"conducted":[179],"results":[182],"indicate":[183],"that":[184],"proposed":[186],"method":[187],"not":[188],"only":[189],"exhibits":[190],"great":[191],"improvement":[192],"accuracy":[194],"speed,":[196],"but":[197],"also":[198],"can":[199],"recover":[200],"failures":[203],"compared":[204],"two":[206],"conventional":[207],"methods.":[209]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":12},{"year":2020,"cited_by_count":13},{"year":2019,"cited_by_count":7}],"updated_date":"2026-08-21T09:56:20.448147","created_date":"2025-10-10T00:00:00"}
