{"id":"https://openalex.org/W3106907568","doi":"https://doi.org/10.3390/s20236943","title":"Visual Robot Relocalization Based on Multi-Task CNN and Image-Similarity Strategy","display_name":"Visual Robot Relocalization Based on Multi-Task CNN and Image-Similarity Strategy","publication_year":2020,"publication_date":"2020-12-04","ids":{"openalex":"https://openalex.org/W3106907568","doi":"https://doi.org/10.3390/s20236943","mag":"3106907568","pmid":"https://pubmed.ncbi.nlm.nih.gov/33291774"},"language":"en","primary_location":{"id":"doi:10.3390/s20236943","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s20236943","pdf_url":"https://www.mdpi.com/1424-8220/20/23/6943/pdf","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/1424-8220/20/23/6943/pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5050032304","display_name":"Tao Xie","orcid":"https://orcid.org/0000-0001-7223-9553"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tao Xie","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, 92 Xidazhi Street, Harbin 150006, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, 92 Xidazhi Street, Harbin 150006, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100693413","display_name":"Ke Wang","orcid":"https://orcid.org/0000-0002-5615-0847"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ke Wang","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, 92 Xidazhi Street, Harbin 150006, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, 92 Xidazhi Street, Harbin 150006, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100639939","display_name":"Ruifeng Li","orcid":"https://orcid.org/0000-0002-1383-7745"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Ruifeng Li","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, 92 Xidazhi Street, Harbin 150006, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, 92 Xidazhi Street, Harbin 150006, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051866068","display_name":"Xinyue Tang","orcid":"https://orcid.org/0000-0002-3530-7606"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Xinyue Tang","raw_affiliation_strings":["MFIN, Faculty of Business and Economics, The University of Hong Kong, Pokfulam Road, Hong Kong 999077, China"],"affiliations":[{"raw_affiliation_string":"MFIN, Faculty of Business and Economics, The University of Hong Kong, Pokfulam Road, Hong Kong 999077, China","institution_ids":["https://openalex.org/I889458895"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100639939"],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":9.433,"has_fulltext":true,"cited_by_count":11,"citation_normalized_percentile":{"value":0.97525664,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"20","issue":"23","first_page":"6943","last_page":"6943"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9945999979972839,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T12549","display_name":"Image and Object Detection Techniques","score":0.9945999979972839,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7792088985443115},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7174323797225952},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6161491870880127},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5603235960006714},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4899970591068268},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4831642508506775},{"id":"https://openalex.org/keywords/support-vector-machine","display_name":"Support vector machine","score":0.4790826439857483},{"id":"https://openalex.org/keywords/cluster-analysis","display_name":"Cluster analysis","score":0.47224563360214233},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.46672502160072327},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4521312415599823},{"id":"https://openalex.org/keywords/similarity","display_name":"Similarity (geometry)","score":0.44970130920410156},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4353156089782715},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.40030378103256226}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7792088985443115},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7174323797225952},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6161491870880127},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5603235960006714},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4899970591068268},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4831642508506775},{"id":"https://openalex.org/C12267149","wikidata":"https://www.wikidata.org/wiki/Q282453","display_name":"Support vector machine","level":2,"score":0.4790826439857483},{"id":"https://openalex.org/C73555534","wikidata":"https://www.wikidata.org/wiki/Q622825","display_name":"Cluster analysis","level":2,"score":0.47224563360214233},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.46672502160072327},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4521312415599823},{"id":"https://openalex.org/C103278499","wikidata":"https://www.wikidata.org/wiki/Q254465","display_name":"Similarity (geometry)","level":3,"score":0.44970130920410156},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4353156089782715},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.40030378103256226},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s20236943","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s20236943","pdf_url":"https://www.mdpi.com/1424-8220/20/23/6943/pdf","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:33291774","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/33291774","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":null},{"id":"pmh:oai:doaj.org/article:404c652a60514398906d2514ded54172","is_oa":true,"landing_page_url":"https://doaj.org/article/404c652a60514398906d2514ded54172","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"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 20, Iss 23, p 6943 (2020)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/20/23/6943/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s20236943","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; Volume 20; Issue 23; Pages: 6943","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:7730972","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/7730972","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","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":"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"}],"best_oa_location":{"id":"doi:10.3390/s20236943","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s20236943","pdf_url":"https://www.mdpi.com/1424-8220/20/23/6943/pdf","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/G4851105290","display_name":null,"funder_award_id":"2019YFB1310004","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G5814214455","display_name":null,"funder_award_id":"2020B090928002","funder_id":"https://openalex.org/F4320336405","funder_display_name":"Special Project for Research and Development in Key areas of Guangdong Province"}],"funders":[{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null},{"id":"https://openalex.org/F4320336405","display_name":"Special Project for Research and Development in Key areas of Guangdong Province","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3106907568.pdf","grobid_xml":"https://content.openalex.org/works/W3106907568.grobid-xml"},"referenced_works_count":38,"referenced_works":["https://openalex.org/W1565312575","https://openalex.org/W1893935112","https://openalex.org/W1967329161","https://openalex.org/W1970702722","https://openalex.org/W1989476314","https://openalex.org/W2004672974","https://openalex.org/W2042819305","https://openalex.org/W2062015398","https://openalex.org/W2064675550","https://openalex.org/W2076148183","https://openalex.org/W2077584575","https://openalex.org/W2097117768","https://openalex.org/W2114594485","https://openalex.org/W2117228865","https://openalex.org/W2124386111","https://openalex.org/W2151103935","https://openalex.org/W2166644671","https://openalex.org/W2200124539","https://openalex.org/W2471962767","https://openalex.org/W2543580944","https://openalex.org/W2556455135","https://openalex.org/W2602709638","https://openalex.org/W2737630486","https://openalex.org/W2749379418","https://openalex.org/W2909431709","https://openalex.org/W2952173064","https://openalex.org/W2963024893","https://openalex.org/W2963856988","https://openalex.org/W2964290573","https://openalex.org/W2966103660","https://openalex.org/W2997572823","https://openalex.org/W2998917800","https://openalex.org/W3016253243","https://openalex.org/W3033199384","https://openalex.org/W6642841301","https://openalex.org/W6682642761","https://openalex.org/W6695206952","https://openalex.org/W6775309665"],"related_works":["https://openalex.org/W2090763504","https://openalex.org/W148178222","https://openalex.org/W4298130764","https://openalex.org/W2104657898","https://openalex.org/W1948992892","https://openalex.org/W1886884218","https://openalex.org/W2804364458","https://openalex.org/W1910826599","https://openalex.org/W2012353789","https://openalex.org/W2530420969"],"abstract_inverted_index":{"The":[0,137,155],"traditional":[1],"CNN":[2,45,267,310,334],"for":[3,46],"6D":[4],"robot":[5,47,73],"relocalization":[6,82,339],"which":[7,49,71,128,169,321],"outputs":[8],"pose":[9,53,114,187],"estimations":[10],"does":[11],"not":[12,76,323],"interpret":[13],"whether":[14,61],"the":[15,62,67,72,79,94,113,123,145,159,166,171,179,196,199,225,230,259,269,276,287,294,301,325],"model":[16],"is":[17,74,102,317],"making":[18,85],"sensible":[19],"predictions":[20],"or":[21],"just":[22],"guessing":[23],"at":[24,214],"random.":[25],"We":[26,305],"found":[27,98],"that":[28,99,307,331],"convnet":[29],"representations":[30],"trained":[31],"on":[32,119,178,247,258,282,300],"classification":[33],"problems":[34],"generalize":[35],"well":[36],"to":[37,66,174,184,220,234,319],"other":[38],"tasks.":[39],"Thus,":[40],"we":[41,91,97,121,223,329],"propose":[42],"a":[43,103],"multi-task":[44,309,333],"relocalization,":[48,202],"can":[50,92,164,205,239,311],"simultaneously":[51],"perform":[52],"regression":[54],"and":[55,110,135,148,198,203,208,229,244,250,255,275,285,293,316],"scene":[56,69],"recognition.":[57],"Scene":[58],"recognition":[59],"determines":[60],"input":[63],"image":[64],"belongs":[65],"current":[68,326],"in":[70,144,152,189,210,324],"located,":[75],"only":[77],"reducing":[78],"error":[80,272,279,290,297],"of":[81,130,201,338],"but":[83],"also":[84],"us":[86,183],"understand":[87],"with":[88,264],"what":[89],"confidence":[90],"trust":[93],"prediction.":[95],"Meanwhile,":[96],"when":[100],"there":[101],"large":[104],"visual":[105],"difference":[106],"between":[107],"testing":[108,153,167,190,342],"images":[109,168,176,320,343],"training":[111,146,175],"images,":[112],"precision":[115],"becomes":[116],"low.":[117],"Based":[118],"this,":[120],"present":[122],"dual-level":[124],"image-similarity":[125],"strategy":[126],"(DLISS),":[127],"consists":[129],"two":[131],"levels:":[132],"initial":[133,138,180],"level":[134,139],"iteration-level.":[136],"performs":[140],"feature":[141,149],"vector":[142,150],"clustering":[143],"set":[147],"acquisition":[151],"images.":[154],"iteration":[156],"level,":[157,181],"namely,":[158],"PSO-based":[160],"image-block":[161],"selection":[162],"algorithm,":[163],"select":[165],"are":[170,322],"most":[172,215],"similar":[173],"based":[177],"enabling":[182],"gain":[185],"higher":[186,336],"accuracy":[188,197,246,257,337],"set.":[191],"Our":[192],"method":[193],"considers":[194],"both":[195],"robustness":[200],"it":[204],"operate":[206],"indoors":[207],"outdoors":[209],"real":[211],"time,":[212],"taking":[213],"27":[216],"ms":[217],"per":[218],"frame":[219],"compute.":[221],"Finally,":[222],"used":[224],"Microsoft":[226],"7Scenes":[227,248,283],"dataset":[228,233],"Cambridge":[231,260,302],"Landmarks":[232,261,303],"evaluate":[235],"our":[236,266,308,332],"method.":[237],"It":[238],"obtain":[240],"approximately":[241,252],"0.33":[242],"m":[243,254],"7.51\u2218":[245],"dataset,":[249,284],"get":[251],"1.44":[253],"4.83\u2218":[256],"dataset.":[262,304],"Compared":[263],"PoseNet,":[265],"reduced":[268,286],"average":[270,277,288,295],"positional":[271,289],"by":[273,280,291,298,340,345],"25%":[274],"angular":[278,296],"27.79%":[281],"40%":[292],"28.55%":[299],"show":[306,330],"localize":[312],"from":[313],"high-level":[314],"features":[315],"robust":[318],"scene.":[327],"Furthermore,":[328],"gets":[335],"using":[341],"obtained":[344],"DLISS.":[346]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
