{"id":"https://openalex.org/W3149656776","doi":"https://doi.org/10.3390/s21072483","title":"Appearance-Based Sequential Robot Localization Using a Patchwise Approximation of a Descriptor Manifold","display_name":"Appearance-Based Sequential Robot Localization Using a Patchwise Approximation of a Descriptor Manifold","publication_year":2021,"publication_date":"2021-04-02","ids":{"openalex":"https://openalex.org/W3149656776","doi":"https://doi.org/10.3390/s21072483","mag":"3149656776","pmid":"https://pubmed.ncbi.nlm.nih.gov/33918493"},"language":"en","primary_location":{"id":"doi:10.3390/s21072483","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21072483","pdf_url":null,"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://doi.org/10.3390/s21072483","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5108454652","display_name":"Jes\u00fas Alberto","orcid":"https://orcid.org/0000-0003-0434-7004"},"institutions":[{"id":"https://openalex.org/I4210164724","display_name":"Instituto de Investigaci\u00f3n Biom\u00e9dica de M\u00e1laga","ror":"https://ror.org/05n3asa33","country_code":"ES","type":"facility","lineage":["https://openalex.org/I4210164724"]},{"id":"https://openalex.org/I82767444","display_name":"Universidad de M\u00e1laga","ror":"https://ror.org/036b2ww28","country_code":"ES","type":"education","lineage":["https://openalex.org/I82767444"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Alberto Jaenal","raw_affiliation_strings":["Machine Perception and Intelligent Robotics Group (MAPIR), Department of System Engineering and Automation Biomedical Research Institute of Malaga (IBIMA), University of Malaga, 29071 M\u00e1laga, Spain"],"affiliations":[{"raw_affiliation_string":"Machine Perception and Intelligent Robotics Group (MAPIR), Department of System Engineering and Automation Biomedical Research Institute of Malaga (IBIMA), University of Malaga, 29071 M\u00e1laga, Spain","institution_ids":["https://openalex.org/I82767444","https://openalex.org/I4210164724"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045175396","display_name":"Francisco-\u00c1ngel Moreno","orcid":"https://orcid.org/0000-0003-2997-7571"},"institutions":[{"id":"https://openalex.org/I4210164724","display_name":"Instituto de Investigaci\u00f3n Biom\u00e9dica de M\u00e1laga","ror":"https://ror.org/05n3asa33","country_code":"ES","type":"facility","lineage":["https://openalex.org/I4210164724"]},{"id":"https://openalex.org/I82767444","display_name":"Universidad de M\u00e1laga","ror":"https://ror.org/036b2ww28","country_code":"ES","type":"education","lineage":["https://openalex.org/I82767444"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Francisco-Angel Moreno","raw_affiliation_strings":["Machine Perception and Intelligent Robotics Group (MAPIR), Department of System Engineering and Automation Biomedical Research Institute of Malaga (IBIMA), University of Malaga, 29071 M\u00e1laga, Spain"],"affiliations":[{"raw_affiliation_string":"Machine Perception and Intelligent Robotics Group (MAPIR), Department of System Engineering and Automation Biomedical Research Institute of Malaga (IBIMA), University of Malaga, 29071 M\u00e1laga, Spain","institution_ids":["https://openalex.org/I82767444","https://openalex.org/I4210164724"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070626607","display_name":"Javier Gonz\u00e1lez-Jim\u00e9nez","orcid":"https://orcid.org/0000-0003-3845-3497"},"institutions":[{"id":"https://openalex.org/I82767444","display_name":"Universidad de M\u00e1laga","ror":"https://ror.org/036b2ww28","country_code":"ES","type":"education","lineage":["https://openalex.org/I82767444"]},{"id":"https://openalex.org/I4210164724","display_name":"Instituto de Investigaci\u00f3n Biom\u00e9dica de M\u00e1laga","ror":"https://ror.org/05n3asa33","country_code":"ES","type":"facility","lineage":["https://openalex.org/I4210164724"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Javier Gonzalez-Jimenez","raw_affiliation_strings":["Machine Perception and Intelligent Robotics Group (MAPIR), Department of System Engineering and Automation Biomedical Research Institute of Malaga (IBIMA), University of Malaga, 29071 M\u00e1laga, Spain"],"affiliations":[{"raw_affiliation_string":"Machine Perception and Intelligent Robotics Group (MAPIR), Department of System Engineering and Automation Biomedical Research Institute of Malaga (IBIMA), University of Malaga, 29071 M\u00e1laga, Spain","institution_ids":["https://openalex.org/I82767444","https://openalex.org/I4210164724"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5045175396"],"corresponding_institution_ids":["https://openalex.org/I4210164724","https://openalex.org/I82767444"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":7.2465,"has_fulltext":true,"cited_by_count":7,"citation_normalized_percentile":{"value":0.96485453,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"21","issue":"7","first_page":"2483","last_page":"2483"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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":0.9987999796867371,"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/T10888","display_name":"Augmented Reality Applications","score":0.9904000163078308,"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":0.8074030876159668},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6700910925865173},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6613414883613586},{"id":"https://openalex.org/keywords/particle-filter","display_name":"Particle filter","score":0.553026556968689},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4775034785270691},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.46977776288986206},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4397872984409332},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4319075345993042},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.43058711290359497},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.294882595539093}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8074030876159668},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6700910925865173},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6613414883613586},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.553026556968689},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4775034785270691},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.46977776288986206},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4397872984409332},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4319075345993042},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.43058711290359497},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.294882595539093},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":7,"locations":[{"id":"doi:10.3390/s21072483","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21072483","pdf_url":null,"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:33918493","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/33918493","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:www.repositoriosalud.es:10668/17670","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8038242/pdf","pdf_url":"https://www.mdpi.com/1424-8220/21/7/2483/pdf?version=1617939974","source":{"id":"https://openalex.org/S4377196114","display_name":"RISalud Institutional Health Repository of Andaluc\u00eda","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","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"research article"},{"id":"pmh:oai:doaj.org/article:cc7c641d622f429192e89821e033c09d","is_oa":true,"landing_page_url":"https://doaj.org/article/cc7c641d622f429192e89821e033c09d","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 21, Iss 7, p 2483 (2021)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/21/7/2483/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s21072483","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 21; Issue 7; Pages: 2483","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:8038242","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/8038242","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"},{"id":"pmh:oai:www.repositoriosalud.es:10668/3818","is_oa":true,"landing_page_url":"http://hdl.handle.net/10668/3818","pdf_url":null,"source":{"id":"https://openalex.org/S4377196114","display_name":"RISalud Institutional Health Repository of Andaluc\u00eda","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","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"research article"}],"best_oa_location":{"id":"doi:10.3390/s21072483","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21072483","pdf_url":null,"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":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.5899999737739563}],"awards":[{"id":"https://openalex.org/G3258885175","display_name":null,"funder_award_id":"DPI2017-84827-R","funder_id":"https://openalex.org/F4320326262","funder_display_name":"Ministerio de Asuntos Econ\u00f3micos y Transformaci\u00f3n Digital, Gobierno de Espa\u00f1a"},{"id":"https://openalex.org/G3515648095","display_name":null,"funder_award_id":"FPU17/04512","funder_id":"https://openalex.org/F4320321764","funder_display_name":"Ministerio de Educaci\u00f3n, Cultura y Deporte"},{"id":"https://openalex.org/G6144478004","display_name":null,"funder_award_id":"PID2020-117057","funder_id":"https://openalex.org/F4320326262","funder_display_name":"Ministerio de Asuntos Econ\u00f3micos y Transformaci\u00f3n Digital, Gobierno de Espa\u00f1a"}],"funders":[{"id":"https://openalex.org/F4320309480","display_name":"Nvidia","ror":"https://ror.org/03jdj4y14"},{"id":"https://openalex.org/F4320311265","display_name":"Universidad de M\u00e1laga","ror":"https://ror.org/036b2ww28"},{"id":"https://openalex.org/F4320321764","display_name":"Ministerio de Educaci\u00f3n, Cultura y Deporte","ror":"https://ror.org/03nc27g21"},{"id":"https://openalex.org/F4320326262","display_name":"Ministerio de Asuntos Econ\u00f3micos y Transformaci\u00f3n Digital, Gobierno de Espa\u00f1a","ror":"https://ror.org/03sv46s19"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":55,"referenced_works":["https://openalex.org/W26944259","https://openalex.org/W1483307070","https://openalex.org/W1502922572","https://openalex.org/W1566135517","https://openalex.org/W1612997784","https://openalex.org/W1686810756","https://openalex.org/W1749678571","https://openalex.org/W1912570122","https://openalex.org/W1973848107","https://openalex.org/W2001141328","https://openalex.org/W2005115267","https://openalex.org/W2007692097","https://openalex.org/W2025064394","https://openalex.org/W2046166954","https://openalex.org/W2053186076","https://openalex.org/W2072170261","https://openalex.org/W2072778779","https://openalex.org/W2073761981","https://openalex.org/W2085483538","https://openalex.org/W2110405746","https://openalex.org/W2117228865","https://openalex.org/W2124386111","https://openalex.org/W2124455902","https://openalex.org/W2131370655","https://openalex.org/W2144515720","https://openalex.org/W2144824356","https://openalex.org/W2194775991","https://openalex.org/W2284029970","https://openalex.org/W2342383553","https://openalex.org/W2522940611","https://openalex.org/W2556833006","https://openalex.org/W2557465155","https://openalex.org/W2609368314","https://openalex.org/W2620629206","https://openalex.org/W2728498859","https://openalex.org/W2739492061","https://openalex.org/W2767592525","https://openalex.org/W2767621619","https://openalex.org/W2783375473","https://openalex.org/W2789510920","https://openalex.org/W2892865870","https://openalex.org/W2951019013","https://openalex.org/W2954496794","https://openalex.org/W2958343342","https://openalex.org/W2963200201","https://openalex.org/W2963588253","https://openalex.org/W2964175348","https://openalex.org/W2973689592","https://openalex.org/W2983230029","https://openalex.org/W3005221849","https://openalex.org/W3080646105","https://openalex.org/W3103648783","https://openalex.org/W3129971221","https://openalex.org/W3150974724","https://openalex.org/W4211049957"],"related_works":["https://openalex.org/W2015530857","https://openalex.org/W1991846142","https://openalex.org/W2556064263","https://openalex.org/W1583020711","https://openalex.org/W2770593030","https://openalex.org/W1521151968","https://openalex.org/W2128655648","https://openalex.org/W2900672867","https://openalex.org/W3154990682","https://openalex.org/W1690802106"],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"appearance-based":[3,218],"robot":[4,81],"localization":[5,82,219],"in":[6,25,146,196,221],"2D":[7],"with":[8,191,206,227],"a":[9,36,50,61,86,97,126,151,174],"sparse,":[10],"lightweight":[11],"map":[12,199],"of":[13,17,35,53,56,63,66,142,167,204,223],"the":[14,26,45,54,79,105,111,130,143,157,160,165,179,194,198],"environment":[15],"composed":[16],"descriptor-pose":[18],"image":[19,31,171],"pairs.":[20],"Based":[21],"on":[22,170],"previous":[23],"research":[24],"field,":[27],"we":[28,163],"assume":[29],"that":[30,40,138,213],"descriptors":[32,172],"are":[33],"samples":[34],"low-dimensional":[37],"Descriptor":[38,58],"Manifold":[39,59],"is":[41,119,154],"locally":[42],"articulated":[43],"by":[44],"camera":[46,94],"pose.":[47],"We":[48],"propose":[49],"piecewise":[51],"approximation":[52],"geometry":[55],"such":[57],"through":[60],"tessellation":[62],"so-called":[64],"<i>Patches":[65],"Smooth":[67],"Appearance":[68],"Change</i>":[69],"(PSACs),":[70],"which":[71,153,197],"defines":[72],"our":[73,214],"<i>appearance":[74],"map</i>.":[75],"Upon":[76],"this":[77,147],"map,":[78],"presented":[80],"method":[83,215],"applies":[84],"both":[85,207],"Gaussian":[87,116,127],"Process":[88,117],"Particle":[89],"Filter":[90],"(GPPF)":[91],"to":[92,110,124,193],"perform":[93],"tracking":[95],"and":[96,187,209,225,233],"Place":[98],"Recognition":[99],"(PR)":[100],"technique":[101],"for":[102,121,132,159],"relocalization":[103],"within":[104,137,178],"most":[106],"likely":[107],"PSACs":[108],"according":[109],"observed":[112,144],"descriptor.":[113],"A":[114,202],"specific":[115],"(GP)":[118],"trained":[120],"each":[122],"PSAC":[123],"regress":[125],"distribution":[128,148,177],"over":[129],"descriptor":[131,145],"any":[133],"particle":[134],"pose":[135],"lying":[136],"PSAC.":[139],"The":[140],"evaluation":[141],"gives":[149],"us":[150],"likelihood,":[152],"used":[155],"as":[156,173],"weight":[158],"particle.":[161],"Besides,":[162],"model":[164],"impact":[166],"appearance":[168,189],"variations":[169],"white":[175],"noise":[176],"GP":[180],"formulation,":[181],"ensuring":[182],"adequate":[183],"operation":[184],"under":[185],"lighting":[186],"scene":[188],"changes":[190],"respect":[192],"conditions":[195],"was":[200],"constructed.":[201],"series":[203],"experiments":[205],"real":[208],"synthetic":[210],"images":[211],"show":[212],"outperforms":[216],"state-of-the-art":[217],"methods":[220],"terms":[222],"robustness":[224],"accuracy,":[226],"median":[228],"errors":[229],"below":[230],"0.3":[231],"m":[232],"6\u00b0.":[234]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":3}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
