{"id":"https://openalex.org/W4223915524","doi":"https://doi.org/10.3390/s22082975","title":"Contrastive Learning for Image Registration in Visual Teach and Repeat Navigation","display_name":"Contrastive Learning for Image Registration in Visual Teach and Repeat Navigation","publication_year":2022,"publication_date":"2022-04-13","ids":{"openalex":"https://openalex.org/W4223915524","doi":"https://doi.org/10.3390/s22082975","pmid":"https://pubmed.ncbi.nlm.nih.gov/35458959"},"language":"en","primary_location":{"id":"doi:10.3390/s22082975","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s22082975","pdf_url":"https://www.mdpi.com/1424-8220/22/8/2975/pdf?version=1649843771","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/1424-8220/22/8/2975/pdf?version=1649843771","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5040308883","display_name":"Zden\u011bk Rozsyp\u00e1lek","orcid":"https://orcid.org/0000-0002-1791-447X"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":true,"raw_author_name":"Zden\u011bk Rozsyp\u00e1lek","raw_affiliation_strings":["Artificial Intelligence Center, Faculty of Electrical Engineering, Czech Technical University in Prague, 166 27 Prague 6, Czech Republic"],"raw_orcid":"https://orcid.org/0000-0002-1791-447X","affiliations":[{"raw_affiliation_string":"Artificial Intelligence Center, Faculty of Electrical Engineering, Czech Technical University in Prague, 166 27 Prague 6, Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056998513","display_name":"George Broughton","orcid":"https://orcid.org/0000-0003-0071-5834"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"George Broughton","raw_affiliation_strings":["Artificial Intelligence Center, Faculty of Electrical Engineering, Czech Technical University in Prague, 166 27 Prague 6, Czech Republic"],"raw_orcid":"https://orcid.org/0000-0003-0071-5834","affiliations":[{"raw_affiliation_string":"Artificial Intelligence Center, Faculty of Electrical Engineering, Czech Technical University in Prague, 166 27 Prague 6, Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011277533","display_name":"Pavel Linder","orcid":"https://orcid.org/0000-0002-6820-4013"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Pavel Linder","raw_affiliation_strings":["Artificial Intelligence Center, Faculty of Electrical Engineering, Czech Technical University in Prague, 166 27 Prague 6, Czech Republic"],"raw_orcid":"https://orcid.org/0000-0002-6820-4013","affiliations":[{"raw_affiliation_string":"Artificial Intelligence Center, Faculty of Electrical Engineering, Czech Technical University in Prague, 166 27 Prague 6, Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080960150","display_name":"Tom\u00e1\u0161 Rou\u010dek","orcid":"https://orcid.org/0000-0003-3598-1630"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Tom\u00e1\u0161 Rou\u010dek","raw_affiliation_strings":["Artificial Intelligence Center, Faculty of Electrical Engineering, Czech Technical University in Prague, 166 27 Prague 6, Czech Republic"],"raw_orcid":"https://orcid.org/0000-0003-3598-1630","affiliations":[{"raw_affiliation_string":"Artificial Intelligence Center, Faculty of Electrical Engineering, Czech Technical University in Prague, 166 27 Prague 6, Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067650064","display_name":"J. Blaha","orcid":"https://orcid.org/0000-0002-4900-1085"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Jan Blaha","raw_affiliation_strings":["Artificial Intelligence Center, Faculty of Electrical Engineering, Czech Technical University in Prague, 166 27 Prague 6, Czech Republic"],"raw_orcid":"https://orcid.org/0000-0002-4900-1085","affiliations":[{"raw_affiliation_string":"Artificial Intelligence Center, Faculty of Electrical Engineering, Czech Technical University in Prague, 166 27 Prague 6, Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072038192","display_name":"Leonard Mentzl","orcid":"https://orcid.org/0000-0001-8437-1711"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Leonard Mentzl","raw_affiliation_strings":["Artificial Intelligence Center, Faculty of Electrical Engineering, Czech Technical University in Prague, 166 27 Prague 6, Czech Republic"],"raw_orcid":"https://orcid.org/0000-0001-8437-1711","affiliations":[{"raw_affiliation_string":"Artificial Intelligence Center, Faculty of Electrical Engineering, Czech Technical University in Prague, 166 27 Prague 6, Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066809618","display_name":"Keerthy Kusumam","orcid":"https://orcid.org/0000-0002-7464-3784"},"institutions":[{"id":"https://openalex.org/I142263535","display_name":"University of Nottingham","ror":"https://ror.org/01ee9ar58","country_code":"GB","type":"education","lineage":["https://openalex.org/I142263535"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Keerthy Kusumam","raw_affiliation_strings":["Department of Computer Science, University of Nottingham, Jubilee Campus, 7301 Wollaton Rd, Lenton, Nottingham NG8 1BB, UK"],"raw_orcid":"https://orcid.org/0000-0002-7464-3784","affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Nottingham, Jubilee Campus, 7301 Wollaton Rd, Lenton, Nottingham NG8 1BB, UK","institution_ids":["https://openalex.org/I142263535"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082772824","display_name":"Tom\u00e1\u0161 Krajn\u00edk","orcid":"https://orcid.org/0000-0002-4408-7916"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Tom\u00e1\u0161 Krajn\u00edk","raw_affiliation_strings":["Artificial Intelligence Center, Faculty of Electrical Engineering, Czech Technical University in Prague, 166 27 Prague 6, Czech Republic"],"raw_orcid":"https://orcid.org/0000-0002-4408-7916","affiliations":[{"raw_affiliation_string":"Artificial Intelligence Center, Faculty of Electrical Engineering, Czech Technical University in Prague, 166 27 Prague 6, Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5040308883"],"corresponding_institution_ids":["https://openalex.org/I44504214"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":11.4427,"has_fulltext":true,"cited_by_count":20,"citation_normalized_percentile":{"value":0.9776291,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"22","issue":"8","first_page":"2975","last_page":"2975"},"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":0.9993000030517578,"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/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/image-registration","display_name":"Image registration","score":0.6268516778945923},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6028258204460144},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5542035102844238},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5360833406448364},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.4096912145614624},{"id":"https://openalex.org/keywords/natural-language-processing","display_name":"Natural language processing","score":0.37557899951934814},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.33480459451675415}],"concepts":[{"id":"https://openalex.org/C166704113","wikidata":"https://www.wikidata.org/wiki/Q861092","display_name":"Image registration","level":3,"score":0.6268516778945923},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6028258204460144},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5542035102844238},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5360833406448364},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.4096912145614624},{"id":"https://openalex.org/C204321447","wikidata":"https://www.wikidata.org/wiki/Q30642","display_name":"Natural language processing","level":1,"score":0.37557899951934814},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.33480459451675415}],"mesh":[{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D016571","descriptor_name":"Neural Networks, Computer","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D016571","descriptor_name":"Neural Networks, Computer","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D016571","descriptor_name":"Neural Networks, Computer","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true}],"locations_count":5,"locations":[{"id":"doi:10.3390/s22082975","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s22082975","pdf_url":"https://www.mdpi.com/1424-8220/22/8/2975/pdf?version=1649843771","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:35458959","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/35458959","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:20f61a9637194d73aaae1ee26a14823c","is_oa":true,"landing_page_url":"https://doaj.org/article/20f61a9637194d73aaae1ee26a14823c","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 22, Iss 8, p 2975 (2022)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/22/8/2975/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s22082975","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 22; Issue 8; Pages: 2975","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:9030179","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/9030179","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"}],"best_oa_location":{"id":"doi:10.3390/s22082975","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s22082975","pdf_url":"https://www.mdpi.com/1424-8220/22/8/2975/pdf?version=1649843771","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":"Quality Education","id":"https://metadata.un.org/sdg/4","score":0.550000011920929}],"awards":[{"id":"https://openalex.org/G12500569","display_name":null,"funder_award_id":"CZ.02.1.01/0.0","funder_id":"https://openalex.org/F4320321006","funder_display_name":"Grantov\u00e1 Agentura \u010cesk\u00e9 Republiky"},{"id":"https://openalex.org/G4131035492","display_name":null,"funder_award_id":"CZ.02.1.01","funder_id":"https://openalex.org/F4320321006","funder_display_name":"Grantov\u00e1 Agentura \u010cesk\u00e9 Republiky"},{"id":"https://openalex.org/G4818322051","display_name":null,"funder_award_id":"019/0000765","funder_id":"https://openalex.org/F4320334253","funder_display_name":"Research Center for Informatics, Czech Technical University in Prague"},{"id":"https://openalex.org/G6860599019","display_name":null,"funder_award_id":"20-27034J","funder_id":"https://openalex.org/F4320321006","funder_display_name":"Grantov\u00e1 Agentura \u010cesk\u00e9 Republiky"}],"funders":[{"id":"https://openalex.org/F4320321006","display_name":"Grantov\u00e1 Agentura \u010cesk\u00e9 Republiky","ror":"https://ror.org/01pv73b02"},{"id":"https://openalex.org/F4320334253","display_name":"Research Center for Informatics, Czech Technical University in Prague","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4223915524.pdf","grobid_xml":"https://content.openalex.org/works/W4223915524.grobid-xml"},"referenced_works_count":61,"referenced_works":["https://openalex.org/W73574230","https://openalex.org/W1033316025","https://openalex.org/W1162411702","https://openalex.org/W1486077564","https://openalex.org/W1491719799","https://openalex.org/W1535804263","https://openalex.org/W1587957970","https://openalex.org/W1997452381","https://openalex.org/W2003919215","https://openalex.org/W2061662636","https://openalex.org/W2079112914","https://openalex.org/W2107145440","https://openalex.org/W2119605622","https://openalex.org/W2124386111","https://openalex.org/W2127589108","https://openalex.org/W2141139095","https://openalex.org/W2157364932","https://openalex.org/W2194775991","https://openalex.org/W2284029970","https://openalex.org/W2335829695","https://openalex.org/W2341150500","https://openalex.org/W2412846155","https://openalex.org/W2420012326","https://openalex.org/W2461937780","https://openalex.org/W2550031512","https://openalex.org/W2618530766","https://openalex.org/W2752782242","https://openalex.org/W2798075506","https://openalex.org/W2890678738","https://openalex.org/W2898077673","https://openalex.org/W2921865820","https://openalex.org/W2951399172","https://openalex.org/W2963341249","https://openalex.org/W2963775347","https://openalex.org/W2970971581","https://openalex.org/W3003652081","https://openalex.org/W3005680577","https://openalex.org/W3015235064","https://openalex.org/W3035511673","https://openalex.org/W3035524453","https://openalex.org/W3035684383","https://openalex.org/W3043075211","https://openalex.org/W3083391807","https://openalex.org/W3096609285","https://openalex.org/W3101693694","https://openalex.org/W3106462076","https://openalex.org/W3114632476","https://openalex.org/W3115267626","https://openalex.org/W3119315021","https://openalex.org/W3124420883","https://openalex.org/W3130321534","https://openalex.org/W3131140628","https://openalex.org/W3145444543","https://openalex.org/W3209451449","https://openalex.org/W4205172893","https://openalex.org/W4229019474","https://openalex.org/W4230475428","https://openalex.org/W4287812705","https://openalex.org/W6631190155","https://openalex.org/W6688173455","https://openalex.org/W6793164127"],"related_works":["https://openalex.org/W4404688667","https://openalex.org/W2014452451","https://openalex.org/W3037497593","https://openalex.org/W2118640186","https://openalex.org/W2755342338","https://openalex.org/W140518274","https://openalex.org/W2147238515","https://openalex.org/W2779427294","https://openalex.org/W2775347418","https://openalex.org/W2625805835"],"abstract_inverted_index":{"Visual":[0],"teach":[1,38],"and":[2,14,39,57,70,106,121],"repeat":[3,40],"navigation":[4],"(VT&R)":[5],"is":[6,131],"popular":[7],"in":[8,103,108],"robotics":[9],"thanks":[10],"to":[11,24,31,45,49,63,75,91,101,133,137,146,163],"its":[12],"simplicity":[13],"versatility.":[15],"It":[16],"enables":[17],"mobile":[18,161],"robots":[19],"equipped":[20],"with":[21,55,119],"a":[22,77,86,156,160],"camera":[23],"traverse":[25],"learned":[26],"paths":[27],"without":[28],"the":[29,65,80,96,104,135,149,165],"need":[30],"create":[32],"globally":[33],"consistent":[34],"metric":[35],"maps.":[36],"Although":[37],"frameworks":[41],"have":[42],"been":[43],"reported":[44],"be":[46,144],"relatively":[47],"robust":[48,100],"changing":[50],"environments,":[51],"they":[52],"still":[53],"struggle":[54],"day-to-night":[56],"seasonal":[58,120],"changes.":[59],"This":[60],"paper":[61],"aims":[62],"find":[64],"horizontal":[66],"displacement":[67],"between":[68],"prerecorded":[69],"currently":[71],"perceived":[72],"images":[73,97],"required":[74],"steer":[76],"robot":[78,162],"towards":[79],"previously":[81],"traversed":[82],"path.":[83],"We":[84,153],"employ":[85],"fully":[87],"convolutional":[88],"neural":[89],"network":[90],"obtain":[92],"dense":[93],"representations":[94],"of":[95,167],"that":[98,129,142],"are":[99],"changes":[102],"environment":[105],"variations":[107],"illumination.":[109],"The":[110],"proposed":[111],"model":[112,136],"achieves":[113],"state-of-the-art":[114],"performance":[115],"on":[116,159],"multiple":[117],"datasets":[118],"day/night":[122],"variations.":[123],"In":[124],"addition,":[125],"our":[126,168],"experiments":[127],"show":[128],"it":[130],"possible":[132],"use":[134],"generate":[138],"additional":[139],"training":[140],"examples":[141],"can":[143],"used":[145],"further":[147],"improve":[148],"original":[150],"model's":[151],"robustness.":[152],"also":[154],"conducted":[155],"real-world":[157],"experiment":[158],"demonstrate":[164],"suitability":[166],"method":[169],"for":[170],"VT&R.":[171]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}