{"id":"https://openalex.org/W4406073336","doi":"https://doi.org/10.48550/arxiv.2407.15593","title":"Learning Where to Look: Self-supervised Viewpoint Selection for Active Localization using Geometrical Information","display_name":"Learning Where to Look: Self-supervised Viewpoint Selection for Active Localization using Geometrical Information","publication_year":2024,"publication_date":"2024-07-22","ids":{"openalex":"https://openalex.org/W4406073336","doi":"https://doi.org/10.48550/arxiv.2407.15593"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2407.15593","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2407.15593","pdf_url":"https://arxiv.org/pdf/2407.15593","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"type":"preprint","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2407.15593","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5084265033","display_name":"Luca Di Giammarino","orcid":"https://orcid.org/0000-0002-1332-3496"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Di Giammarino, Luca","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021510800","display_name":"Boyang Sun","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sun, Boyang","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028708181","display_name":"Giorgio Grisetti","orcid":"https://orcid.org/0000-0002-8038-9989"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Grisetti, Giorgio","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021908609","display_name":"Marc Pollefeys","orcid":"https://orcid.org/0000-0003-2448-2318"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pollefeys, Marc","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012921430","display_name":"Hermann Blum","orcid":"https://orcid.org/0000-0002-1713-7877"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Blum, Hermann","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5016636021","display_name":"D\u00e1niel Bar\u00e1th","orcid":"https://orcid.org/0000-0002-8736-0222"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Barath, Daniel","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5084265033"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994000196456909,"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":0.9994000196456909,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9954000115394592,"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"}},{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9919000267982483,"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/selection","display_name":"Selection (genetic algorithm)","score":0.7133708000183105},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5605996251106262},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5508820414543152},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.38340771198272705}],"concepts":[{"id":"https://openalex.org/C81917197","wikidata":"https://www.wikidata.org/wiki/Q628760","display_name":"Selection (genetic algorithm)","level":2,"score":0.7133708000183105},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5605996251106262},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5508820414543152},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.38340771198272705}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:arXiv.org:2407.15593","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2407.15593","pdf_url":"https://arxiv.org/pdf/2407.15593","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"doi:10.48550/arxiv.2407.15593","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2407.15593","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2407.15593","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2407.15593","pdf_url":"https://arxiv.org/pdf/2407.15593","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321652","display_name":"Eidgen\u00f6ssische Technische Hochschule Z\u00fcrich","ror":"https://ror.org/05a28rw58"},{"id":"https://openalex.org/F4320321942","display_name":"Hasler Stiftung","ror":"https://ror.org/04m3t9183"},{"id":"https://openalex.org/F4320322510","display_name":"Sapienza Universit\u00e0 di Roma","ror":"https://ror.org/02be6w209"},{"id":"https://openalex.org/F4320327714","display_name":"ETH Z\u00fcrich Foundation","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4406073336.pdf","grobid_xml":"https://content.openalex.org/works/W4406073336.grobid-xml"},"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2961085424","https://openalex.org/W4306674287","https://openalex.org/W4387369504","https://openalex.org/W3046775127","https://openalex.org/W4394896187","https://openalex.org/W3170094116","https://openalex.org/W4386462264","https://openalex.org/W3107602296","https://openalex.org/W4364306694","https://openalex.org/W4312192474"],"abstract_inverted_index":{"Accurate":[0],"localization":[1,32,68],"in":[2,9,42],"diverse":[3],"environments":[4],"is":[5],"a":[6,18,25,28,74,78,85,99],"fundamental":[7],"challenge":[8],"computer":[10],"vision":[11],"and":[12,22,90,122,126],"robotics.":[13],"The":[14],"task":[15],"involves":[16],"determining":[17],"sensor's":[19],"precise":[20],"position":[21],"orientation,":[23],"typically":[24],"camera,":[26],"within":[27],"given":[29],"space.":[30],"Traditional":[31],"methods":[33],"often":[34],"rely":[35],"on":[36,124],"passive":[37],"sensing,":[38],"which":[39],"may":[40],"struggle":[41],"scenarios":[43],"with":[44,77],"limited":[45],"features":[46],"or":[47],"dynamic":[48],"environments.":[49],"In":[50],"response,":[51],"this":[52],"paper":[53],"explores":[54],"the":[55,61,91,116,137],"domain":[56],"of":[57,63],"active":[58],"localization,":[59],"emphasizing":[60],"importance":[62],"viewpoint":[64],"selection":[65],"to":[66,93,135],"enhance":[67],"accuracy.":[69],"Our":[70,107],"contributions":[71],"involve":[72],"using":[73],"data-driven":[75],"approach":[76],"simple":[79],"architecture":[80],"designed":[81],"for":[82,103],"real-time":[83],"operation,":[84],"self-supervised":[86],"data":[87],"training":[88],"method,":[89],"capability":[92],"consistently":[94],"integrate":[95],"our":[96,111],"map":[97],"into":[98],"planning":[100],"framework":[101],"tailored":[102],"real-world":[104],"robotics":[105],"applications.":[106],"results":[108],"demonstrate":[109],"that":[110],"method":[112],"performs":[113],"better":[114],"than":[115],"existing":[117],"one,":[118],"targeting":[119],"similar":[120],"problems":[121],"generalizing":[123],"synthetic":[125],"real":[127],"data.":[128],"We":[129],"also":[130],"release":[131],"an":[132],"open-source":[133],"implementation":[134],"benefit":[136],"community.":[138]},"counts_by_year":[],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-01-05T00:00:00"}
