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We extensively evaluate the system on four datasets, and the experimental results demonstrate that the system can accurately and quickly perform relocalization with an average precision of <jats:inline-formula><jats:alternatives><jats:tex-math>$$99.37\\%$$<\/jats:tex-math><mml:math xmlns:mml=\"http:\/\/www.w3.org\/1998\/Math\/MathML\">\n                  <mml:mrow>\n                    <mml:mn>99.37<\/mml:mn>\n                    <mml:mo>%<\/mml:mo>\n                  <\/mml:mrow>\n                <\/mml:math><\/jats:alternatives><\/jats:inline-formula>. The time for relocalization is improved by <jats:inline-formula><jats:alternatives><jats:tex-math>$$92.43\\%$$<\/jats:tex-math><mml:math xmlns:mml=\"http:\/\/www.w3.org\/1998\/Math\/MathML\">\n                  <mml:mrow>\n                    <mml:mn>92.43<\/mml:mn>\n                    <mml:mo>%<\/mml:mo>\n                  <\/mml:mrow>\n                <\/mml:math><\/jats:alternatives><\/jats:inline-formula> compared to previous plane relocalization systems, and it exhibits strong robustness to indoor plane structures.<\/jats:p>","DOI":"10.1007\/s40747-024-01357-8","type":"journal-article","created":{"date-parts":[[2024,2,29]],"date-time":"2024-02-29T09:03:13Z","timestamp":1709197393000},"page":"3925-3941","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["VoxelPlane-Reloc: an indoor scene voxel plane relocalization algorithm"],"prefix":"10.1007","volume":"10","author":[{"given":"Lulu","family":"Suo","sequence":"first","affiliation":[]},{"given":"Bin","family":"Wang","sequence":"additional","affiliation":[]},{"given":"Longxiang","family":"Huang","sequence":"additional","affiliation":[]},{"given":"Xu","family":"Yang","sequence":"additional","affiliation":[]},{"given":"Qian","family":"Zhang","sequence":"additional","affiliation":[]},{"given":"Yan","family":"Ma","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2024,2,29]]},"reference":[{"issue":"1","key":"1357_CR1","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1109\/TRO.2015.2496823","volume":"32","author":"S Lowry","year":"2015","unstructured":"Lowry S, S\u00fcnderhauf N, Newman P, Leonard JJ, Cox D, Corke P, Milford MJ (2015) Visual place recognition: a survey. 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