{"id":"https://openalex.org/W2116134448","doi":"https://doi.org/10.1109/robot.2010.5509382","title":"Improved appearance-based matching in similar and dynamic environments using a Vocabulary tree","display_name":"Improved appearance-based matching in similar and dynamic environments using a Vocabulary tree","publication_year":2010,"publication_date":"2010-05-01","ids":{"openalex":"https://openalex.org/W2116134448","doi":"https://doi.org/10.1109/robot.2010.5509382","mag":"2116134448"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2010.5509382","doi":"https://doi.org/10.1109/robot.2010.5509382","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509382","pdf_url":null,"source":{"id":"https://openalex.org/S4210217939","display_name":"Proceedings - IEEE International Conference on Robotics and Automation/Proceedings","issn_l":"1050-4729","issn":["1050-4729","2577-087X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","is_traditional":true,"indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5047354107","display_name":"Deon Sabatta","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I21360634","display_name":"Council for Scientific and Industrial Research","ror":"https://ror.org/05j00sr48","country_code":"ZA","type":"government","lineage":["https://openalex.org/I21360634"]},{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH","ZA"],"is_corresponding":false,"raw_author_name":"Deon Sabatta","raw_affiliation_strings":["Autonomous Systems Laboratory, ETH Zurich, Zurich, Switzerland","Mobile Intelligent Autonomous Systems group, Council for Scientific and Industrial Research Pretoria, South Africa"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Laboratory, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Mobile Intelligent Autonomous Systems group, Council for Scientific and Industrial Research Pretoria, South Africa","institution_ids":["https://openalex.org/I21360634"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057116316","display_name":"Davide Scaramuzza","orcid":"https://orcid.org/0000-0002-3831-6778","observed_orcids":["https://orcid.org/0000-0002-3831-6778"]},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Davide Scaramuzza","raw_affiliation_strings":["Autonomous Systems Laboratory, ETH Zurich, Zurich, Switzerland","Autonomous Systems Lab, ETH Z\u00fcrich, Switzerland#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Laboratory, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Autonomous Systems Lab, ETH Z\u00fcrich, Switzerland#TAB#","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083003222","display_name":"Roland Siegwart","orcid":"https://orcid.org/0000-0002-2760-7983","observed_orcids":["https://orcid.org/0000-0002-2760-7983"]},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Roland Siegwart","raw_affiliation_strings":["Autonomous Systems Laboratory, ETH Zurich, Zurich, Switzerland","Autonomous Systems Lab, ETH Z\u00fcrich, Switzerland#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Laboratory, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Autonomous Systems Lab, ETH Z\u00fcrich, Switzerland#TAB#","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.4859,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.92083594,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":93,"max":97},"biblio":{"volume":"1","issue":null,"first_page":"1008","last_page":"1013"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994999766349792,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994999766349792,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":9.999999747378752e-05,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.0,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/vocabulary-tree","display_name":"vocabulary tree","score":0.890999972820282},{"id":"https://openalex.org/keywords/topological-map-building","display_name":"topological map building","score":0.8960000276565552},{"id":"https://openalex.org/keywords/loop-closure-detection","display_name":"loop closure detection","score":0.8489999771118164},{"id":"https://openalex.org/keywords/feature-matching","display_name":"feature matching","score":0.5709999799728394},{"id":"https://openalex.org/keywords/dynamic-environments","display_name":"dynamic environments","score":0.6880000233650208},{"id":"https://openalex.org/keywords/feature-entropy","display_name":"feature entropy","score":0.7160000205039978},{"id":"https://openalex.org/keywords/feature-weighting","display_name":"feature weighting","score":0.6570000052452087},{"id":"https://openalex.org/keywords/odometry","display_name":"odometry","score":0.6600000262260437},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"SLAM","score":0.5230000019073486}],"concepts":[{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.7093810439109802},{"id":"https://openalex.org/C2777601683","wikidata":"https://www.wikidata.org/wiki/Q6499736","display_name":"Vocabulary","level":2,"score":0.6363093852996826},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6258251667022705},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.612856924533844},{"id":"https://openalex.org/C106301342","wikidata":"https://www.wikidata.org/wiki/Q4117933","display_name":"Entropy (arrow of time)","level":2,"score":0.5988708734512329},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.56466144323349},{"id":"https://openalex.org/C2983787585","wikidata":"https://www.wikidata.org/wiki/Q93586","display_name":"Feature matching","level":3,"score":0.5426232814788818},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.5411376953125},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.529049277305603},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.4395582377910614},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.4204164743423462},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3335909843444824},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.3234742283821106},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.27844876050949097},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.09508514404296875},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0926128625869751},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/robot.2010.5509382","doi":"https://doi.org/10.1109/robot.2010.5509382","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509382","pdf_url":null,"source":{"id":"https://openalex.org/S4210217939","display_name":"Proceedings - IEEE International Conference on Robotics and Automation/Proceedings","issn_l":"1050-4729","issn":["1050-4729","2577-087X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.186.8578","doi":null,"is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.186.8578","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://asl.epfl.ch/%7Escaramuz/research/Davide_Scaramuzza_files/publications/pdf/ICRA10_sabatta.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.847.9191","doi":null,"is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.847.9191","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://researchspace.csir.co.za/dspace/bitstream/10204/4094/1/sabatta%202010.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1991544872","https://openalex.org/W2004835121","https://openalex.org/W2015997601","https://openalex.org/W2033819227","https://openalex.org/W2069522001","https://openalex.org/W2112441941","https://openalex.org/W2112669647","https://openalex.org/W2112770013","https://openalex.org/W2116405251","https://openalex.org/W2116833168","https://openalex.org/W2124386111","https://openalex.org/W2128017662","https://openalex.org/W2131497551","https://openalex.org/W2131846894","https://openalex.org/W2132185185","https://openalex.org/W2133759223","https://openalex.org/W2144824356","https://openalex.org/W2155537009","https://openalex.org/W2162359270","https://openalex.org/W2336416123","https://openalex.org/W3143919370"],"related_works":["https://openalex.org/W2123628525","https://openalex.org/W7041243391","https://openalex.org/W7099544679","https://openalex.org/W3183768538","https://openalex.org/W1991655505","https://openalex.org/W7095098683","https://openalex.org/W2352401895","https://openalex.org/W2145491730","https://openalex.org/W7103985254","https://openalex.org/W2171548580"],"abstract_inverted_index":{"In":[0],"this":[1,39],"paper":[2],"we":[3],"present":[4,20],"a":[5,12,73],"topological":[6],"map":[7],"building":[8],"algorithm":[9,27],"based":[10],"on":[11],"Vocabulary":[13],"Tree":[14],"that":[15,102],"is":[16,100],"robust":[17],"to":[18,41,49,69,80],"features":[19,71],"in":[21,46,72],"dynamic":[22],"or":[23],"similar":[24],"environments.":[25],"The":[26],"recognises":[28],"incorrect":[29,70,111],"loop":[30],"closures,":[31],"not":[32],"supported":[33],"by":[34,103],"the":[35,43,47,77,81,84,90,93,105,108,118,121],"odometry,":[36],"and":[37,76],"uses":[38],"information":[40],"update":[42],"feature":[44,61,106],"weights":[45],"tree":[48],"suppress":[50],"further":[51],"associations":[52,112],"from":[53],"these":[54,60],"features.":[55],"Two":[56],"methods":[57],"of":[58,83,92,110,120],"adjusting":[59,104],"entropies":[62],"are":[63,96],"proposed,":[64],"one":[65],"decreasing":[66],"entropy":[67],"related":[68],"uniform":[74],"manner":[75],"other":[78],"proportional":[79],"contribution":[82],"said":[85],"feature.":[86],"Preliminary":[87],"results":[88],"showing":[89],"performance":[91],"proposed":[94],"method":[95],"presented":[97],"where":[98],"it":[99],"found":[101],"entropies,":[107],"number":[109],"can":[113],"be":[114],"reduced":[115],"while":[116],"improving":[117],"quality":[119],"correct":[122],"matches.":[123]},"counts_by_year":[{"year":2018,"cited_by_count":2},{"year":2016,"cited_by_count":3},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":2}],"updated_date":"2026-11-04T10:54:05.112534","created_date":"2016-06-24T00:00:00"}
