{"id":"https://openalex.org/W2125792273","doi":null,"title":"Constructing Topological Maps using Markov Random Fields and Loop-Closure Detection","display_name":"Constructing Topological Maps using Markov Random Fields and Loop-Closure Detection","publication_year":2009,"publication_date":"2009-12-07","ids":{"openalex":"https://openalex.org/W2125792273","mag":"2125792273"},"language":"en","primary_location":{"id":"pmh:oai:CiteSeerX.psu:10.1.1.215.1181","doi":null,"is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.215.1181","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://books.nips.cc/papers/files/nips22/NIPS2009_0647.pdf","raw_type":"text"},"volume":null,"type":"article","is_traditional":true,"indexed_in":[],"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/A5005416543","display_name":"Roy Anati","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Roy Anati","raw_affiliation_strings":["GRASP Laboratory, Department of Computer and Information Science, University of Pennsylvania, Philadelphia, PA#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GRASP Laboratory, Department of Computer and Information Science, University of Pennsylvania, Philadelphia, PA#TAB#","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050660826","display_name":"Kostas Daniilidis","orcid":"https://orcid.org/0000-0003-0498-0758","observed_orcids":["https://orcid.org/0000-0003-0498-0758"]},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kostas Daniilidis","raw_affiliation_strings":["GRASP Laboratory, Department of Computer and Information Science, University of Pennsylvania, Philadelphia, PA#TAB#"],"raw_orcid":"https://orcid.org/0000-0003-0498-0758","affiliations":[{"raw_affiliation_string":"GRASP Laboratory, Department of Computer and Information Science, University of Pennsylvania, Philadelphia, PA#TAB#","institution_ids":["https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I79576946"],"apc_list":null,"apc_paid":null,"fwci":1.6201,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.85354151,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":88,"max":96},"biblio":{"volume":"22","issue":null,"first_page":"37","last_page":"45"},"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":9.999999747378752e-05,"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/loop-closure-detection","display_name":"loop closure detection","score":0.7540000081062317},{"id":"https://openalex.org/keywords/markov-random-fields","display_name":"Markov random fields","score":0.9670000076293945},{"id":"https://openalex.org/keywords/image-similarity","display_name":"image similarity","score":0.7450000047683716},{"id":"https://openalex.org/keywords/dynamic-programming","display_name":"dynamic programming","score":0.7639999985694885},{"id":"https://openalex.org/keywords/local-features","display_name":"local features","score":0.8330000042915344},{"id":"https://openalex.org/keywords/loopy-belief-propagation","display_name":"loopy belief propagation","score":0.7929999828338623},{"id":"https://openalex.org/keywords/image-matching","display_name":"image matching","score":0.46399998664855957},{"id":"https://openalex.org/keywords/visual-slam","display_name":"visual SLAM","score":0.5929999947547913}],"concepts":[{"id":"https://openalex.org/C184670325","wikidata":"https://www.wikidata.org/wiki/Q512604","display_name":"Loop (graph theory)","level":2,"score":0.6885156631469727},{"id":"https://openalex.org/C146834321","wikidata":"https://www.wikidata.org/wiki/Q2979672","display_name":"Closure (psychology)","level":2,"score":0.6607803702354431},{"id":"https://openalex.org/C103278499","wikidata":"https://www.wikidata.org/wiki/Q254465","display_name":"Similarity (geometry)","level":3,"score":0.6326968669891357},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.5917773842811584},{"id":"https://openalex.org/C98763669","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov chain","level":2,"score":0.5838096737861633},{"id":"https://openalex.org/C2779624466","wikidata":"https://www.wikidata.org/wiki/Q838119","display_name":"For loop","level":3,"score":0.5819169282913208},{"id":"https://openalex.org/C37404715","wikidata":"https://www.wikidata.org/wiki/Q380679","display_name":"Dynamic programming","level":2,"score":0.5686684846878052},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.5467528104782104},{"id":"https://openalex.org/C2778045648","wikidata":"https://www.wikidata.org/wiki/Q176827","display_name":"Markov random field","level":4,"score":0.5283860564231873},{"id":"https://openalex.org/C23224414","wikidata":"https://www.wikidata.org/wiki/Q176769","display_name":"Hidden Markov model","level":2,"score":0.49297595024108887},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4837510585784912},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4688495397567749},{"id":"https://openalex.org/C159886148","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov process","level":2,"score":0.45834797620773315},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4334263503551483},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.43118393421173096},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.41320011019706726},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.39861196279525757},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.21165290474891663},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.1317225992679596},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.12450286746025085},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C34447519","wikidata":"https://www.wikidata.org/wiki/Q179522","display_name":"Market economy","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"pmh:oai:CiteSeerX.psu:10.1.1.215.1181","doi":null,"is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.215.1181","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://books.nips.cc/papers/files/nips22/NIPS2009_0647.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.230.3900","doi":null,"is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.230.3900","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cis.upenn.edu/%7Ekostas/mypub.dir/anati09nips.pdf","raw_type":"text"},{"id":"mag:2125792273","doi":null,"is_oa":false,"landing_page_url":"https://papers.nips.cc/paper/3861-constructing-topological-maps-using-markov-random-fields-and-loop-closure-detection.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4363606243","display_name":"neural information processing systems","issn_l":"1049-5258","issn":["1049-5258"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-2"],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":"Neural Information Processing Systems","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W114565888","https://openalex.org/W141987850","https://openalex.org/W1602592726","https://openalex.org/W1663973292","https://openalex.org/W1800532924","https://openalex.org/W2066941820","https://openalex.org/W2104209160","https://openalex.org/W2105224953","https://openalex.org/W2115584962","https://openalex.org/W2128017662","https://openalex.org/W2128086777","https://openalex.org/W2133048394","https://openalex.org/W2134522075","https://openalex.org/W2144652450","https://openalex.org/W2144824356","https://openalex.org/W2151103935","https://openalex.org/W2157054705","https://openalex.org/W2158187199","https://openalex.org/W2162359270","https://openalex.org/W2162536300","https://openalex.org/W4212863985"],"related_works":["https://openalex.org/W1973848107","https://openalex.org/W7095098683","https://openalex.org/W6922691519","https://openalex.org/W2791710165","https://openalex.org/W2397221726","https://openalex.org/W2396504182","https://openalex.org/W7095174095","https://openalex.org/W1969356960","https://openalex.org/W2029613090","https://openalex.org/W4206782571"],"abstract_inverted_index":{"We":[0],"present":[1],"a":[2,6,13,20,65,69],"system":[3,18],"which":[4,25],"constructs":[5],"topological":[7,70],"map":[8,71],"of":[9,15,39,52,89],"an":[10,44],"environment":[11],"given":[12],"sequence":[14],"images.":[16],"This":[17],"includes":[19],"novel":[21],"image":[22],"similarity":[23],"score":[24],"uses":[26],"dynamic":[27],"programming":[28],"to":[29,48,67],"match":[30],"images":[31],"using":[32,60],"both":[33],"the":[34,50,87,90],"appearance":[35],"and":[36,82],"relative":[37],"positions":[38],"local":[40],"features":[41],"simultaneously.":[42],"Additionally,":[43],"MRF":[45],"is":[46,58],"constructed":[47],"model":[49],"probability":[51],"loop-closures.":[53],"A":[54],"locally":[55],"optimal":[56],"labeling":[57],"found":[59],"Loopy-BP.":[61],"Finally":[62],"we":[63],"outline":[64],"method":[66],"generate":[68],"from":[72],"loop":[73],"closure":[74],"data.":[75],"Results,":[76],"presented":[77],"on":[78],"four":[79],"urban":[80],"sequences":[81],"one":[83],"indoor":[84],"sequence,":[85],"outperform":[86],"state":[88],"art.":[91],"1":[92]},"counts_by_year":[{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-11-04T10:54:05.112534","created_date":"2016-06-24T00:00:00"}
