{"id":"https://openalex.org/W2337896529","doi":null,"title":"Salient Visual Features to Help Close the Loop i n 6D SLAM","display_name":"Salient Visual Features to Help Close the Loop i n 6D SLAM","publication_year":2007,"publication_date":"2007-01-01","ids":{"openalex":"https://openalex.org/W2337896529","mag":"2337896529"},"language":"en","primary_location":{"id":"mag:2337896529","doi":null,"is_oa":false,"landing_page_url":"http://biecoll.ub.uni-bielefeld.de/volltexte/2007/82/pdf/WCAA2007-147.pdf","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":null},"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/A5042932869","display_name":"Lars Kunze","orcid":"https://orcid.org/0000-0001-5302-1938","observed_orcids":["https://orcid.org/0000-0001-5302-1938"]},"institutions":[{"id":"https://openalex.org/I170658231","display_name":"Osnabr\u00fcck University","ror":"https://ror.org/04qmmjx98","country_code":"DE","type":"education","lineage":["https://openalex.org/I170658231"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Lars Kunze","raw_affiliation_strings":["University of Osnabruck"],"raw_orcid":"https://orcid.org/0000-0001-5302-1938","affiliations":[{"raw_affiliation_string":"University of Osnabruck","institution_ids":["https://openalex.org/I170658231"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030019030","display_name":"Kai Lingemann","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I170658231","display_name":"Osnabr\u00fcck University","ror":"https://ror.org/04qmmjx98","country_code":"DE","type":"education","lineage":["https://openalex.org/I170658231"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Kai Lingemann","raw_affiliation_strings":["University of Osnabruck"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Osnabruck","institution_ids":["https://openalex.org/I170658231"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020594579","display_name":"Joachim Hertzberg","orcid":"https://orcid.org/0000-0002-6371-9624","observed_orcids":["https://orcid.org/0000-0002-6371-9624"]},"institutions":[{"id":"https://openalex.org/I170658231","display_name":"Osnabr\u00fcck University","ror":"https://ror.org/04qmmjx98","country_code":"DE","type":"education","lineage":["https://openalex.org/I170658231"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Joachim Hertzberg","raw_affiliation_strings":["University of Osnabruck"],"raw_orcid":"https://orcid.org/0000-0002-6371-9624","affiliations":[{"raw_affiliation_string":"University of Osnabruck","institution_ids":["https://openalex.org/I170658231"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I170658231"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.0,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":93,"max":97},"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":1.0,"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":1.0,"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":0.0,"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/loop-closure-detection","display_name":"loop closure detection","score":0.753000020980835},{"id":"https://openalex.org/keywords/salient-region-detection","display_name":"salient region detection","score":0.8740000128746033},{"id":"https://openalex.org/keywords/maximally-stable-extremal-regions","display_name":"MSER","score":0.9580000042915344},{"id":"https://openalex.org/keywords/sift-descriptors","display_name":"SIFT descriptors","score":0.9449999928474426},{"id":"https://openalex.org/keywords/visual-feature-matching","display_name":"visual feature matching","score":0.6710000038146973},{"id":"https://openalex.org/keywords/mobile-robot-localization","display_name":"mobile robot localization","score":0.8399999737739563}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8167270421981812},{"id":"https://openalex.org/C2780719617","wikidata":"https://www.wikidata.org/wiki/Q1030752","display_name":"Salient","level":2,"score":0.7329933047294617},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7148306369781494},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6628049612045288},{"id":"https://openalex.org/C61265191","wikidata":"https://www.wikidata.org/wiki/Q767770","display_name":"Scale-invariant feature transform","level":3,"score":0.647871732711792},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6290721297264099},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5831555724143982},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.571130633354187},{"id":"https://openalex.org/C2778775528","wikidata":"https://www.wikidata.org/wiki/Q5135432","display_name":"Closing (real estate)","level":2,"score":0.5135243535041809},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.5083500742912292},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.46441763639450073},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4168165922164917},{"id":"https://openalex.org/C184670325","wikidata":"https://www.wikidata.org/wiki/Q512604","display_name":"Loop (graph theory)","level":2,"score":0.41605016589164734},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.41419684886932373},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.37838125228881836},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.3571087121963501},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21592336893081665},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"mag:2337896529","doi":null,"is_oa":false,"landing_page_url":"http://biecoll.ub.uni-bielefeld.de/volltexte/2007/82/pdf/WCAA2007-147.pdf","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"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":15,"referenced_works":["https://openalex.org/W35056134","https://openalex.org/W1521171712","https://openalex.org/W1541642243","https://openalex.org/W1586173270","https://openalex.org/W1676552347","https://openalex.org/W1699734612","https://openalex.org/W1980911747","https://openalex.org/W2097124815","https://openalex.org/W2098083083","https://openalex.org/W2098789800","https://openalex.org/W2124404372","https://openalex.org/W2138294682","https://openalex.org/W2151103935","https://openalex.org/W2155193497","https://openalex.org/W2177274842"],"related_works":["https://openalex.org/W2155193497","https://openalex.org/W2102630264","https://openalex.org/W4407551033","https://openalex.org/W3202527084","https://openalex.org/W2164549458","https://openalex.org/W1982452847","https://openalex.org/W2102962972","https://openalex.org/W2888757065","https://openalex.org/W4403864555","https://openalex.org/W3137456370"],"abstract_inverted_index":{"One":[0,38],"fundamental":[1,39],"problem":[2],"in":[3,21,70,87,130],"mobile":[4,15],"robotics":[5,100],"research":[6],"is":[7,44],"Si-":[8],"multaneous":[9],"Localization":[10],"and":[11,25,61,105,114,128,156],"Mapping":[12],"(SLAM):":[13],"A":[14,142],"robot":[16,48],"has":[17,52,57],"to":[18,65,82],"localize":[19],"itself":[20],"an":[22,54,88],"unknown":[23],"environment,":[24],"at":[26],"the":[27,35,67,71,85,139,145,152],"same":[28],"time":[29],"gen-":[30],"erate":[31],"a":[32,131],"map":[33],"of":[34,41,92,138,144,154],"surrounding":[36],"area.":[37],"part":[40],"SLAM":[42,94],"algorithms":[43],"loop":[45,86],"closing:":[46],"The":[47,120],"detects":[49],"whether":[50],"it":[51],"reached":[53],"area":[55],"that":[56,151],"been":[58],"visited":[59],"before,":[60],"uses":[62],"this":[63,75],"information":[64],"improve":[66],"pose":[68,104],"estimate":[69],"next":[72],"step.":[73],"In":[74],"work,":[76],"visual":[77],"camera":[78],"features":[79],"are":[80,123,134],"used":[81],"assist":[83],"closing":[84],"existing":[89],"6":[90],"degree":[91],"freedom":[93],"(6D":[95],"SLAM)":[96],"architecture.":[97],"For":[98],"our":[99],"application":[101],"we":[102],"pro-":[103],"evaluate":[106],"several":[107],"detection":[108,113,148],"methods,":[109],"including":[110],"salient":[111,155],"region":[112,118],"maximally":[115,157],"stable":[116,158],"extremal":[117,159],"detection.":[119],"detected":[121,135],"regions":[122,160],"encoded":[124],"using":[125],"SIFT":[126],"descriptors":[127],"stored":[129],"database.":[132],"Loops":[133],"by":[136,162],"matching":[137],"images'":[140],"descriptors.":[141],"comparison":[143],"different":[146],"feature":[147],"methods":[149],"shows":[150],"combination":[153],"suggested":[161],"(12)":[163],"performs":[164],"moderately.":[165]},"counts_by_year":[{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":3}],"updated_date":"2025-11-06T04:12:42.849631","created_date":"2016-06-24T00:00:00"}
