{"id":"https://openalex.org/W3011465262","doi":"https://doi.org/10.1109/icra40945.2020.9196764","title":"Intensity Scan Context: Coding Intensity and Geometry Relations for Loop Closure Detection","display_name":"Intensity Scan Context: Coding Intensity and Geometry Relations for Loop Closure Detection","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3011465262","doi":"https://doi.org/10.1109/icra40945.2020.9196764","mag":"3011465262"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9196764","doi":"https://doi.org/10.1109/icra40945.2020.9196764","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196764","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":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","is_traditional":true,"indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2003.05656","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100452641","display_name":"Han Wang","orcid":"https://orcid.org/0000-0001-5448-9903","observed_orcids":["https://orcid.org/0000-0001-5448-9903","https://orcid.org/0000-0002-4980-8727"]},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Han Wang","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Chen Wang","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chen Wang","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100365448","display_name":"Lihua Xie","orcid":"https://orcid.org/0000-0002-7137-4136","observed_orcids":["https://orcid.org/0000-0002-7137-4136"]},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Lihua Xie","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":10.8016,"has_fulltext":true,"cited_by_count":350,"citation_normalized_percentile":{"value":0.98567731,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":88,"max":100},"biblio":{"volume":"2020","issue":null,"first_page":"2095","last_page":"2101"},"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/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"}},{"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"}}],"keywords":[{"id":"https://openalex.org/keywords/loop-closure-detection","display_name":"loop closure detection","score":0.996999979019165},{"id":"https://openalex.org/keywords/lidar","display_name":"LiDAR","score":0.7360000014305115},{"id":"https://openalex.org/keywords/intensity-features","display_name":"intensity features","score":0.3580000102519989},{"id":"https://openalex.org/keywords/global-descriptors","display_name":"global descriptors","score":0.6190000176429749},{"id":"https://openalex.org/keywords/place-recognition","display_name":"place recognition","score":0.8209999799728394},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"SLAM","score":0.8500000238418579}],"concepts":[{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.5019000172615051},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49380001425743103},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.48170000314712524},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.47920000553131104},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.47870001196861267},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4632999897003174},{"id":"https://openalex.org/C93038891","wikidata":"https://www.wikidata.org/wiki/Q1061524","display_name":"Intensity (physics)","level":2,"score":0.4519999921321869},{"id":"https://openalex.org/C81669768","wikidata":"https://www.wikidata.org/wiki/Q2359161","display_name":"Precision and recall","level":2,"score":0.436599999666214},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.42719998955726624},{"id":"https://openalex.org/C179518139","wikidata":"https://www.wikidata.org/wiki/Q5140297","display_name":"Coding (social sciences)","level":2,"score":0.42010000348091125},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4146000146865845},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.3776000142097473},{"id":"https://openalex.org/C184670325","wikidata":"https://www.wikidata.org/wiki/Q512604","display_name":"Loop (graph theory)","level":2,"score":0.3774000108242035},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.35499998927116394},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.325300008058548},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.31470000743865967},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.29750001430511475},{"id":"https://openalex.org/C189950617","wikidata":"https://www.wikidata.org/wiki/Q937228","display_name":"Property (philosophy)","level":2,"score":0.27720001339912415},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.26930001378059387},{"id":"https://openalex.org/C3019251811","wikidata":"https://www.wikidata.org/wiki/Q5135346","display_name":"Closed loop","level":2,"score":0.2676999866962433},{"id":"https://openalex.org/C2779624466","wikidata":"https://www.wikidata.org/wiki/Q838119","display_name":"For loop","level":3,"score":0.2628999948501587},{"id":"https://openalex.org/C146834321","wikidata":"https://www.wikidata.org/wiki/Q2979672","display_name":"Closure (psychology)","level":2,"score":0.25940001010894775},{"id":"https://openalex.org/C57273362","wikidata":"https://www.wikidata.org/wiki/Q576722","display_name":"Decoding methods","level":2,"score":0.257099986076355},{"id":"https://openalex.org/C193581530","wikidata":"https://www.wikidata.org/wiki/Q683778","display_name":"Structured light","level":2,"score":0.2500999867916107}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra40945.2020.9196764","doi":"https://doi.org/10.1109/icra40945.2020.9196764","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196764","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":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2003.05656","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2003.05656","pdf_url":"https://arxiv.org/pdf/2003.05656","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"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":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2003.05656","doi":"https://doi.org/10.48550/arxiv.2003.05656","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2003.05656","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"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":false,"raw_source_name":null,"raw_type":"article-journal"},{"id":"mag:3160801504","doi":null,"is_oa":false,"landing_page_url":"https://jglobal.jst.go.jp/en/detail?JGLOBAL_ID=202002266176265708","pdf_url":null,"source":{"id":"https://openalex.org/S4306512817","display_name":"IEEE Conference Proceedings","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"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":"IEEE Conference Proceedings","raw_type":null}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2003.05656","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2003.05656","pdf_url":"https://arxiv.org/pdf/2003.05656","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"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":null,"raw_type":"text"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3011465262.pdf","grobid_xml":"https://content.openalex.org/works/W3011465262.grobid-xml"},"referenced_works_count":28,"referenced_works":["https://openalex.org/W1488353502","https://openalex.org/W1896525902","https://openalex.org/W1988322066","https://openalex.org/W1989484209","https://openalex.org/W2049981393","https://openalex.org/W2057175746","https://openalex.org/W2071571922","https://openalex.org/W2083624955","https://openalex.org/W2110405746","https://openalex.org/W2113551198","https://openalex.org/W2115579991","https://openalex.org/W2133098875","https://openalex.org/W2152864241","https://openalex.org/W2160821342","https://openalex.org/W2162536300","https://openalex.org/W2207423472","https://openalex.org/W2415131061","https://openalex.org/W2527172881","https://openalex.org/W2535547924","https://openalex.org/W2735596698","https://openalex.org/W2775226889","https://openalex.org/W2884962765","https://openalex.org/W2892028890","https://openalex.org/W2893438982","https://openalex.org/W2902610326","https://openalex.org/W2909908358","https://openalex.org/W2910489334","https://openalex.org/W2914921243"],"related_works":["https://openalex.org/W4400106144","https://openalex.org/W4386072077","https://openalex.org/W4388329501","https://openalex.org/W4225621014","https://openalex.org/W4405867057","https://openalex.org/W7129346412","https://openalex.org/W2213518912","https://openalex.org/W4388738100","https://openalex.org/W4404996635","https://openalex.org/W3129362310"],"abstract_inverted_index":{"Loop":[0],"closure":[1,39,99],"detection":[2,21,40],"is":[3,16,107],"an":[4,101],"essential":[5],"and":[6,12,22,30,66,90,116,126,147],"challenging":[7],"problem":[8],"in":[9],"simultaneous":[10],"localization":[11],"mapping":[13],"(SLAM).":[14],"It":[15],"often":[17,41],"tackled":[18],"with":[19],"light":[20],"ranging":[23],"(LiDAR)":[24],"sensor":[25],"due":[26],"to":[27,133],"its":[28],"view-point":[29],"illumination":[31],"invariant":[32],"properties.":[33],"Existing":[34],"works":[35],"on":[36,43],"3D":[37],"loop":[38,98],"leverage":[42],"matching":[44],"of":[45,137],"local":[46,124],"or":[47],"global":[48,80],"geometrical-only":[49],"descriptors":[50],"which":[51],"discard":[52],"intensity":[53,61,82,91,117],"reading.":[54],"In":[55],"this":[56],"paper":[57],"we":[58],"explore":[59],"the":[60,95,135,138],"property":[62],"from":[63],"LiDAR":[64],"scan":[65,83],"show":[67],"that":[68,86],"it":[69],"can":[70],"be":[71],"effective":[72],"for":[73,97],"place":[74],"recognition.":[75],"We":[76],"propose":[77],"a":[78],"novel":[79],"descriptor,":[81],"context":[84],"(ISC),":[85],"explores":[87],"both":[88,123],"geometry":[89],"characteristics.":[92],"To":[93],"improve":[94],"efficiency":[96],"detection,":[100],"efficient":[102],"two-stage":[103],"hierarchical":[104],"re-identification":[105],"process":[106],"proposed,":[108],"including":[109,122],"binary-operation":[110],"based":[111],"fast":[112],"geometric":[113],"relation":[114],"retrieval":[115],"structure":[118],"re-identification.":[119],"Thorough":[120],"experiments":[121],"experiment":[125],"public":[127],"datasets":[128],"test":[129],"have":[130],"been":[131],"conducted":[132],"evaluate":[134],"performance":[136],"proposed":[139],"method.":[140],"Our":[141],"method":[142],"achieves":[143],"better":[144],"recall":[145,148],"rate":[146],"precision":[149],"than":[150],"existing":[151],"geometric-only":[152],"methods.":[153]},"counts_by_year":[{"year":2026,"cited_by_count":35},{"year":2025,"cited_by_count":72},{"year":2024,"cited_by_count":97},{"year":2023,"cited_by_count":65},{"year":2022,"cited_by_count":47},{"year":2021,"cited_by_count":33},{"year":2020,"cited_by_count":1}],"updated_date":"2026-11-07T11:25:07.637180","created_date":"2020-03-23T00:00:00"}