{"id":"https://openalex.org/W4406286863","doi":"https://doi.org/10.1007/s10846-025-02223-6","title":"LiDAR Loop Closure Detection using Semantic Graphs with Graph Attention Networks","display_name":"LiDAR Loop Closure Detection using Semantic Graphs with Graph Attention Networks","publication_year":2025,"publication_date":"2025-01-11","ids":{"openalex":"https://openalex.org/W4406286863","doi":"https://doi.org/10.1007/s10846-025-02223-6"},"language":"en","primary_location":{"id":"doi:10.1007/s10846-025-02223-6","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-025-02223-6","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10846-025-02223-6.pdf","source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent &amp; Robotic Systems","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://link.springer.com/content/pdf/10.1007/s10846-025-02223-6.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101493085","display_name":"Liudi Yang","orcid":"https://orcid.org/0000-0002-3625-1069"},"institutions":[{"id":"https://openalex.org/I34771391","display_name":"University of Cyprus","ror":"https://ror.org/02qjrjx09","country_code":"CY","type":"education","lineage":["https://openalex.org/I34771391"]},{"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","CY"],"is_corresponding":true,"raw_author_name":"Liudi Yang","raw_affiliation_strings":["University of Cyprus, Nicosia, Cyprus","Vision for Robotics Lab, ETH Zurich, Zurich, Switzerland"],"raw_orcid":"https://orcid.org/0009-0001-8912-2834","affiliations":[{"raw_affiliation_string":"University of Cyprus, Nicosia, Cyprus","institution_ids":["https://openalex.org/I34771391"]},{"raw_affiliation_string":"Vision for Robotics Lab, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070920809","display_name":"Ruben Mascaro","orcid":"https://orcid.org/0000-0002-9286-1996"},"institutions":[{"id":"https://openalex.org/I34771391","display_name":"University of Cyprus","ror":"https://ror.org/02qjrjx09","country_code":"CY","type":"education","lineage":["https://openalex.org/I34771391"]},{"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","CY"],"is_corresponding":false,"raw_author_name":"Ruben Mascaro","raw_affiliation_strings":["University of Cyprus, Nicosia, Cyprus","Vision for Robotics Lab, ETH Zurich, Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Cyprus, Nicosia, Cyprus","institution_ids":["https://openalex.org/I34771391"]},{"raw_affiliation_string":"Vision for Robotics Lab, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044506939","display_name":"Ignacio Alzugaray","orcid":"https://orcid.org/0000-0002-7121-0000"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ignacio Alzugaray","raw_affiliation_strings":["Department of Computing, Imperial College London, London, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computing, Imperial College London, London, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023441239","display_name":"Sai Manoj Prakhya","orcid":"https://orcid.org/0000-0001-7302-9865"},"institutions":[{"id":"https://openalex.org/I4210166625","display_name":"Huawei German Research Center","ror":"https://ror.org/00z59w514","country_code":"DE","type":"facility","lineage":["https://openalex.org/I2250955327","https://openalex.org/I4210129353","https://openalex.org/I4210166625"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sai Manoj Prakhya","raw_affiliation_strings":["Huawei Munich Research Center, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huawei Munich Research Center, Munich, Germany","institution_ids":["https://openalex.org/I4210166625"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036727775","display_name":"Marco Karrer","orcid":"https://orcid.org/0000-0003-0333-2054"},"institutions":[{"id":"https://openalex.org/I34771391","display_name":"University of Cyprus","ror":"https://ror.org/02qjrjx09","country_code":"CY","type":"education","lineage":["https://openalex.org/I34771391"]},{"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","CY"],"is_corresponding":false,"raw_author_name":"Marco Karrer","raw_affiliation_strings":["University of Cyprus, Nicosia, Cyprus","Vision for Robotics Lab, ETH Zurich, Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Cyprus, Nicosia, Cyprus","institution_ids":["https://openalex.org/I34771391"]},{"raw_affiliation_string":"Vision for Robotics Lab, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100702698","display_name":"Ziyuan Liu","orcid":"https://orcid.org/0000-0001-7164-088X"},"institutions":[{"id":"https://openalex.org/I4210166625","display_name":"Huawei German Research Center","ror":"https://ror.org/00z59w514","country_code":"DE","type":"facility","lineage":["https://openalex.org/I2250955327","https://openalex.org/I4210129353","https://openalex.org/I4210166625"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Ziyuan Liu","raw_affiliation_strings":["Huawei Munich Research Center, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huawei Munich Research Center, Munich, Germany","institution_ids":["https://openalex.org/I4210166625"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055582765","display_name":"Margarita Chli","orcid":"https://orcid.org/0000-0001-5611-7492"},"institutions":[{"id":"https://openalex.org/I34771391","display_name":"University of Cyprus","ror":"https://ror.org/02qjrjx09","country_code":"CY","type":"education","lineage":["https://openalex.org/I34771391"]},{"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","CY"],"is_corresponding":false,"raw_author_name":"Margarita Chli","raw_affiliation_strings":["University of Cyprus, Nicosia, Cyprus","Vision for Robotics Lab, ETH Zurich, Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Cyprus, Nicosia, Cyprus","institution_ids":["https://openalex.org/I34771391"]},{"raw_affiliation_string":"Vision for Robotics Lab, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":4,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5101493085"],"corresponding_institution_ids":["https://openalex.org/I34771391","https://openalex.org/I35440088"],"apc_list":{"value":2990,"currency":"USD","value_usd":2990},"apc_paid":{"value":2990,"currency":"USD","value_usd":2990},"fwci":3.1885,"has_fulltext":true,"cited_by_count":6,"citation_normalized_percentile":{"value":0.91447999,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"111","issue":"1","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9987000226974487,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9987000226974487,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9965000152587891,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6080639362335205},{"id":"https://openalex.org/keywords/loop","display_name":"Loop (graph theory)","score":0.5666019916534424},{"id":"https://openalex.org/keywords/closure","display_name":"Closure (psychology)","score":0.5174227952957153},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.439129501581192},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.35020631551742554},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2482292354106903},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.20547926425933838},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.20456093549728394},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.1391814947128296},{"id":"https://openalex.org/keywords/political-science","display_name":"Political science","score":0.06361353397369385}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6080639362335205},{"id":"https://openalex.org/C184670325","wikidata":"https://www.wikidata.org/wiki/Q512604","display_name":"Loop (graph theory)","level":2,"score":0.5666019916534424},{"id":"https://openalex.org/C146834321","wikidata":"https://www.wikidata.org/wiki/Q2979672","display_name":"Closure (psychology)","level":2,"score":0.5174227952957153},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.439129501581192},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35020631551742554},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2482292354106903},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.20547926425933838},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.20456093549728394},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.1391814947128296},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.06361353397369385},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/s10846-025-02223-6","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-025-02223-6","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10846-025-02223-6.pdf","source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent &amp; Robotic Systems","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2501.19382","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2501.19382","pdf_url":"https://arxiv.org/pdf/2501.19382","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,"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":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"doi:10.1007/s10846-025-02223-6","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-025-02223-6","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10846-025-02223-6.pdf","source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent &amp; Robotic Systems","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321652","display_name":"Eidgen\u00f6ssische Technische Hochschule Z\u00fcrich","ror":"https://ror.org/05a28rw58"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4406286863.pdf","grobid_xml":"https://content.openalex.org/works/W4406286863.grobid-xml"},"referenced_works_count":37,"referenced_works":["https://openalex.org/W1662382123","https://openalex.org/W1920022804","https://openalex.org/W1972485825","https://openalex.org/W1988322066","https://openalex.org/W2131821152","https://openalex.org/W2150066425","https://openalex.org/W2160821342","https://openalex.org/W2527172881","https://openalex.org/W2565998037","https://openalex.org/W2588091121","https://openalex.org/W2798278946","https://openalex.org/W2906943923","https://openalex.org/W2910489334","https://openalex.org/W2950642167","https://openalex.org/W2951019013","https://openalex.org/W2960305679","https://openalex.org/W2963708168","https://openalex.org/W2979750740","https://openalex.org/W2986519585","https://openalex.org/W2991216808","https://openalex.org/W3003991701","https://openalex.org/W3011465262","https://openalex.org/W3099455272","https://openalex.org/W3100687815","https://openalex.org/W3120082156","https://openalex.org/W3132982513","https://openalex.org/W3153131045","https://openalex.org/W3168086592","https://openalex.org/W3177271542","https://openalex.org/W3205251654","https://openalex.org/W3211389689","https://openalex.org/W4205574455","https://openalex.org/W4285147600","https://openalex.org/W4390874575","https://openalex.org/W6609649096","https://openalex.org/W6739901393","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W4319317934","https://openalex.org/W4406302447","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W3188333020"],"abstract_inverted_index":{"Abstract":[0],"In":[1],"this":[2],"paper,":[3],"we":[4,145,210],"propose":[5],"a":[6,48,54,107,120,134,147],"novel":[7],"loop":[8,122,154],"closure":[9,155],"detection":[10],"algorithm":[11,42,150,218],"that":[12,151,177],"uses":[13],"graph":[14,50,55,60,63,77,97,100,115,131,202],"attention":[15,64],"neural":[16],"networks":[17,65],"to":[18,22,31,66,94,118,198],"encode":[19,68],"semantic":[20,29,49,59,70,76,148,201,223],"graphs":[21],"perform":[23],"place":[24,40],"recognition":[25,41],"and":[26,53,71,91,106,158,183,219],"then":[27,84,111],"use":[28,85],"registration":[30,149,224],"estimate":[32],"the":[33,75,79,103,114,126,129,160,167,193,199,205,208,212],"6":[34,162],"DoF":[35,163],"relative":[36,161],"pose":[37,164],"constraint.":[38],"Our":[39],"has":[43],"two":[44,130],"key":[45],"modules,":[46],"namely,":[47],"encoder":[51,61],"module":[52,117],"comparison":[56,116],"module.":[57],"The":[58,99],"employs":[62],"efficiently":[67],"spatial,":[69],"geometric":[72],"information":[73],"from":[74],"of":[78,102,128,207,215,222],"input":[80],"point":[81],"cloud.":[82],"We":[83],"self-attention":[86],"mechanism":[87],"in":[88,113,137,141,153,188],"both":[89],"node-embedding":[90],"graph-embedding":[92],"steps":[93],"create":[95],"distinctive":[96],"vectors.":[98],"vectors":[101,132],"current":[104],"scan":[105,109],"keyframe":[108],"are":[110],"compared":[112,197],"identify":[119],"possible":[121],"closure.":[123],"Specifically,":[124],"employing":[125],"difference":[127],"showed":[133],"significant":[135],"improvement":[136,187],"performance,":[138],"as":[139],"shown":[140],"ablation":[142],"studies.":[143],"Lastly,":[144],"implemented":[146],"takes":[152],"candidate":[156],"scans":[157],"estimates":[159],"constraint":[165],"for":[166],"LiDAR":[168],"SLAM":[169],"system.":[170],"Extensive":[171],"evaluation":[172],"on":[173,192],"public":[174],"datasets":[175],"shows":[176],"our":[178,216],"model":[179],"is":[180],"more":[181],"accurate":[182],"robust,":[184],"achieving":[185],"13%":[186],"maximum":[189],"F1":[190],"score":[191],"SemanticKITTI":[194],"dataset,":[195],"when":[196],"baseline":[200],"algorithm.":[203],"For":[204],"benefit":[206],"community,":[209],"open-source":[211],"complete":[213],"implementation":[214,221],"proposed":[217],"custom":[220],"at":[225],"https://github.com/crepuscularlight/SemanticLoopClosure":[226],".":[227]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":2}],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2025-10-10T00:00:00"}
