{"id":"https://openalex.org/W4224436102","doi":"https://doi.org/10.1017/s0263574722000613","title":"Stable keypoints selection for 2D LiDAR based place recognition with map data reduction","display_name":"Stable keypoints selection for 2D LiDAR based place recognition with map data reduction","publication_year":2022,"publication_date":"2022-04-25","ids":{"openalex":"https://openalex.org/W4224436102","doi":"https://doi.org/10.1017/s0263574722000613"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574722000613","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574722000613","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"type":"article","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/A5080683564","display_name":"Lounis Douadi","orcid":"https://orcid.org/0000-0002-1318-2558"},"institutions":[{"id":"https://openalex.org/I4210108118","display_name":"Laboratoire d'Informatique, du Traitement de l'Information et des Syst\u00e8mes","ror":"https://ror.org/01f1vfy95","country_code":"FR","type":"facility","lineage":["https://openalex.org/I141576021","https://openalex.org/I4210105918","https://openalex.org/I4210105918","https://openalex.org/I4210105918","https://openalex.org/I4210108118","https://openalex.org/I62396329","https://openalex.org/I88814501"]},{"id":"https://openalex.org/I62396329","display_name":"Universit\u00e9 de Rouen Normandie","ror":"https://ror.org/03nhjew95","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210105918","https://openalex.org/I62396329"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Lounis Douadi","raw_affiliation_strings":["Universit\u00e9 de Rouen Normandie, LITIS (laboratoire d\u2019informatique, du traitement de l\u2019information et des syst\u00e8mes), Saint-\u00c9tienne-du-Rouvray76800, France","Universit\u00e9 de Rouen Normandie, LITIS (laboratoire d'informatique, du traitement de l'information et des syst\u00e8mes), Saint-\u00c9tienne-du-Rouvray76800, France"],"raw_orcid":"https://orcid.org/0000-0002-1318-2558","affiliations":[{"raw_affiliation_string":"Universit\u00e9 de Rouen Normandie, LITIS (laboratoire d\u2019informatique, du traitement de l\u2019information et des syst\u00e8mes), Saint-\u00c9tienne-du-Rouvray76800, France","institution_ids":["https://openalex.org/I4210108118","https://openalex.org/I62396329"]},{"raw_affiliation_string":"Universit\u00e9 de Rouen Normandie, LITIS (laboratoire d'informatique, du traitement de l'information et des syst\u00e8mes), Saint-\u00c9tienne-du-Rouvray76800, France","institution_ids":["https://openalex.org/I4210108118","https://openalex.org/I62396329"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018852344","display_name":"Yohan Dupuis","orcid":"https://orcid.org/0000-0002-9725-2049"},"institutions":[{"id":"https://openalex.org/I4210155362","display_name":"Centre d'Etudes Superieures Industrielles","ror":"https://ror.org/04f87d812","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210155362"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Yohan Dupuis","raw_affiliation_strings":["CESI (centre des \u00e9tudes sup\u00e9rieures industrielles), LINEACT (laboratoire d\u2019innovation num\u00e9rique pour les entreprises et les apprentissages au service de la comp\u00e9titivit\u00e9 des territoires), Paris La D\u00e9fense92074, France","CESI (centre des \u00e9tudes sup\u00e9rieures industrielles), LINEACT (laboratoire d'innovation num\u00e9rique pour les entreprises et les apprentissages au service de la comp\u00e9titivit\u00e9 des territoires), Paris La D\u00e9fense92074, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CESI (centre des \u00e9tudes sup\u00e9rieures industrielles), LINEACT (laboratoire d\u2019innovation num\u00e9rique pour les entreprises et les apprentissages au service de la comp\u00e9titivit\u00e9 des territoires), Paris La D\u00e9fense92074, France","institution_ids":["https://openalex.org/I4210155362"]},{"raw_affiliation_string":"CESI (centre des \u00e9tudes sup\u00e9rieures industrielles), LINEACT (laboratoire d'innovation num\u00e9rique pour les entreprises et les apprentissages au service de la comp\u00e9titivit\u00e9 des territoires), Paris La D\u00e9fense92074, France","institution_ids":["https://openalex.org/I4210155362"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010705731","display_name":"Pascal Vasseur","orcid":"https://orcid.org/0000-0001-5145-9653"},"institutions":[{"id":"https://openalex.org/I4401200318","display_name":"Mod\u00e9lisation, information et syst\u00e8mes","ror":"https://ror.org/05w9qrp28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I4401200318","https://openalex.org/I4647051"]},{"id":"https://openalex.org/I4647051","display_name":"Universit\u00e9 de Picardie Jules Verne","ror":"https://ror.org/01gyxrk03","country_code":"FR","type":"education","lineage":["https://openalex.org/I4647051"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Pascal Vasseur","raw_affiliation_strings":["Universit\u00e9 de Picardie Jules Verne, Laboratoire MIS (mod\u00e9lisation, information, syst\u00e8mes), Amiens80080, France"],"raw_orcid":"https://orcid.org/0000-0001-5145-9653","affiliations":[{"raw_affiliation_string":"Universit\u00e9 de Picardie Jules Verne, Laboratoire MIS (mod\u00e9lisation, information, syst\u00e8mes), Amiens80080, France","institution_ids":["https://openalex.org/I4401200318","https://openalex.org/I4647051"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5080683564"],"corresponding_institution_ids":["https://openalex.org/I4210108118","https://openalex.org/I62396329"],"apc_list":null,"apc_paid":null,"fwci":2.409,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.91241973,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":97},"biblio":{"volume":"40","issue":"11","first_page":"3786","last_page":"3810"},"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/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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.996399998664856,"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/lidar","display_name":"Lidar","score":0.7793498635292053},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.681627631187439},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6545150279998779},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.5747001767158508},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5586597323417664},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.554629921913147},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.5282116532325745},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4949576258659363},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4839811325073242},{"id":"https://openalex.org/keywords/reduction","display_name":"Reduction (mathematics)","score":0.4800880551338196},{"id":"https://openalex.org/keywords/data-set","display_name":"Data set","score":0.4393084943294525},{"id":"https://openalex.org/keywords/raw-data","display_name":"Raw data","score":0.4149034917354584},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.22950860857963562},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21853631734848022},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.19878453016281128},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.09826961159706116},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.09038463234901428}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7793498635292053},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.681627631187439},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6545150279998779},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.5747001767158508},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5586597323417664},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.554629921913147},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.5282116532325745},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4949576258659363},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4839811325073242},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.4800880551338196},{"id":"https://openalex.org/C58489278","wikidata":"https://www.wikidata.org/wiki/Q1172284","display_name":"Data set","level":2,"score":0.4393084943294525},{"id":"https://openalex.org/C132964779","wikidata":"https://www.wikidata.org/wiki/Q2110223","display_name":"Raw data","level":2,"score":0.4149034917354584},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.22950860857963562},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21853631734848022},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.19878453016281128},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.09826961159706116},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.09038463234901428},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1017/s0263574722000613","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574722000613","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},{"id":"pmh:oai:HAL:hal-04010522v1","is_oa":false,"landing_page_url":"https://u-picardie.hal.science/hal-04010522","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotica, 2022, 40 (11), pp.3786-3810. ⟨10.1017/S0263574722000613⟩","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W28693139","https://openalex.org/W88158065","https://openalex.org/W1604146846","https://openalex.org/W1677409904","https://openalex.org/W1897550784","https://openalex.org/W1964608672","https://openalex.org/W1974093076","https://openalex.org/W1976809435","https://openalex.org/W2007870360","https://openalex.org/W2045162826","https://openalex.org/W2049981393","https://openalex.org/W2052014837","https://openalex.org/W2071571922","https://openalex.org/W2085120503","https://openalex.org/W2085261163","https://openalex.org/W2108833445","https://openalex.org/W2110405746","https://openalex.org/W2128017662","https://openalex.org/W2131821152","https://openalex.org/W2144824356","https://openalex.org/W2157315715","https://openalex.org/W2162536300","https://openalex.org/W2435294582","https://openalex.org/W2580035297","https://openalex.org/W2737165983","https://openalex.org/W2909294673","https://openalex.org/W3033220023","https://openalex.org/W3083656528"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4281783339","https://openalex.org/W4212966960","https://openalex.org/W3196708299","https://openalex.org/W3126674423","https://openalex.org/W1493121153","https://openalex.org/W3164494351","https://openalex.org/W2393109664"],"abstract_inverted_index":{"Abstract":[0],"This":[1],"paper":[2],"presents":[3],"a":[4,30,63,75,93,101,121,138,175,216],"new":[5],"feature":[6],"based":[7],"approach":[8,79,199,230],"for":[9],"place":[10,55,111,243],"recognition":[11,56,131,186,244],"using":[12,151,202,222],"2D":[13],"LiDAR":[14,42,58],"(Light":[15],"Detection":[16],"And":[17],"Ranging)":[18],"data.":[19,153],"The":[20,115,219],"main":[21],"contribution":[22,169],"lies":[23],"in":[24,86,109,133,183,205,215],"the":[25,81,110,127,144,162,195,198,206],"mapping":[26],"process.":[27],"It":[28,173],"includes":[29],"keypoint":[31],"selection":[32],"strategy":[33],"to":[34,47,237,247],"model":[35,112],"places":[36],"with":[37,62,98],"persistent":[38],"keypoints":[39,67,85,97,180],"from":[40,70],"concatenated":[41,61],"scans.":[43],"Our":[44],"objective":[45],"is":[46,117,161,200],"achieve":[48],"map":[49,233],"data":[50,204,225,234],"reduction":[51,235],"while":[52,240],"maintaining":[53,241],"good":[54,242],"performace.":[57],"scans":[59],"are":[60,68,107,149,181,189],"registration":[64],"algorithm":[65],"and":[66,211],"extracted":[69],"each":[71,87],"scan.":[72],"Based":[73],"on":[74,177],"regular":[76],"grid,":[77],"our":[78,171,229],"measures":[80],"occurrence":[82],"of":[83,89,123,170,208],"similar":[84],"region":[88],"interest":[90],"defined":[91],"by":[92,137],"grid":[94],"cell.":[95],"Only":[96],"occurrences":[99],"beyond":[100],"threshold,":[102],"qualified":[103],"as":[104,120],"stable":[105],"keypoints,":[106],"kept":[108],"called":[113],"submap.":[114],"environment":[116],"therefore":[118],"modeled":[119],"collection":[122],"submaps,":[124],"which":[125,160,166],"constitutes":[126],"global":[128,192,209],"map.":[129],"Place":[130,185],"consists":[132],"submap":[134],"matching":[135],"followed":[136],"two":[139],"steps":[140],"geometric":[141],"verification.":[142],"In":[143,194],"first":[145],"stage,":[146,197],"optimal":[147,187],"parameters":[148,155,188],"set":[150,190],"corrected":[152],"Mapping":[154],"satisfy":[156],"six":[157],"criteria":[158],"among":[159],"spatial":[163],"distribution":[164],"distance,":[165],"represents":[167],"another":[168],"work.":[172],"gives":[174],"measure":[176],"how":[178],"well":[179],"distributed":[182],"space.":[184],"through":[191],"localization.":[193],"second":[196],"evaluated":[201],"raw":[203],"contexts":[207],"localization,":[210],"loop":[212],"closure":[213],"detection":[214],"SLAM":[217],"framework.":[218],"results":[220],"obtained":[221],"popular":[223],"real":[224],"sets":[226],"show":[227],"that":[228],"achieves":[231],"significant":[232],"(up":[236],"$92\\%$":[238],")":[239],"performance,":[245],"comparable":[246],"state-of-the-art":[248],"methods.":[249]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}