{"id":"https://openalex.org/W2971297590","doi":"https://doi.org/10.1109/access.2019.2937967","title":"Loop Closure Detection Via Maximization of Mutual Information","display_name":"Loop Closure Detection Via Maximization of Mutual Information","publication_year":2019,"publication_date":"2019-01-01","ids":{"openalex":"https://openalex.org/W2971297590","doi":"https://doi.org/10.1109/access.2019.2937967","mag":"2971297590"},"language":"en","primary_location":{"id":"doi:10.1109/access.2019.2937967","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2937967","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08817938.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"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":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08817938.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5044203241","display_name":"Ge ZHANG","orcid":"https://orcid.org/0000-0003-4694-5221"},"institutions":[{"id":"https://openalex.org/I38877650","display_name":"Zhengzhou University","ror":"https://ror.org/04ypx8c21","country_code":"CN","type":"education","lineage":["https://openalex.org/I38877650"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ge Zhang","raw_affiliation_strings":["School of Information Engineering, Zhengzhou University, Zhengzhou, China"],"raw_orcid":"https://orcid.org/0000-0003-4694-5221","affiliations":[{"raw_affiliation_string":"School of Information Engineering, Zhengzhou University, Zhengzhou, China","institution_ids":["https://openalex.org/I38877650"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087316018","display_name":"Xiaoqiang Yan","orcid":"https://orcid.org/0000-0002-0002-9300"},"institutions":[{"id":"https://openalex.org/I38877650","display_name":"Zhengzhou University","ror":"https://ror.org/04ypx8c21","country_code":"CN","type":"education","lineage":["https://openalex.org/I38877650"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoqiang Yan","raw_affiliation_strings":["School of Information Engineering, Zhengzhou University, Zhengzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-0002-9300","affiliations":[{"raw_affiliation_string":"School of Information Engineering, Zhengzhou University, Zhengzhou, China","institution_ids":["https://openalex.org/I38877650"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045940041","display_name":"Yangdong Ye","orcid":"https://orcid.org/0000-0001-7027-8313"},"institutions":[{"id":"https://openalex.org/I38877650","display_name":"Zhengzhou University","ror":"https://ror.org/04ypx8c21","country_code":"CN","type":"education","lineage":["https://openalex.org/I38877650"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yangdong Ye","raw_affiliation_strings":["School of Information Engineering, Zhengzhou University, Zhengzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Engineering, Zhengzhou University, Zhengzhou, China","institution_ids":["https://openalex.org/I38877650"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I38877650"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.9142,"has_fulltext":true,"cited_by_count":16,"citation_normalized_percentile":{"value":0.79413617,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"7","issue":null,"first_page":"124217","last_page":"124232"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9998999834060669,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9998999834060669,"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":0.9994000196456909,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9973000288009644,"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/computer-science","display_name":"Computer science","score":0.807282567024231},{"id":"https://openalex.org/keywords/information-bottleneck-method","display_name":"Information bottleneck method","score":0.7367796897888184},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6537379026412964},{"id":"https://openalex.org/keywords/cluster-analysis","display_name":"Cluster analysis","score":0.6463178396224976},{"id":"https://openalex.org/keywords/vocabulary","display_name":"Vocabulary","score":0.6268318295478821},{"id":"https://openalex.org/keywords/bottleneck","display_name":"Bottleneck","score":0.6152045726776123},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.5883824825286865},{"id":"https://openalex.org/keywords/bag-of-words-model","display_name":"Bag-of-words model","score":0.5711932182312012},{"id":"https://openalex.org/keywords/bag-of-words-model-in-computer-vision","display_name":"Bag-of-words model in computer vision","score":0.544805645942688},{"id":"https://openalex.org/keywords/mutual-information","display_name":"Mutual information","score":0.5349861979484558},{"id":"https://openalex.org/keywords/discriminative-model","display_name":"Discriminative model","score":0.525146484375},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.514798104763031},{"id":"https://openalex.org/keywords/closure","display_name":"Closure (psychology)","score":0.47698432207107544},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4760831892490387},{"id":"https://openalex.org/keywords/maximization","display_name":"Maximization","score":0.4474569857120514},{"id":"https://openalex.org/keywords/visual-word","display_name":"Visual Word","score":0.3664783537387848},{"id":"https://openalex.org/keywords/image-retrieval","display_name":"Image retrieval","score":0.276218056678772},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.2659338712692261},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13774755597114563}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.807282567024231},{"id":"https://openalex.org/C60008888","wikidata":"https://www.wikidata.org/wiki/Q6031013","display_name":"Information bottleneck method","level":3,"score":0.7367796897888184},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6537379026412964},{"id":"https://openalex.org/C73555534","wikidata":"https://www.wikidata.org/wiki/Q622825","display_name":"Cluster analysis","level":2,"score":0.6463178396224976},{"id":"https://openalex.org/C2777601683","wikidata":"https://www.wikidata.org/wiki/Q6499736","display_name":"Vocabulary","level":2,"score":0.6268318295478821},{"id":"https://openalex.org/C2780513914","wikidata":"https://www.wikidata.org/wiki/Q18210350","display_name":"Bottleneck","level":2,"score":0.6152045726776123},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.5883824825286865},{"id":"https://openalex.org/C13672336","wikidata":"https://www.wikidata.org/wiki/Q3460803","display_name":"Bag-of-words model","level":2,"score":0.5711932182312012},{"id":"https://openalex.org/C167611913","wikidata":"https://www.wikidata.org/wiki/Q6884747","display_name":"Bag-of-words model in computer vision","level":5,"score":0.544805645942688},{"id":"https://openalex.org/C152139883","wikidata":"https://www.wikidata.org/wiki/Q252973","display_name":"Mutual information","level":2,"score":0.5349861979484558},{"id":"https://openalex.org/C97931131","wikidata":"https://www.wikidata.org/wiki/Q5282087","display_name":"Discriminative model","level":2,"score":0.525146484375},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.514798104763031},{"id":"https://openalex.org/C146834321","wikidata":"https://www.wikidata.org/wiki/Q2979672","display_name":"Closure (psychology)","level":2,"score":0.47698432207107544},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4760831892490387},{"id":"https://openalex.org/C2776330181","wikidata":"https://www.wikidata.org/wiki/Q18358244","display_name":"Maximization","level":2,"score":0.4474569857120514},{"id":"https://openalex.org/C189391414","wikidata":"https://www.wikidata.org/wiki/Q7936579","display_name":"Visual Word","level":4,"score":0.3664783537387848},{"id":"https://openalex.org/C1667742","wikidata":"https://www.wikidata.org/wiki/Q10927554","display_name":"Image retrieval","level":3,"score":0.276218056678772},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.2659338712692261},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13774755597114563},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","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/C34447519","wikidata":"https://www.wikidata.org/wiki/Q179522","display_name":"Market economy","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.0},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2019.2937967","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2937967","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08817938.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"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":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:93058e5b2eb04d48b69995d4d1b1dc0c","is_oa":true,"landing_page_url":"https://doaj.org/article/93058e5b2eb04d48b69995d4d1b1dc0c","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 7, Pp 124217-124232 (2019)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2019.2937967","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2937967","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08817938.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"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":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Reduced inequalities","id":"https://metadata.un.org/sdg/10","score":0.6600000262260437}],"awards":[{"id":"https://openalex.org/G1130850028","display_name":"\u4f20\u64adIB\u65b9\u6cd5\u7684\u7814\u7a76","funder_award_id":"61772475","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5864712452","display_name":null,"funder_award_id":"2018YFB1201403","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G935856259","display_name":null,"funder_award_id":"2018YFB1201403","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2971297590.pdf","grobid_xml":"https://content.openalex.org/works/W2971297590.grobid-xml"},"referenced_works_count":66,"referenced_works":["https://openalex.org/W205822829","https://openalex.org/W301022506","https://openalex.org/W1491719799","https://openalex.org/W1532362218","https://openalex.org/W1545101416","https://openalex.org/W1677409904","https://openalex.org/W1972442292","https://openalex.org/W1974093076","https://openalex.org/W1989484209","https://openalex.org/W1995680626","https://openalex.org/W2010425028","https://openalex.org/W2024201805","https://openalex.org/W2025378546","https://openalex.org/W2033819227","https://openalex.org/W2060314721","https://openalex.org/W2069479606","https://openalex.org/W2082313107","https://openalex.org/W2087718299","https://openalex.org/W2097696373","https://openalex.org/W2105610271","https://openalex.org/W2115579991","https://openalex.org/W2117228865","https://openalex.org/W2120811937","https://openalex.org/W2125070513","https://openalex.org/W2126338813","https://openalex.org/W2128017662","https://openalex.org/W2131846894","https://openalex.org/W2131901295","https://openalex.org/W2133455944","https://openalex.org/W2144824356","https://openalex.org/W2151103935","https://openalex.org/W2152671441","https://openalex.org/W2158229939","https://openalex.org/W2186561432","https://openalex.org/W2284029970","https://openalex.org/W2290577462","https://openalex.org/W2396274919","https://openalex.org/W2473618152","https://openalex.org/W2529784951","https://openalex.org/W2553340845","https://openalex.org/W2565392216","https://openalex.org/W2572479999","https://openalex.org/W2605025694","https://openalex.org/W2742206071","https://openalex.org/W2742903190","https://openalex.org/W2765641321","https://openalex.org/W2780958801","https://openalex.org/W2785901219","https://openalex.org/W2801217509","https://openalex.org/W2884962765","https://openalex.org/W2903355354","https://openalex.org/W2914616910","https://openalex.org/W2914993068","https://openalex.org/W2920873876","https://openalex.org/W2963971338","https://openalex.org/W3021282624","https://openalex.org/W6608492817","https://openalex.org/W6629564929","https://openalex.org/W6631707545","https://openalex.org/W6632815874","https://openalex.org/W6636954309","https://openalex.org/W6637400245","https://openalex.org/W6677308130","https://openalex.org/W6731854262","https://openalex.org/W6747753932","https://openalex.org/W7033622795"],"related_works":["https://openalex.org/W1615295117","https://openalex.org/W2158102958","https://openalex.org/W2035094092","https://openalex.org/W2277784908","https://openalex.org/W2045213079","https://openalex.org/W2938717424","https://openalex.org/W2587721114","https://openalex.org/W2518262377","https://openalex.org/W2032791227","https://openalex.org/W2179703327"],"abstract_inverted_index":{"An":[0],"image":[1],"can":[2],"be":[3],"described":[4],"in":[5,17,47,56,110,189],"terms":[6],"of":[7,10,81,121,139,168,176],"appearance":[8],"frequency":[9],"visual":[11,95,104],"words.":[12],"This":[13],"representation":[14],"is":[15,148],"implemented":[16],"bag-of-visual-words":[18],"(BoVW)-based":[19],"loop":[20,142,192],"closure":[21,143,193],"detection":[22],"for":[23,94],"its":[24],"efficiency":[25],"and":[26,50,133,135,195],"effectiveness.":[27],"However,":[28],"traditional":[29,140],"BoVW-based":[30,141],"approaches":[31],"are":[32,89,180],"strongly":[33],"affected":[34],"by":[35,44,77],"false":[36],"positive":[37],"loops":[38,55],"due":[39],"to":[40,52,163,183],"scene":[41],"ambiguity":[42],"caused":[43],"redundant":[45],"words":[46,105],"the":[48,79,107,125,137,166,174,181],"vocabulary":[49,68,96,111],"fail":[51],"detect":[53],"bidirectional":[54,171],"monocular":[57],"mode.":[58],"Aiming":[59],"at":[60],"overcoming":[61],"these":[62],"problems,":[63],"we":[64,179,196],"propose":[65],"a":[66,119,129,160],"novel":[67],"construction":[69],"algorithm":[70],"named":[71],"hierarchical":[72],"sequential":[73],"information":[74,83,185],"bottleneck":[75,186],"(HsIB)":[76],"leveraging":[78],"maximization":[80],"mutual":[82],"(MMI)":[84],"mechanism.":[85],"First,":[86],"feature":[87,115],"descriptors":[88,116],"extracted":[90],"from":[91],"training":[92],"images":[93],"construction.":[97],"Second,":[98],"HsIB":[99,169],"extracts":[100],"discriminative":[101],"yet":[102],"informative":[103],"through":[106],"MMI":[108],"mechanism":[109],"construction,":[112],"which":[113],"treats":[114],"clustering":[117,126],"as":[118],"process":[120,127],"data":[122],"compression.":[123],"Finally,":[124],"reaches":[128],"tradeoff":[130],"between":[131],"compactness":[132],"discrimination":[134],"improves":[136],"performance":[138,167],"detection.":[144],"The":[145],"proposed":[146],"method":[147,188],"compared":[149],"with":[150],"state-of-the-art":[151],"methods":[152],"on":[153,170],"publicly":[154],"available":[155],"datasets.":[156],"We":[157],"also":[158],"create":[159],"challenging":[161],"dataset":[162],"further":[164],"evaluate":[165],"loops.":[172],"To":[173],"best":[175],"our":[177],"knowledge,":[178],"first":[182],"implement":[184],"(IB)":[187],"visual-SLAM":[190],"(vSLAM)":[191],"detection,":[194],"obtain":[197],"impressive":[198],"results.":[199]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":6}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
