{"id":"https://openalex.org/W3214941241","doi":"https://doi.org/10.1109/crc52766.2021.9620172","title":"Efficient Loop Closure Detection Method for Lidar SLAM in Challenging Environment","display_name":"Efficient Loop Closure Detection Method for Lidar SLAM in Challenging Environment","publication_year":2021,"publication_date":"2021-10-09","ids":{"openalex":"https://openalex.org/W3214941241","doi":"https://doi.org/10.1109/crc52766.2021.9620172","mag":"3214941241"},"language":"en","primary_location":{"id":"doi:10.1109/crc52766.2021.9620172","is_oa":false,"landing_page_url":"https://doi.org/10.1109/crc52766.2021.9620172","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 6th International Conference on Control, Robotics and Cybernetics (CRC)","raw_type":"proceedings-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/A5100447990","display_name":"Yang Li","orcid":"https://orcid.org/0000-0003-1682-0284"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yang Li","raw_affiliation_strings":["Institute of Robotics and Automatic Information System, Nankai University, China"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, Nankai University, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003316082","display_name":"Wanbiao Lin","orcid":"https://orcid.org/0009-0006-7170-7718"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wanbiao Lin","raw_affiliation_strings":["Institute of Robotics and Automatic Information System, Nankai University, China"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, Nankai University, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016133693","display_name":"Tianjun Zha","orcid":null},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tianjun Zha","raw_affiliation_strings":["Institute of Robotics and Automatic Information System, Nankai University, China"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, Nankai University, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032290218","display_name":"Zhenghong Jiang","orcid":"https://orcid.org/0000-0002-0554-1848"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenghong Jiang","raw_affiliation_strings":["Institute of Robotics and Automatic Information System, Nankai University, China"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, Nankai University, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020002561","display_name":"Pei-Wen Li","orcid":"https://orcid.org/0000-0001-7305-0883"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peiwen Li","raw_affiliation_strings":["Institute of Robotics and Automatic Information System, Nankai University, China"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, Nankai University, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021631382","display_name":"Lei Sun","orcid":"https://orcid.org/0000-0002-8886-9012"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Sun","raw_affiliation_strings":["Institute of Robotics and Automatic Information System, Nankai University, China"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, Nankai University, China","institution_ids":["https://openalex.org/I205237279"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5100447990"],"corresponding_institution_ids":["https://openalex.org/I205237279"],"apc_list":null,"apc_paid":null,"fwci":1.36,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.85187617,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"36","issue":null,"first_page":"196","last_page":"199"},"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9988999962806702,"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"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9975000023841858,"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/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.8671254515647888},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.8569443225860596},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6985110640525818},{"id":"https://openalex.org/keywords/closure","display_name":"Closure (psychology)","score":0.676456093788147},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.6566909551620483},{"id":"https://openalex.org/keywords/loop","display_name":"Loop (graph theory)","score":0.6062742471694946},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.5595382452011108},{"id":"https://openalex.org/keywords/for-loop","display_name":"For loop","score":0.5541203618049622},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5517678260803223},{"id":"https://openalex.org/keywords/reliability","display_name":"Reliability (semiconductor)","score":0.5434094667434692},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4787273108959198},{"id":"https://openalex.org/keywords/series","display_name":"Series (stratigraphy)","score":0.4403214454650879},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.27915269136428833},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17076927423477173},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.16717708110809326},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.15480175614356995},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.11341577768325806}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.8671254515647888},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.8569443225860596},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6985110640525818},{"id":"https://openalex.org/C146834321","wikidata":"https://www.wikidata.org/wiki/Q2979672","display_name":"Closure (psychology)","level":2,"score":0.676456093788147},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.6566909551620483},{"id":"https://openalex.org/C184670325","wikidata":"https://www.wikidata.org/wiki/Q512604","display_name":"Loop (graph theory)","level":2,"score":0.6062742471694946},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.5595382452011108},{"id":"https://openalex.org/C2779624466","wikidata":"https://www.wikidata.org/wiki/Q838119","display_name":"For loop","level":3,"score":0.5541203618049622},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5517678260803223},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.5434094667434692},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4787273108959198},{"id":"https://openalex.org/C143724316","wikidata":"https://www.wikidata.org/wiki/Q312468","display_name":"Series (stratigraphy)","level":2,"score":0.4403214454650879},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.27915269136428833},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17076927423477173},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.16717708110809326},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.15480175614356995},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.11341577768325806},{"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/crc52766.2021.9620172","is_oa":false,"landing_page_url":"https://doi.org/10.1109/crc52766.2021.9620172","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 6th International Conference on Control, Robotics and Cybernetics (CRC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.7300000190734863}],"awards":[],"funders":[{"id":"https://openalex.org/F4320337504","display_name":"Research and Development","ror":"https://ror.org/027s68j25"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1567242735","https://openalex.org/W2049981393","https://openalex.org/W2131439959","https://openalex.org/W2132311402","https://openalex.org/W2277848489","https://openalex.org/W2565998037","https://openalex.org/W2798278946","https://openalex.org/W2909908358","https://openalex.org/W2910489334","https://openalex.org/W2951019013","https://openalex.org/W2963708168","https://openalex.org/W3129245057"],"related_works":["https://openalex.org/W4212966960","https://openalex.org/W3196708299","https://openalex.org/W3126674423","https://openalex.org/W4238322187","https://openalex.org/W2114948246","https://openalex.org/W4388936814","https://openalex.org/W3165205231","https://openalex.org/W4256122319","https://openalex.org/W1596526459","https://openalex.org/W1988070942"],"abstract_inverted_index":{"With":[0],"the":[1,50,64,84,96,99],"development":[2],"of":[3,90,98],"automatic":[4],"driving":[5],"cars,":[6],"simultaneous":[7],"localization":[8,32],"and":[9,33],"mapping":[10],"(SLAM)":[11],"becomes":[12],"a":[13,72],"widely":[14],"discussed":[15],"topic.":[16],"Loop":[17],"closure":[18,42,76],"detection,":[19],"as":[20],"an":[21],"important":[22],"module":[23],"in":[24,60],"lidar":[25,37,73],"slam,":[26],"can":[27],"provide":[28],"strong":[29],"constraint":[30],"for":[31],"mapping.":[34],"In":[35,69],"classical":[36],"SLAM":[38,74],"algorithm,":[39],"traditional":[40],"loop":[41,75],"detection":[43,77],"method":[44,78],"often":[45],"fails":[46],"to":[47,82,94],"find":[48],"out":[49],"matching":[51],"nodes,":[52],"or":[53,66],"even":[54],"has":[55],"false":[56],"positive":[57],"results,":[58],"especially":[59],"challenging":[61],"environment":[62],"like":[63],"crossroads":[65],"sharp":[67],"turns.":[68],"this":[70],"paper,":[71],"using":[79],"adjacent":[80],"nodes":[81],"check":[83],"reliability":[85],"is":[86,92],"introduced.":[87],"A":[88],"series":[89],"experiments":[91],"implemented":[93],"verify":[95],"effectiveness":[97],"method.":[100]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
