{"id":"https://openalex.org/W2123628525","doi":"https://doi.org/10.1109/cvprw.2008.4563140","title":"Experiments on visual loop closing using vocabulary trees","display_name":"Experiments on visual loop closing using vocabulary trees","publication_year":2008,"publication_date":"2008-06-01","ids":{"openalex":"https://openalex.org/W2123628525","doi":"https://doi.org/10.1109/cvprw.2008.4563140","mag":"2123628525"},"language":"en","primary_location":{"id":"doi:10.1109/cvprw.2008.4563140","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cvprw.2008.4563140","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops","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/A5107310762","display_name":"Ankita Kumar","orcid":null},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ankita Kumar","raw_affiliation_strings":["Grasp Laboratory, University of Pennsylvania, Philadelphia, PA, USA","GRASP Lab., Univ. of Pennsylvania, Philadelphia, PA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Grasp Laboratory, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"GRASP Lab., Univ. of Pennsylvania, Philadelphia, PA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108493895","display_name":"Jean\u2010Philippe Tardif","orcid":null},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jean-Philippe Tardif","raw_affiliation_strings":["Grasp Laboratory, University of Pennsylvania, Philadelphia, PA, USA","GRASP Lab., Univ. of Pennsylvania, Philadelphia, PA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Grasp Laboratory, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"GRASP Lab., Univ. of Pennsylvania, Philadelphia, PA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005416543","display_name":"Roy Anati","orcid":null},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Roy Anati","raw_affiliation_strings":["Grasp Laboratory, University of Pennsylvania, Philadelphia, PA, USA","GRASP Lab., Univ. of Pennsylvania, Philadelphia, PA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Grasp Laboratory, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"GRASP Lab., Univ. of Pennsylvania, Philadelphia, PA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050660826","display_name":"Kostas Daniilidis","orcid":"https://orcid.org/0000-0003-0498-0758"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kostas Daniilidis","raw_affiliation_strings":["Grasp Laboratory, University of Pennsylvania, Philadelphia, PA, USA","GRASP Lab., Univ. of Pennsylvania, Philadelphia, PA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Grasp Laboratory, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"GRASP Lab., Univ. of Pennsylvania, Philadelphia, PA","institution_ids":["https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.775,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.86574044,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"52","issue":null,"first_page":"1","last_page":"8"},"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":0.9994999766349792,"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":0.9994999766349792,"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":0.9987000226974487,"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":0.9934999942779541,"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/closing","display_name":"Closing (real estate)","score":0.7597864866256714},{"id":"https://openalex.org/keywords/vocabulary","display_name":"Vocabulary","score":0.6764934062957764},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6283613443374634},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.6231509447097778},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5955178141593933},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.5610314011573792},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.5349582433700562},{"id":"https://openalex.org/keywords/loop","display_name":"Loop (graph theory)","score":0.4879983961582184},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.44310030341148376},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.40933677554130554},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24730387330055237},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.15729203820228577}],"concepts":[{"id":"https://openalex.org/C2778775528","wikidata":"https://www.wikidata.org/wiki/Q5135432","display_name":"Closing (real estate)","level":2,"score":0.7597864866256714},{"id":"https://openalex.org/C2777601683","wikidata":"https://www.wikidata.org/wiki/Q6499736","display_name":"Vocabulary","level":2,"score":0.6764934062957764},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6283613443374634},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.6231509447097778},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5955178141593933},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.5610314011573792},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.5349582433700562},{"id":"https://openalex.org/C184670325","wikidata":"https://www.wikidata.org/wiki/Q512604","display_name":"Loop (graph theory)","level":2,"score":0.4879983961582184},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.44310030341148376},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.40933677554130554},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24730387330055237},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.15729203820228577},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"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/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cvprw.2008.4563140","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cvprw.2008.4563140","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8199999928474426,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1537346575","https://openalex.org/W1891947214","https://openalex.org/W1982452847","https://openalex.org/W2036622632","https://openalex.org/W2056132907","https://openalex.org/W2104170135","https://openalex.org/W2105224953","https://openalex.org/W2109635530","https://openalex.org/W2115106482","https://openalex.org/W2115584962","https://openalex.org/W2115601136","https://openalex.org/W2120353515","https://openalex.org/W2124404372","https://openalex.org/W2128017662","https://openalex.org/W2133048394","https://openalex.org/W2134556823","https://openalex.org/W2151103935","https://openalex.org/W2156598602","https://openalex.org/W2164549458","https://openalex.org/W4256017923","https://openalex.org/W6632034358","https://openalex.org/W6675679986"],"related_works":["https://openalex.org/W2116422677","https://openalex.org/W2517007886","https://openalex.org/W2383994331","https://openalex.org/W1522019333","https://openalex.org/W278047738","https://openalex.org/W2076369646","https://openalex.org/W2373884197","https://openalex.org/W4244817184","https://openalex.org/W2961923709","https://openalex.org/W2516969888"],"abstract_inverted_index":{"In":[0],"this":[1,41],"paper":[2],"we":[3],"study":[4],"the":[5,26,36,52,89,100],"problem":[6],"of":[7,63],"visual":[8],"loop":[9],"closing":[10],"for":[11,105],"long":[12],"trajectories":[13],"in":[14,40],"an":[15],"urban":[16],"environment.":[17],"We":[18,55,66,87],"use":[19,30],"GPS":[20],"positioning":[21],"only":[22],"to":[23,34,49],"narrow":[24],"down":[25],"search":[27,42],"area":[28],"and":[29,79],"pre-built":[31],"vocabulary":[32,58],"trees":[33,59,72,78],"find":[35],"best":[37,90],"matching":[38],"image":[39],"area.":[43],"Geometric":[44],"consistency":[45,99],"is":[46],"then":[47],"used":[48],"prune":[50],"out":[51],"bad":[53],"matches.":[54],"compare":[56,80],"several":[57],"on":[60],"a":[61],"sequence":[62],"6.5":[64],"kilometers.":[65],"experiment":[67],"with":[68],"hierarchical":[69],"k-means":[70],"based":[71],"as":[73,75],"well":[74],"extremely":[76,93],"randomized":[77,94],"results":[81,91],"obtained":[82],"using":[83,92],"five":[84],"different":[85],"trees.":[86,95],"obtain":[88],"After":[96],"enforcing":[97],"geometric":[98],"matched":[101],"images":[102],"look":[103],"promising":[104],"structure":[106],"from":[107],"motion":[108],"applications.":[109]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2013,"cited_by_count":5},{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
