{"id":"https://openalex.org/W2094610418","doi":"https://doi.org/10.1109/ecmr.2013.6698827","title":"Loop closure detection using depth images","display_name":"Loop closure detection using depth images","publication_year":2013,"publication_date":"2013-09-01","ids":{"openalex":"https://openalex.org/W2094610418","doi":"https://doi.org/10.1109/ecmr.2013.6698827","mag":"2094610418"},"language":"en","primary_location":{"id":"doi:10.1109/ecmr.2013.6698827","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr.2013.6698827","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 European Conference on Mobile Robots","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/A5032584934","display_name":"Sebastian Scherer","orcid":"https://orcid.org/0000-0002-8373-4688"},"institutions":[{"id":"https://openalex.org/I8087733","display_name":"University of T\u00fcbingen","ror":"https://ror.org/03a1kwz48","country_code":"DE","type":"education","lineage":["https://openalex.org/I8087733"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Sebastian A. Scherer","raw_affiliation_strings":["Department of Computer Science, University of Tuebingen, Tuebingen, Germany","Department of Computer Science, University of Tuebingen, T\u00fcbingen, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Tuebingen, Tuebingen, Germany","institution_ids":["https://openalex.org/I8087733"]},{"raw_affiliation_string":"Department of Computer Science, University of Tuebingen, T\u00fcbingen, Germany","institution_ids":["https://openalex.org/I8087733"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018241924","display_name":"Alina Kloss","orcid":"https://orcid.org/0000-0001-5793-1875"},"institutions":[{"id":"https://openalex.org/I8087733","display_name":"University of T\u00fcbingen","ror":"https://ror.org/03a1kwz48","country_code":"DE","type":"education","lineage":["https://openalex.org/I8087733"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alina Kloss","raw_affiliation_strings":["Department of Computer Science, University of Tuebingen, Tuebingen, Germany","Department of Computer Science, University of Tuebingen, T\u00fcbingen, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Tuebingen, Tuebingen, Germany","institution_ids":["https://openalex.org/I8087733"]},{"raw_affiliation_string":"Department of Computer Science, University of Tuebingen, T\u00fcbingen, Germany","institution_ids":["https://openalex.org/I8087733"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004958444","display_name":"Andreas Zell","orcid":"https://orcid.org/0000-0003-3299-2211"},"institutions":[{"id":"https://openalex.org/I8087733","display_name":"University of T\u00fcbingen","ror":"https://ror.org/03a1kwz48","country_code":"DE","type":"education","lineage":["https://openalex.org/I8087733"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Andreas Zell","raw_affiliation_strings":["Department of Computer Science, University of Tuebingen, Tuebingen, Germany","Department of Computer Science, University of Tuebingen, T\u00fcbingen, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Tuebingen, Tuebingen, Germany","institution_ids":["https://openalex.org/I8087733"]},{"raw_affiliation_string":"Department of Computer Science, University of Tuebingen, T\u00fcbingen, Germany","institution_ids":["https://openalex.org/I8087733"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5032584934"],"corresponding_institution_ids":["https://openalex.org/I8087733"],"apc_list":null,"apc_paid":null,"fwci":0.2764,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.62844845,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"100","last_page":"106"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9997000098228455,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9997000098228455,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9997000098228455,"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":0.9994999766349792,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.913642406463623},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7658687829971313},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.667941153049469},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5966023206710815},{"id":"https://openalex.org/keywords/detector","display_name":"Detector","score":0.5839424133300781},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.5798335671424866},{"id":"https://openalex.org/keywords/closure","display_name":"Closure (psychology)","score":0.5243558883666992},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.4975593388080597},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.472602903842926},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.44175368547439575},{"id":"https://openalex.org/keywords/loop","display_name":"Loop (graph theory)","score":0.42455434799194336},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4150412380695343},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14668476581573486},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.07836952805519104}],"concepts":[{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.913642406463623},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7658687829971313},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.667941153049469},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5966023206710815},{"id":"https://openalex.org/C94915269","wikidata":"https://www.wikidata.org/wiki/Q1834857","display_name":"Detector","level":2,"score":0.5839424133300781},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.5798335671424866},{"id":"https://openalex.org/C146834321","wikidata":"https://www.wikidata.org/wiki/Q2979672","display_name":"Closure (psychology)","level":2,"score":0.5243558883666992},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.4975593388080597},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.472602903842926},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.44175368547439575},{"id":"https://openalex.org/C184670325","wikidata":"https://www.wikidata.org/wiki/Q512604","display_name":"Loop (graph theory)","level":2,"score":0.42455434799194336},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4150412380695343},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14668476581573486},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.07836952805519104},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","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/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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:10.1109/ecmr.2013.6698827","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr.2013.6698827","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 European Conference on Mobile Robots","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.643.8450","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.643.8450","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cogsys.cs.uni-tuebingen.de/publikationen/2013/scherer2013ecmr.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1532362218","https://openalex.org/W1625255723","https://openalex.org/W1989484209","https://openalex.org/W1996035538","https://openalex.org/W2019085623","https://openalex.org/W2021851106","https://openalex.org/W2063491042","https://openalex.org/W2074142320","https://openalex.org/W2103444992","https://openalex.org/W2111308925","https://openalex.org/W2121013842","https://openalex.org/W2128017662","https://openalex.org/W2132761823","https://openalex.org/W2144824356","https://openalex.org/W2151103935","https://openalex.org/W2153030800","https://openalex.org/W2154268702","https://openalex.org/W3145633659","https://openalex.org/W6631707545","https://openalex.org/W6636494156","https://openalex.org/W6675541922"],"related_works":["https://openalex.org/W2378211422","https://openalex.org/W2745001401","https://openalex.org/W4321353415","https://openalex.org/W2130974462","https://openalex.org/W972276598","https://openalex.org/W4246352526","https://openalex.org/W2028665553","https://openalex.org/W2086519370","https://openalex.org/W2087343574","https://openalex.org/W3088304681"],"abstract_inverted_index":{"We":[0],"investigate":[1],"the":[2,54,73,77,102,109],"question":[3],"whether":[4],"loop":[5,46],"closure":[6,47],"detection":[7],"using":[8,13,84,113],"depth":[9,16,59,95,106],"images":[10],"is":[11],"feasible":[12],"currently":[14],"available":[15],"features.":[17,116],"For":[18],"this":[19,51],"reason,":[20],"we":[21,71,99],"collected":[22],"a":[23,28,41,68,85],"benchmark":[24,63,91],"dataset":[25,92],"consisting":[26],"of":[27,31,56,81],"total":[29],"number":[30,80],"15":[32],"logfiles":[33],"with":[34,108],"several":[35],"loops":[36],"in":[37],"various":[38],"environments,":[39],"implemented":[40],"modular":[42],"and":[43,49,96],"easily":[44],"extensible":[45],"detector":[48],"used":[50],"to":[52],"evaluate":[53],"adequacy":[55],"state-of-the":[57],"art":[58],"features":[60,107],"on":[61,105],"our":[62,90],"dataset.":[64],"To":[65],"allow":[66],"for":[67,76],"fair":[69],"comparison,":[70],"determined":[72],"best":[74],"values":[75],"sometimes":[78],"large":[79],"user-chosen":[82],"parameters":[83],"large-scale":[86],"grid":[87],"search.":[88],"Since":[89],"contains":[93],"both":[94],"RGB":[97],"images,":[98],"can":[100],"compare":[101],"performance":[103,110],"relying":[104],"achieved":[111],"when":[112],"intensity":[114],"image":[115]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}