{"id":"https://openalex.org/W2033923716","doi":"https://doi.org/10.1109/ecmr.2013.6698835","title":"Consistent sparsification for graph optimization","display_name":"Consistent sparsification for graph optimization","publication_year":2013,"publication_date":"2013-09-01","ids":{"openalex":"https://openalex.org/W2033923716","doi":"https://doi.org/10.1109/ecmr.2013.6698835","mag":"2033923716"},"language":"en","primary_location":{"id":"doi:10.1109/ecmr.2013.6698835","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr.2013.6698835","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/A5008502528","display_name":"Guoquan Huang","orcid":"https://orcid.org/0000-0001-9932-0685"},"institutions":[{"id":"https://openalex.org/I1343180700","display_name":"Intel (United States)","ror":"https://ror.org/01ek73717","country_code":"US","type":"company","lineage":["https://openalex.org/I1343180700"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Guoquan Huang","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","Comput. Sci. & Artificial Intell. Lab., Massachusetts Inst. of Technol., Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Comput. Sci. & Artificial Intell. Lab., Massachusetts Inst. of Technol., Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007","https://openalex.org/I1343180700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014216861","display_name":"Michael Kaess","orcid":"https://orcid.org/0000-0002-7590-3357"},"institutions":[{"id":"https://openalex.org/I1343180700","display_name":"Intel (United States)","ror":"https://ror.org/01ek73717","country_code":"US","type":"company","lineage":["https://openalex.org/I1343180700"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael Kaess","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","Comput. Sci. & Artificial Intell. Lab., Massachusetts Inst. of Technol., Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Comput. Sci. & Artificial Intell. Lab., Massachusetts Inst. of Technol., Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007","https://openalex.org/I1343180700"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110293164","display_name":"John J. Leonard","orcid":null},"institutions":[{"id":"https://openalex.org/I1343180700","display_name":"Intel (United States)","ror":"https://ror.org/01ek73717","country_code":"US","type":"company","lineage":["https://openalex.org/I1343180700"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"John J. Leonard","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","Comput. Sci. & Artificial Intell. Lab., Massachusetts Inst. of Technol., Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Comput. Sci. & Artificial Intell. Lab., Massachusetts Inst. of Technol., Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007","https://openalex.org/I1343180700"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5008502528"],"corresponding_institution_ids":["https://openalex.org/I1343180700","https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":6.4863,"has_fulltext":false,"cited_by_count":67,"citation_normalized_percentile":{"value":0.96937218,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"150","last_page":"157"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9998000264167786,"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/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/T10500","display_name":"Sparse and Compressive Sensing Techniques","score":0.9800999760627747,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/graph","display_name":"Graph","score":0.7019484043121338},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6297525763511658},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5572482347488403},{"id":"https://openalex.org/keywords/minification","display_name":"Minification","score":0.5375188589096069},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.5214718580245972},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.37574005126953125},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2477257251739502},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.18170490860939026},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.09798166155815125}],"concepts":[{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.7019484043121338},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6297525763511658},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5572482347488403},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.5375188589096069},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.5214718580245972},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.37574005126953125},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2477257251739502},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.18170490860939026},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.09798166155815125},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ecmr.2013.6698835","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr.2013.6698835","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:10.1.1.431.3048","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.431.3048","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.ri.cmu.edu/pub_files/2013/9/Huang13ecmr2.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7699999809265137,"display_name":"Reduced inequalities","id":"https://metadata.un.org/sdg/10"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W49679257","https://openalex.org/W1531532259","https://openalex.org/W1574444015","https://openalex.org/W1586173270","https://openalex.org/W1656165940","https://openalex.org/W1968315983","https://openalex.org/W1977464512","https://openalex.org/W1997645979","https://openalex.org/W2005389775","https://openalex.org/W2006368361","https://openalex.org/W2029780423","https://openalex.org/W2047049913","https://openalex.org/W2064169939","https://openalex.org/W2073968412","https://openalex.org/W2080823437","https://openalex.org/W2091750321","https://openalex.org/W2096052462","https://openalex.org/W2101345862","https://openalex.org/W2107905629","https://openalex.org/W2119538218","https://openalex.org/W2121013842","https://openalex.org/W2124313187","https://openalex.org/W2127578024","https://openalex.org/W2127824950","https://openalex.org/W2135046866","https://openalex.org/W2135492382","https://openalex.org/W2137052305","https://openalex.org/W2146881125","https://openalex.org/W2151290401","https://openalex.org/W2153054365","https://openalex.org/W2154319942","https://openalex.org/W2156561799","https://openalex.org/W2164035059","https://openalex.org/W2164278908","https://openalex.org/W2170744156","https://openalex.org/W2296616510","https://openalex.org/W2336416123","https://openalex.org/W3140425959","https://openalex.org/W3146325346","https://openalex.org/W4246483956","https://openalex.org/W4250589301","https://openalex.org/W4250955649","https://openalex.org/W4292363360","https://openalex.org/W6634982934"],"related_works":["https://openalex.org/W2051487156","https://openalex.org/W2073681303","https://openalex.org/W2317200988","https://openalex.org/W2052122378","https://openalex.org/W2544423928","https://openalex.org/W28570768","https://openalex.org/W2053286651","https://openalex.org/W2912965286","https://openalex.org/W2181743346","https://openalex.org/W2187401768"],"abstract_inverted_index":{"In":[0,49],"a":[1,56,100],"standard":[2],"pose-graph":[3],"formulation":[4],"of":[5,17,66,110],"simultaneous":[6],"localization":[7],"and":[8,20,46,92,98,121],"mapping":[9],"(SLAM),":[10],"due":[11],"to":[12,36,43],"the":[13,23,39,72,82,87,108,111],"continuously":[14],"increasing":[15],"numbers":[16],"nodes":[18,63,89],"(states)":[19],"edges":[21,95],"(measurements),":[22],"graph":[24,41,58],"may":[25],"grow":[26],"prohibitively":[27],"too":[28],"large":[29],"for":[30],"long-term":[31],"navigation.":[32],"This":[33],"motivates":[34],"us":[35],"systematically":[37],"reduce":[38],"pose":[40],"amenable":[42],"available":[44],"processing":[45],"memory":[47],"resources.":[48],"particular,":[50],"in":[51,81],"this":[52],"paper":[53],"we":[54],"introduce":[55],"consistent":[57,101],"sparsification":[59],"scheme:":[60],"(i)":[61],"sparsifying":[62,94],"via":[64],"marginalization":[65],"old":[67],"nodes,":[68],"while":[69],"retaining":[70],"all":[71],"information":[73],"(consistent":[74],"relative":[75],"constraints)":[76],"-":[77,85],"which":[78,105],"is":[79,116],"conveyed":[80],"discarded":[83],"measurements":[84],"about":[86],"remaining":[88],"after":[90],"marginalization;":[91],"(ii)":[93],"by":[96],"formulating":[97],"solving":[99],"\u21131-regularized":[102],"minimization":[103],"problem,":[104],"automatically":[106],"promotes":[107],"sparsity":[109],"graph.":[112],"The":[113],"proposed":[114],"approach":[115],"validated":[117],"on":[118],"both":[119],"synthetic":[120],"real":[122],"data.":[123]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":8},{"year":2016,"cited_by_count":9},{"year":2015,"cited_by_count":11},{"year":2014,"cited_by_count":6},{"year":2013,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}