{"id":"https://openalex.org/W2981148386","doi":"https://doi.org/10.1109/etfa.2019.8869091","title":"Superpixel Description and Indexing for Visual Loop Closure Detection","display_name":"Superpixel Description and Indexing for Visual Loop Closure Detection","publication_year":2019,"publication_date":"2019-09-01","ids":{"openalex":"https://openalex.org/W2981148386","doi":"https://doi.org/10.1109/etfa.2019.8869091","mag":"2981148386"},"language":"en","primary_location":{"id":"doi:10.1109/etfa.2019.8869091","is_oa":false,"landing_page_url":"https://doi.org/10.1109/etfa.2019.8869091","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)","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/A5046538598","display_name":"Rihem El Euch","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Rihem El Euch","raw_affiliation_strings":["Higher School of Communication of Tunisia (Sup\u2019Com), Tunis, Tunisia","Higher School of Communication of Tunisia (Sup'Com), Tunis, Tunisia"],"affiliations":[{"raw_affiliation_string":"Higher School of Communication of Tunisia (Sup\u2019Com), Tunis, Tunisia","institution_ids":[]},{"raw_affiliation_string":"Higher School of Communication of Tunisia (Sup'Com), Tunis, Tunisia","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006893669","display_name":"Emilio Garcia\u2010Fidalgo","orcid":"https://orcid.org/0000-0001-8057-5792"},"institutions":[{"id":"https://openalex.org/I50441567","display_name":"Universitat de les Illes Balears","ror":"https://ror.org/03e10x626","country_code":"ES","type":"education","lineage":["https://openalex.org/I50441567"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Emilio Garcia-Fidalgo","raw_affiliation_strings":["Department of Mathematics and Computer Science, University of the Balearic Islands, Palma, Spain"],"affiliations":[{"raw_affiliation_string":"Department of Mathematics and Computer Science, University of the Balearic Islands, Palma, Spain","institution_ids":["https://openalex.org/I50441567"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009268269","display_name":"Alberto Ortiz","orcid":"https://orcid.org/0000-0002-8253-7455"},"institutions":[{"id":"https://openalex.org/I50441567","display_name":"Universitat de les Illes Balears","ror":"https://ror.org/03e10x626","country_code":"ES","type":"education","lineage":["https://openalex.org/I50441567"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Alberto Ortiz","raw_affiliation_strings":["Department of Mathematics and Computer Science, University of the Balearic Islands, Palma, Spain"],"affiliations":[{"raw_affiliation_string":"Department of Mathematics and Computer Science, University of the Balearic Islands, Palma, Spain","institution_ids":["https://openalex.org/I50441567"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013345589","display_name":"Ferdaous Chaabane","orcid":"https://orcid.org/0000-0001-6681-753X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ferdaous Chaabane","raw_affiliation_strings":["Higher School of Communication of Tunisia (Sup\u2019Com), Tunis, Tunisia","Higher School of Communication of Tunisia (Sup'Com), Tunis, Tunisia"],"affiliations":[{"raw_affiliation_string":"Higher School of Communication of Tunisia (Sup\u2019Com), Tunis, Tunisia","institution_ids":[]},{"raw_affiliation_string":"Higher School of Communication of Tunisia (Sup'Com), Tunis, Tunisia","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5107330319","display_name":"Adel Ghazel","orcid":"https://orcid.org/0000-0001-5286-2110"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Adel Ghazel","raw_affiliation_strings":["Higher School of Communication of Tunisia (Sup\u2019Com), Tunis, Tunisia","Higher School of Communication of Tunisia (Sup'Com), Tunis, Tunisia"],"affiliations":[{"raw_affiliation_string":"Higher School of Communication of Tunisia (Sup\u2019Com), Tunis, Tunisia","institution_ids":[]},{"raw_affiliation_string":"Higher School of Communication of Tunisia (Sup'Com), Tunis, Tunisia","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5046538598"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.11551793,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1591","last_page":"1594"},"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":0.9997000098228455,"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":0.9944999814033508,"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":0.7548760175704956},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6827014088630676},{"id":"https://openalex.org/keywords/search-engine-indexing","display_name":"Search engine indexing","score":0.6649065017700195},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6599581837654114},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.6259312629699707},{"id":"https://openalex.org/keywords/closure","display_name":"Closure (psychology)","score":0.6160600781440735},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.5981629490852356},{"id":"https://openalex.org/keywords/for-loop","display_name":"For loop","score":0.5934420228004456},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5740746259689331},{"id":"https://openalex.org/keywords/loop","display_name":"Loop (graph theory)","score":0.5566893219947815},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4828405976295471},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.47357019782066345},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.44065049290657043},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.43767398595809937},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4241604208946228},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1302582025527954},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11724868416786194},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.083071768283844}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7548760175704956},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6827014088630676},{"id":"https://openalex.org/C75165309","wikidata":"https://www.wikidata.org/wiki/Q2258979","display_name":"Search engine indexing","level":2,"score":0.6649065017700195},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6599581837654114},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.6259312629699707},{"id":"https://openalex.org/C146834321","wikidata":"https://www.wikidata.org/wiki/Q2979672","display_name":"Closure (psychology)","level":2,"score":0.6160600781440735},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.5981629490852356},{"id":"https://openalex.org/C2779624466","wikidata":"https://www.wikidata.org/wiki/Q838119","display_name":"For loop","level":3,"score":0.5934420228004456},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5740746259689331},{"id":"https://openalex.org/C184670325","wikidata":"https://www.wikidata.org/wiki/Q512604","display_name":"Loop (graph theory)","level":2,"score":0.5566893219947815},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4828405976295471},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.47357019782066345},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.44065049290657043},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.43767398595809937},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4241604208946228},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1302582025527954},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11724868416786194},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.083071768283844},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","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/C34447519","wikidata":"https://www.wikidata.org/wiki/Q179522","display_name":"Market economy","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/etfa.2019.8869091","is_oa":false,"landing_page_url":"https://doi.org/10.1109/etfa.2019.8869091","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.4300000071525574}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1974093076","https://openalex.org/W1989484209","https://openalex.org/W1998886892","https://openalex.org/W1999478155","https://openalex.org/W2020890121","https://openalex.org/W2079112914","https://openalex.org/W2110405746","https://openalex.org/W2131846894","https://openalex.org/W2158229939","https://openalex.org/W2161969291","https://openalex.org/W2162536300","https://openalex.org/W2163352848","https://openalex.org/W2327482370","https://openalex.org/W2562969584","https://openalex.org/W2585293115","https://openalex.org/W2785901219","https://openalex.org/W3102617634"],"related_works":["https://openalex.org/W4238322187","https://openalex.org/W2114948246","https://openalex.org/W4388936814","https://openalex.org/W4256122319","https://openalex.org/W1596526459","https://openalex.org/W1988070942","https://openalex.org/W2133493980","https://openalex.org/W2017021164","https://openalex.org/W1960771510","https://openalex.org/W1841795997"],"abstract_inverted_index":{"Recognizing":[0],"whether":[1],"the":[2,23,27,88,108],"current":[3],"place":[4,110],"has":[5],"been":[6],"visited":[7],"before":[8],"or":[9],"not":[10],"is":[11,36,44,80,122],"an":[12],"important":[13],"task":[14],"in":[15,54,100],"robotic":[16],"navigation,":[17,41],"since":[18],"it":[19],"helps":[20],"to":[21,96,103,111,132],"reduce":[22],"inconsistencies":[24],"produced":[25],"by":[26],"inherent":[28],"noise":[29],"of":[30,70,87,90],"navigation":[31],"sensors.":[32],"When":[33],"a":[34,59,68],"camera":[35],"used":[37],"as":[38,46,115],"input":[39],"for":[40,78],"this":[42,52,55],"process":[43],"known":[45],"visual":[47],"loop":[48,60,116],"closure":[49,61,117],"detection.":[50],"Under":[51],"context,":[53],"work":[56],"we":[57],"propose":[58],"detection":[62],"method":[63,77,121],"based":[64],"on":[65],"superpixels":[66,79],"and":[67,102,130],"Bag":[69],"Words":[71],"scheme.":[72],"A":[73],"novel":[74],"image":[75,128],"description":[76],"proposed.":[81],"Our":[82],"approach":[83],"also":[84],"makes":[85],"use":[86],"concept":[89],"dynamic":[91],"islands,":[92],"which":[93],"allows":[94],"us":[95],"group":[97],"images":[98,105],"close":[99],"time":[101],"avoid":[104],"taken":[106],"from":[107],"same":[109],"compete":[112],"among":[113],"them":[114],"candidates.":[118],"The":[119],"proposed":[120],"validated":[123],"using":[124],"several":[125],"outdoor":[126],"public":[127],"sequences":[129],"compared":[131],"other":[133],"state-of-the-art":[134],"solutions.":[135]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}