{"id":"https://openalex.org/W2753434474","doi":"https://doi.org/10.1109/icar.2017.8023653","title":"Ensemble of Bayesian filter with active and passive nodes for loop closure detection","display_name":"Ensemble of Bayesian filter with active and passive nodes for loop closure detection","publication_year":2017,"publication_date":"2017-07-01","ids":{"openalex":"https://openalex.org/W2753434474","doi":"https://doi.org/10.1109/icar.2017.8023653","mag":"2753434474"},"language":"en","primary_location":{"id":"doi:10.1109/icar.2017.8023653","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar.2017.8023653","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 18th International Conference on Advanced Robotics (ICAR)","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/A5084760681","display_name":"Mohammed Omar Salameh","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mohammed Omar Salameh","raw_affiliation_strings":["Faculty of Information Science and Technology, University Kebangsaan Malaysia, Malaysia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Information Science and Technology, University Kebangsaan Malaysia, Malaysia","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101727458","display_name":"Azizi Abdullah","orcid":"https://orcid.org/0000-0002-7166-4416"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Azizi Abdullah","raw_affiliation_strings":["Faculty of Information Science and Technology, University Kebangsaan Malaysia, Malaysia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Information Science and Technology, University Kebangsaan Malaysia, Malaysia","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059631138","display_name":"Shahnorbanun Saran","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shahnorbanun Saran","raw_affiliation_strings":["Faculty of Information Science and Technology, University Kebangsaan Malaysia, Malaysia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Information Science and Technology, University Kebangsaan Malaysia, Malaysia","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.25776764,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"24","issue":null,"first_page":"482","last_page":"486"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9995999932289124,"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":0.9995999932289124,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9994000196456909,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9955999851226807,"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":0.7023217678070068},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6409504413604736},{"id":"https://openalex.org/keywords/closure","display_name":"Closure (psychology)","score":0.5245547294616699},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5175630450248718},{"id":"https://openalex.org/keywords/bayesian-probability","display_name":"Bayesian probability","score":0.506400465965271},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.501201868057251},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.48367390036582947},{"id":"https://openalex.org/keywords/ensemble-learning","display_name":"Ensemble learning","score":0.46847811341285706},{"id":"https://openalex.org/keywords/extension","display_name":"Extension (predicate logic)","score":0.4355143904685974},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3096451461315155}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7023217678070068},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6409504413604736},{"id":"https://openalex.org/C146834321","wikidata":"https://www.wikidata.org/wiki/Q2979672","display_name":"Closure (psychology)","level":2,"score":0.5245547294616699},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5175630450248718},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.506400465965271},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.501201868057251},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.48367390036582947},{"id":"https://openalex.org/C45942800","wikidata":"https://www.wikidata.org/wiki/Q245652","display_name":"Ensemble learning","level":2,"score":0.46847811341285706},{"id":"https://openalex.org/C2778029271","wikidata":"https://www.wikidata.org/wiki/Q5421931","display_name":"Extension (predicate logic)","level":2,"score":0.4355143904685974},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3096451461315155},{"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icar.2017.8023653","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar.2017.8023653","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 18th International Conference on Advanced Robotics (ICAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1994724450","https://openalex.org/W2109197213","https://openalex.org/W2115499947","https://openalex.org/W2144824356","https://openalex.org/W2159625953","https://openalex.org/W2161338791","https://openalex.org/W2162536300","https://openalex.org/W2280180294","https://openalex.org/W2884033724","https://openalex.org/W4285719527","https://openalex.org/W6695543292","https://openalex.org/W6753419544"],"related_works":["https://openalex.org/W2075768550","https://openalex.org/W3022218857","https://openalex.org/W315394019","https://openalex.org/W2369178846","https://openalex.org/W2370289839","https://openalex.org/W2923398117","https://openalex.org/W2082716031","https://openalex.org/W4309585848","https://openalex.org/W2933494595","https://openalex.org/W2265383332"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"describe":[4],"a":[5,37,54,119,132],"novel":[6],"extension":[7],"of":[8,17,28,49,56,83,107,121,135],"the":[9,15,26,42,73,78,93,112,116,126],"real-time":[10],"appearance-based":[11],"mapping":[12],"(RTAB-Map),":[13],"called":[14],"Ensemble":[16],"Real-Time":[18],"Appearance-Based":[19],"Mapping":[20],"(ERTAB-Map).":[21],"The":[22,67,101],"original":[23,113],"RTAB-Map":[24],"calculates":[25],"probabilities":[27],"multiple":[29],"beliefs":[30],"for":[31],"loop":[32],"closure":[33],"detection":[34],"based":[35],"on":[36,89,125],"single":[38],"descriptor":[39,50],"model.":[40],"However,":[41],"ERTAB-Map":[43],"can":[44],"use":[45],"an":[46,63],"arbitrary":[47],"number":[48],"models,":[51],"in":[52],"which":[53],"set":[55],"probability":[57,68],"belief":[58],"models":[59],"are":[60,70],"evaluated":[61],"using":[62],"ensemble":[64,106,117],"learning":[65],"approach.":[66],"values":[69],"extracted":[71],"from":[72,92,98],"active":[74,108],"working":[75],"memory":[76,82],"and":[77,95,109,123,128],"passive":[79,110],"long":[80],"term":[81],"RTAB-Map.":[84,114],"We":[85],"have":[86],"performed":[87],"experiments":[88],"388":[90],"images":[91,97],"Lib6Indoor":[94,127],"1063":[96],"Lib6Outdoor":[99,129],"datasets.":[100],"results":[102],"show":[103],"that":[104],"our":[105],"outperforms":[111],"Furthermore,":[115],"achieves":[118],"recall":[120],"91.59%":[122],"98.65%":[124],"respectively,":[130],"with":[131],"corresponding":[133],"precision":[134],"100%.":[136]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
