{"id":"https://openalex.org/W2583583714","doi":"https://doi.org/10.1109/icarcv.2016.7838769","title":"Environment characterization using Laplace eigenvalues","display_name":"Environment characterization using Laplace eigenvalues","publication_year":2016,"publication_date":"2016-11-01","ids":{"openalex":"https://openalex.org/W2583583714","doi":"https://doi.org/10.1109/icarcv.2016.7838769","mag":"2583583714"},"language":"en","primary_location":{"id":"doi:10.1109/icarcv.2016.7838769","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2016.7838769","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","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/A5084463571","display_name":"Ehsan Mihankhah","orcid":"https://orcid.org/0000-0001-9516-0039"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Ehsan Mihankhah","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103232173","display_name":"Danwei Wang","orcid":"https://orcid.org/0000-0003-3400-0079"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Danwei Wang","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5084463571"],"corresponding_institution_ids":["https://openalex.org/I172675005"],"apc_list":null,"apc_paid":null,"fwci":11.0443,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.98361978,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":"4","issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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":0.9995999932289124,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9959999918937683,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/eigenvalues-and-eigenvectors","display_name":"Eigenvalues and eigenvectors","score":0.6724591851234436},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5922090411186218},{"id":"https://openalex.org/keywords/laplace-transform","display_name":"Laplace transform","score":0.5553721189498901},{"id":"https://openalex.org/keywords/operator","display_name":"Operator (biology)","score":0.5415904521942139},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5411722660064697},{"id":"https://openalex.org/keywords/characterization","display_name":"Characterization (materials science)","score":0.5334570407867432},{"id":"https://openalex.org/keywords/laplace-operator","display_name":"Laplace operator","score":0.511639416217804},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.49776533246040344},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.48305875062942505},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4417898952960968},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.4219488501548767},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.41828542947769165},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4120287299156189},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.26802945137023926},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.16479480266571045},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.1036999523639679},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1027173399925232}],"concepts":[{"id":"https://openalex.org/C158693339","wikidata":"https://www.wikidata.org/wiki/Q190524","display_name":"Eigenvalues and eigenvectors","level":2,"score":0.6724591851234436},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5922090411186218},{"id":"https://openalex.org/C97937538","wikidata":"https://www.wikidata.org/wiki/Q199691","display_name":"Laplace transform","level":2,"score":0.5553721189498901},{"id":"https://openalex.org/C17020691","wikidata":"https://www.wikidata.org/wiki/Q139677","display_name":"Operator (biology)","level":5,"score":0.5415904521942139},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5411722660064697},{"id":"https://openalex.org/C2780841128","wikidata":"https://www.wikidata.org/wiki/Q5073781","display_name":"Characterization (materials science)","level":2,"score":0.5334570407867432},{"id":"https://openalex.org/C165700671","wikidata":"https://www.wikidata.org/wiki/Q203484","display_name":"Laplace operator","level":2,"score":0.511639416217804},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.49776533246040344},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.48305875062942505},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4417898952960968},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.4219488501548767},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.41828542947769165},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4120287299156189},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.26802945137023926},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.16479480266571045},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.1036999523639679},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1027173399925232},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C86339819","wikidata":"https://www.wikidata.org/wiki/Q407384","display_name":"Transcription factor","level":3,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C158448853","wikidata":"https://www.wikidata.org/wiki/Q425218","display_name":"Repressor","level":4,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icarcv.2016.7838769","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2016.7838769","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","raw_type":"proceedings-article"},{"id":"mag:2746023395","is_oa":false,"landing_page_url":"http://jglobal.jst.go.jp/en/public/201702294167529783","pdf_url":null,"source":{"id":"https://openalex.org/S4306512817","display_name":"IEEE Conference Proceedings","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":"IEEE Conference Proceedings","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.44999998807907104,"display_name":"Life in Land","id":"https://metadata.un.org/sdg/15"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W1532257412","https://openalex.org/W1534943575","https://openalex.org/W1594387031","https://openalex.org/W1677409904","https://openalex.org/W1974093076","https://openalex.org/W1978289112","https://openalex.org/W1998886892","https://openalex.org/W2019085623","https://openalex.org/W2029005128","https://openalex.org/W2053263805","https://openalex.org/W2077485422","https://openalex.org/W2091090567","https://openalex.org/W2096071249","https://openalex.org/W2097308346","https://openalex.org/W2097644094","https://openalex.org/W2097696373","https://openalex.org/W2099353192","https://openalex.org/W2103975664","https://openalex.org/W2117741240","https://openalex.org/W2120398992","https://openalex.org/W2124386111","https://openalex.org/W2124884064","https://openalex.org/W2130147259","https://openalex.org/W2131846894","https://openalex.org/W2132107988","https://openalex.org/W2132185185","https://openalex.org/W2132563333","https://openalex.org/W2135885871","https://openalex.org/W2284029970","https://openalex.org/W2336416123","https://openalex.org/W2396241390","https://openalex.org/W2511121967","https://openalex.org/W2739828033","https://openalex.org/W2745988198","https://openalex.org/W2915570443","https://openalex.org/W4211134967","https://openalex.org/W4239890145","https://openalex.org/W6712476391","https://openalex.org/W6725839948","https://openalex.org/W6741504934"],"related_works":["https://openalex.org/W4389574804","https://openalex.org/W3016928466","https://openalex.org/W2936725271","https://openalex.org/W3150655618","https://openalex.org/W3108295644","https://openalex.org/W1578717197","https://openalex.org/W2626737336","https://openalex.org/W2005998065","https://openalex.org/W2921748058","https://openalex.org/W4380570985"],"abstract_inverted_index":{"This":[0,9],"paper":[1],"introduces":[2],"a":[3,37,64,74],"new":[4],"methodology":[5,10],"for":[6,51,59,76,98],"environment":[7,35,55,81],"characterization.":[8],"is":[11,63,73],"based":[12],"on":[13],"analysis":[14],"of":[15,18,41,48,53,67,92],"the":[16,34,46],"eigenvalues":[17,47],"Laplace-Beltrami":[19,49],"operator":[20,50],"over":[21],"3":[22],"dimensional":[23],"point":[24,43],"clouds.":[25],"Recognizing":[26],"revisited":[27],"places":[28],"can":[29,56],"be":[30,57],"facilitated":[31],"by":[32],"characterizing":[33],"through":[36],"descriptor.":[38],"The":[39],"idea":[40],"analyzing":[42],"clouds":[44],"using":[45],"characterization":[52],"an":[54],"used":[58],"place":[60],"detection":[61,72,78,91],"which":[62],"critical":[65],"functionality":[66],"autonomous":[68],"mobile":[69],"robots.":[70],"Place":[71],"requirement":[75],"transition":[77],"in":[79,86,96],"multi":[80,87],"missions,":[82],"common":[83],"frame":[84],"identification":[85],"robot":[88],"mapping,":[89],"and":[90],"previously":[93],"visited":[94],"location":[95],"SLAM":[97],"loop":[99],"closure":[100],"phase.":[101]},"counts_by_year":[{"year":2018,"cited_by_count":2}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
