{"id":"https://openalex.org/W2584260052","doi":"https://doi.org/10.1109/icinfa.2016.7831930","title":"Active loop closing based on laser data in indoor environment","display_name":"Active loop closing based on laser data in indoor environment","publication_year":2016,"publication_date":"2016-08-01","ids":{"openalex":"https://openalex.org/W2584260052","doi":"https://doi.org/10.1109/icinfa.2016.7831930","mag":"2584260052"},"language":"en","primary_location":{"id":"doi:10.1109/icinfa.2016.7831930","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icinfa.2016.7831930","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Information and Automation (ICIA)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5101502589","display_name":"Xianshan Li","orcid":"https://orcid.org/0000-0003-0101-3973"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xianshan Li","raw_affiliation_strings":["College of Information Science and Engineering, Yanshan University, Qinhuangdao, Hebei Province, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Science and Engineering, Yanshan University, Qinhuangdao, Hebei Province, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030293804","display_name":"Maoyuan Sun","orcid":"https://orcid.org/0000-0002-0990-2620"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Maoyuan Sun","raw_affiliation_strings":["College of Information Science and Engineering, Yanshan University, Qinhuangdao, Hebei Province, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Science and Engineering, Yanshan University, Qinhuangdao, Hebei Province, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025321052","display_name":"Zhenjun Liu","orcid":"https://orcid.org/0000-0002-5183-1619"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenjun Liu","raw_affiliation_strings":["College of Information Science and Engineering, Yanshan University, Qinhuangdao, Hebei Province, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Science and Engineering, Yanshan University, Qinhuangdao, Hebei Province, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5060454464","display_name":"Fengda Zhao","orcid":"https://orcid.org/0000-0001-9085-9633"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fengda Zhao","raw_affiliation_strings":["College of Information Science and Engineering, Yanshan University, Qinhuangdao, Hebei Province, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Science and Engineering, Yanshan University, Qinhuangdao, Hebei Province, China","institution_ids":["https://openalex.org/I39333907"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I39333907"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.07351946,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"2016","issue":null,"first_page":"807","last_page":"812"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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"}},"topics":[{"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9988999962806702,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9932000041007996,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7718493938446045},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7688885927200317},{"id":"https://openalex.org/keywords/histogram","display_name":"Histogram","score":0.6968590021133423},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.687699019908905},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6213482022285461},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.5629079937934875},{"id":"https://openalex.org/keywords/closing","display_name":"Closing (real estate)","score":0.5488777756690979},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.532623827457428},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.49898576736450195},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4517892003059387},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.4477809965610504},{"id":"https://openalex.org/keywords/key-frame","display_name":"Key frame","score":0.4393876791000366},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4239654541015625},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3536030054092407},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24205130338668823},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.15239956974983215}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7718493938446045},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7688885927200317},{"id":"https://openalex.org/C53533937","wikidata":"https://www.wikidata.org/wiki/Q185020","display_name":"Histogram","level":3,"score":0.6968590021133423},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.687699019908905},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6213482022285461},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.5629079937934875},{"id":"https://openalex.org/C2778775528","wikidata":"https://www.wikidata.org/wiki/Q5135432","display_name":"Closing (real estate)","level":2,"score":0.5488777756690979},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.532623827457428},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.49898576736450195},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4517892003059387},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.4477809965610504},{"id":"https://openalex.org/C2780139006","wikidata":"https://www.wikidata.org/wiki/Q1493902","display_name":"Key frame","level":3,"score":0.4393876791000366},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4239654541015625},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3536030054092407},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24205130338668823},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.15239956974983215},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icinfa.2016.7831930","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icinfa.2016.7831930","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Information and Automation (ICIA)","raw_type":"proceedings-article"},{"id":"mag:3193745756","is_oa":false,"landing_page_url":"https://jglobal.jst.go.jp/en/detail?JGLOBAL_ID=201702278859967437","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":0.7099999785423279,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1961287201","https://openalex.org/W1974093076","https://openalex.org/W1980549145","https://openalex.org/W2041650430","https://openalex.org/W2084652256","https://openalex.org/W2133759223","https://openalex.org/W2143064560","https://openalex.org/W2144824356","https://openalex.org/W2148046809","https://openalex.org/W2164549458","https://openalex.org/W2334358229","https://openalex.org/W2350179738","https://openalex.org/W6684034719","https://openalex.org/W6705719332"],"related_works":["https://openalex.org/W2517007886","https://openalex.org/W2383994331","https://openalex.org/W2116422677","https://openalex.org/W1522019333","https://openalex.org/W3121919567","https://openalex.org/W2076369646","https://openalex.org/W278047738","https://openalex.org/W2373884197","https://openalex.org/W1750372561","https://openalex.org/W1501082329"],"abstract_inverted_index":{"In":[0],"Artificial":[1],"Intelligence,":[2],"Loop":[3],"Closing":[4],"is":[5,50,80,97,121],"a":[6,44,74],"key":[7],"issue":[8],"of":[9,26,29,61,88,93,118,142,150,179],"Simultaneous":[10],"Localization":[11],"and":[12,20,57,105,135,145,162,171,173],"Mapping":[13],"(SLAM)":[14],"that":[15,158],"helps":[16],"SLAM":[17,40],"work":[18],"efficiently":[19,170],"robustly.":[21],"To":[22],"solve":[23],"the":[24,27,54,59,71,85,91,110,116,125,139,146,159,163,177],"problem":[25],"quantity":[28,178],"scene":[30,56,101,180],"matching":[31,134,181],"increasing":[32],"linearly":[33],"with":[34,115],"time":[35],"when":[36],"loop":[37],"closing":[38],"in":[39],"for":[41,52,64],"mobile":[42],"robots,":[43],"laser":[45],"range":[46],"finder":[47],"based":[48,69,123,174],"method":[49,79,111],"proposed":[51,122],"classifying":[53],"geometric":[55,113],"determining":[58],"set":[60,92,141,161],"similar":[62,95,143],"frames":[63,96,144,149,166],"indoor":[65],"corridor":[66],"environment.":[67],"Firstly,":[68],"on":[70,124,175],"turning":[72,119,126],"function,":[73],"new":[75],"line":[76],"segment":[77,86],"extraction":[78],"designed":[81],"to":[82,100],"swiftly":[83],"obtain":[84],"feature":[87],"scenes.":[89],"Secondly,":[90],"basically":[94],"constructed":[98],"according":[99],"entropy,":[102],"scan":[103,107],"area":[104],"close":[106],"area.":[108],"Finally,":[109],"describing":[112],"scenes":[114],"sequences":[117],"angle":[120,127],"histogram.":[128],"By":[129],"using":[130],"Longest":[131],"Common":[132],"Subsequence":[133],"Hu-moment-based":[136],"contour":[137],"matching,":[138],"compact":[140,160],"best":[147,164],"matched":[148,165],"query":[151],"frame":[152],"are":[153],"found.":[154],"The":[155],"experiment":[156],"proves":[157],"can":[167],"be":[168,183],"obtained":[169],"accurately,":[172],"that,":[176],"could":[182],"greatly":[184],"reduced.":[185]},"counts_by_year":[{"year":2020,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}