{"id":"https://openalex.org/W1481846167","doi":"https://doi.org/10.1109/icra.2012.6224622","title":"Capping computation time and storage requirements for appearance-based localization with CAT-SLAM","display_name":"Capping computation time and storage requirements for appearance-based localization with CAT-SLAM","publication_year":2012,"publication_date":"2012-05-01","ids":{"openalex":"https://openalex.org/W1481846167","doi":"https://doi.org/10.1109/icra.2012.6224622","mag":"1481846167"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2012.6224622","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6224622","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","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/A5043927116","display_name":"William Maddern","orcid":null},"institutions":[{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"Will Maddern","raw_affiliation_strings":["School of Electrical Engineering and Computer Science, Faculty of Science and Engineering, Queensland University of Technology, Brisbane, QLD, Australia"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Computer Science, Faculty of Science and Engineering, Queensland University of Technology, Brisbane, QLD, Australia","institution_ids":["https://openalex.org/I160993911"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078340555","display_name":"Michael Milford","orcid":"https://orcid.org/0000-0002-5162-1793"},"institutions":[{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Michael Milford","raw_affiliation_strings":["School of Electrical Engineering and Computer Science, Faculty of Science and Engineering, Queensland University of Technology, Brisbane, QLD, Australia"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Computer Science, Faculty of Science and Engineering, Queensland University of Technology, Brisbane, QLD, Australia","institution_ids":["https://openalex.org/I160993911"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5027468544","display_name":"Gordon Wyeth","orcid":"https://orcid.org/0000-0002-4996-3612"},"institutions":[{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Gordon Wyeth","raw_affiliation_strings":["School of Electrical Engineering and Computer Science, Faculty of Science and Engineering, Queensland University of Technology, Brisbane, QLD, Australia"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Computer Science, Faculty of Science and Engineering, Queensland University of Technology, Brisbane, QLD, Australia","institution_ids":["https://openalex.org/I160993911"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5043927116"],"corresponding_institution_ids":["https://openalex.org/I160993911"],"apc_list":null,"apc_paid":null,"fwci":0.7951,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.77313492,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"822","last_page":"827"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9968000054359436,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9900000095367432,"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/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7058247923851013},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.6919498443603516},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.6636463403701782},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6366251707077026},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.49507609009742737},{"id":"https://openalex.org/keywords/closure","display_name":"Closure (psychology)","score":0.4471830427646637},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4463580250740051},{"id":"https://openalex.org/keywords/metric-map","display_name":"Metric map","score":0.42617863416671753},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4245685636997223},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.41874706745147705},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.363522469997406},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.35721051692962646},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2537361979484558},{"id":"https://openalex.org/keywords/metric-space","display_name":"Metric space","score":0.19916069507598877},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11402314901351929}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7058247923851013},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.6919498443603516},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.6636463403701782},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6366251707077026},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.49507609009742737},{"id":"https://openalex.org/C146834321","wikidata":"https://www.wikidata.org/wiki/Q2979672","display_name":"Closure (psychology)","level":2,"score":0.4471830427646637},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4463580250740051},{"id":"https://openalex.org/C145084290","wikidata":"https://www.wikidata.org/wiki/Q2713824","display_name":"Metric map","level":4,"score":0.42617863416671753},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4245685636997223},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.41874706745147705},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.363522469997406},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.35721051692962646},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2537361979484558},{"id":"https://openalex.org/C198043062","wikidata":"https://www.wikidata.org/wiki/Q180953","display_name":"Metric space","level":2,"score":0.19916069507598877},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11402314901351929},{"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0},{"id":"https://openalex.org/C196613150","wikidata":"https://www.wikidata.org/wiki/Q3966092","display_name":"Convex metric space","level":3,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2012.6224622","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6224622","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"mag:1481846167","is_oa":false,"landing_page_url":"https://eprints.qut.edu.au/51540/","pdf_url":null,"source":{"id":"https://openalex.org/S2764552960","display_name":"Science & Engineering Faculty","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":"Science & Engineering Faculty","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8299999833106995,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1516111018","https://openalex.org/W1537665514","https://openalex.org/W1974093076","https://openalex.org/W1974857120","https://openalex.org/W2005115267","https://openalex.org/W2006548260","https://openalex.org/W2032309405","https://openalex.org/W2065202099","https://openalex.org/W2076482495","https://openalex.org/W2095761085","https://openalex.org/W2112164532","https://openalex.org/W2114858887","https://openalex.org/W2136628221","https://openalex.org/W2148935108","https://openalex.org/W2158187199","https://openalex.org/W2161338791","https://openalex.org/W6603094494","https://openalex.org/W6696855976"],"related_works":["https://openalex.org/W2543225675","https://openalex.org/W597392518","https://openalex.org/W3174943183","https://openalex.org/W2099566664","https://openalex.org/W2583906370","https://openalex.org/W2107855516","https://openalex.org/W1987955757","https://openalex.org/W2101678370","https://openalex.org/W2143968801","https://openalex.org/W3029325105","https://openalex.org/W2503830339","https://openalex.org/W2755739202","https://openalex.org/W2534253437","https://openalex.org/W2247689341","https://openalex.org/W2359258210","https://openalex.org/W2550957847","https://openalex.org/W1963988598","https://openalex.org/W2068541238","https://openalex.org/W2149422854","https://openalex.org/W2014620461"],"abstract_inverted_index":{"Appearance-based":[0],"localization":[1],"is":[2,118],"increasingly":[3],"used":[4],"for":[5,74,178],"loop":[6,29,78,149],"closure":[7,30,79,150],"detection":[8,151],"in":[9,110,130,152],"metric":[10,34],"SLAM":[11,97],"systems.":[12],"Since":[13],"it":[14,26],"relies":[15],"only":[16,50],"upon":[17],"the":[18,37,52,55,60,64,95,124,131,172],"appearance-based":[19,45,96,115],"similarity":[20],"between":[21],"images":[22],"from":[23],"two":[24],"locations,":[25],"can":[27],"perform":[28],"regardless":[31],"of":[32,43,54,63,92,123,165],"accumulated":[33],"error.":[35],"However,":[36],"computation":[38,102],"time":[39,62,146],"and":[40,104,128,147,170,175],"memory":[41,105,176],"requirements":[42,177],"current":[44],"methods":[46],"scale":[47],"linearly":[48],"not":[49],"with":[51,59,84,107,157],"size":[53],"environment":[56,156],"but":[57],"also":[58],"operation":[61,86],"platform.":[65],"These":[66],"properties":[67,122],"impose":[68],"severe":[69],"restrictions":[70],"on":[71],"longterm":[72],"autonomy":[73],"mobile":[75],"robots,":[76],"as":[77],"performance":[80,111,159],"will":[81],"inevitably":[82],"degrade":[83],"increased":[85],"time.":[87,113],"We":[88,143],"present":[89],"a":[90,153,163],"set":[91],"improvements":[93],"to":[94,100,138],"algorithm":[98],"CAT-SLAM":[99],"constrain":[101],"scaling":[103],"usage":[106],"minimal":[108,139],"degradation":[109],"over":[112],"The":[114],"comparison":[116],"stage":[117],"accelerated":[119],"by":[120,162],"exploiting":[121],"particle":[125],"observation":[126],"update,":[127],"nodes":[129],"continuous":[132],"trajectory":[133],"map":[134],"are":[135],"removed":[136],"according":[137],"information":[140],"loss":[141],"criteria.":[142],"demonstrate":[144],"constant":[145],"space":[148],"large":[154],"urban":[155],"recall":[158],"exceeding":[160],"FAB-MAP":[161],"factor":[164],"3":[166],"at":[167],"100%":[168],"precision,":[169],"investigate":[171],"minimum":[173],"computational":[174],"maintaining":[179],"mapping":[180],"performance.":[181]},"counts_by_year":[{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
