{"id":"https://openalex.org/W2157315715","doi":"https://doi.org/10.1109/icra.2013.6630951","title":"Fast place recognition with plane-based maps","display_name":"Fast place recognition with plane-based maps","publication_year":2013,"publication_date":"2013-05-01","ids":{"openalex":"https://openalex.org/W2157315715","doi":"https://doi.org/10.1109/icra.2013.6630951","mag":"2157315715"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2013.6630951","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6630951","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 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/A5010118502","display_name":"Eduardo Fern\u00e1ndez-Moral","orcid":null},"institutions":[{"id":"https://openalex.org/I82767444","display_name":"Universidad de M\u00e1laga","ror":"https://ror.org/036b2ww28","country_code":"ES","type":"education","lineage":["https://openalex.org/I82767444"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"E. Fernandez-Moral","raw_affiliation_strings":["Departmento Ingenier\u00eda de Sistemas y Autom\u00e1tica, Universidad de M\u00e1laga, Malaga, Spain"],"affiliations":[{"raw_affiliation_string":"Departmento Ingenier\u00eda de Sistemas y Autom\u00e1tica, Universidad de M\u00e1laga, Malaga, Spain","institution_ids":["https://openalex.org/I82767444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044824896","display_name":"Walterio Mayol\u2010Cuevas","orcid":"https://orcid.org/0000-0001-8973-1931"},"institutions":[{"id":"https://openalex.org/I36234482","display_name":"University of Bristol","ror":"https://ror.org/0524sp257","country_code":"GB","type":"education","lineage":["https://openalex.org/I36234482"]},{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"W. Mayol-Cuevas","raw_affiliation_strings":["Department of Computer Sciences, Bristol Robotics Laboratory, University of Bristol, Bristol, UK"],"affiliations":[{"raw_affiliation_string":"Department of Computer Sciences, Bristol Robotics Laboratory, University of Bristol, Bristol, UK","institution_ids":["https://openalex.org/I4210161128","https://openalex.org/I36234482"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010671420","display_name":"Vicente Ar\u00e9valo","orcid":"https://orcid.org/0000-0003-0622-207X"},"institutions":[{"id":"https://openalex.org/I82767444","display_name":"Universidad de M\u00e1laga","ror":"https://ror.org/036b2ww28","country_code":"ES","type":"education","lineage":["https://openalex.org/I82767444"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"V. Arevalo","raw_affiliation_strings":["Departmento Ingenier\u00eda de Sistemas y Autom\u00e1tica, Universidad de M\u00e1laga, Malaga, Spain"],"affiliations":[{"raw_affiliation_string":"Departmento Ingenier\u00eda de Sistemas y Autom\u00e1tica, Universidad de M\u00e1laga, Malaga, Spain","institution_ids":["https://openalex.org/I82767444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070626607","display_name":"Javier Gonz\u00e1lez-Jim\u00e9nez","orcid":"https://orcid.org/0000-0003-3845-3497"},"institutions":[{"id":"https://openalex.org/I82767444","display_name":"Universidad de M\u00e1laga","ror":"https://ror.org/036b2ww28","country_code":"ES","type":"education","lineage":["https://openalex.org/I82767444"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"J. Gonzalez-Jimenez","raw_affiliation_strings":["Departmento Ingenier\u00eda de Sistemas y Autom\u00e1tica, Universidad de M\u00e1laga, Malaga, Spain"],"affiliations":[{"raw_affiliation_string":"Departmento Ingenier\u00eda de Sistemas y Autom\u00e1tica, Universidad de M\u00e1laga, Malaga, Spain","institution_ids":["https://openalex.org/I82767444"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5010118502"],"corresponding_institution_ids":["https://openalex.org/I82767444"],"apc_list":null,"apc_paid":null,"fwci":125.878,"has_fulltext":false,"cited_by_count":61,"citation_normalized_percentile":{"value":0.99869535,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"2719","last_page":"2724"},"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":0.9993000030517578,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9908999800682068,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/centroid","display_name":"Centroid","score":0.6945400238037109},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6469303965568542},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5868327021598816},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.5630335807800293},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.49534502625465393},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4702174663543701},{"id":"https://openalex.org/keywords/plane","display_name":"Plane (geometry)","score":0.46048885583877563},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4494289755821228},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.43575403094291687},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.43410611152648926},{"id":"https://openalex.org/keywords/atlas","display_name":"Atlas (anatomy)","score":0.4309973120689392},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.42907190322875977},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2730012536048889},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.15104934573173523},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.13524076342582703},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.12573882937431335}],"concepts":[{"id":"https://openalex.org/C146599234","wikidata":"https://www.wikidata.org/wiki/Q511093","display_name":"Centroid","level":2,"score":0.6945400238037109},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6469303965568542},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5868327021598816},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.5630335807800293},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.49534502625465393},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4702174663543701},{"id":"https://openalex.org/C17825722","wikidata":"https://www.wikidata.org/wiki/Q17285","display_name":"Plane (geometry)","level":2,"score":0.46048885583877563},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4494289755821228},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.43575403094291687},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.43410611152648926},{"id":"https://openalex.org/C2776673561","wikidata":"https://www.wikidata.org/wiki/Q655357","display_name":"Atlas (anatomy)","level":2,"score":0.4309973120689392},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.42907190322875977},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2730012536048889},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.15104934573173523},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.13524076342582703},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.12573882937431335},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"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/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2013.6630951","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6630951","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:research-information.bris.ac.uk:openaire_cris_publications/0d4e03e1-fcb3-4a45-9692-6a1e00fabb91","is_oa":false,"landing_page_url":"https://research-information.bris.ac.uk/en/publications/0d4e03e1-fcb3-4a45-9692-6a1e00fabb91","pdf_url":null,"source":{"id":"https://openalex.org/S4306400895","display_name":"Bristol Research (University of Bristol)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I36234482","host_organization_name":"University of Bristol","host_organization_lineage":["https://openalex.org/I36234482"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Fern\u00e1ndez-Moral, E, Mayol-Cuevas, W, Ar\u00e9valo, V & Gonz\u00e1lez-Jim\u00e9nez, J 2013, Fast place recognition with plane-based maps. in Robotics and Automation (ICRA), 2013 IEEE International Conference on. pp. 2719-2724.","raw_type":"contributionToPeriodical"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.6399999856948853}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1532257412","https://openalex.org/W1976809435","https://openalex.org/W2033574012","https://openalex.org/W2064280431","https://openalex.org/W2091226544","https://openalex.org/W2101992557","https://openalex.org/W2103497972","https://openalex.org/W2118830119","https://openalex.org/W2128554449","https://openalex.org/W2131846894","https://openalex.org/W2132185185","https://openalex.org/W2144824356","https://openalex.org/W2160821342","https://openalex.org/W2162536300","https://openalex.org/W2162915993","https://openalex.org/W2165213665","https://openalex.org/W2175812528","https://openalex.org/W6685430979"],"related_works":["https://openalex.org/W2899084033","https://openalex.org/W2381926679","https://openalex.org/W2007009951","https://openalex.org/W2082644203","https://openalex.org/W2314146950","https://openalex.org/W2011187995","https://openalex.org/W2373521488","https://openalex.org/W2324878645","https://openalex.org/W2803101231","https://openalex.org/W2006117736"],"abstract_inverted_index":{"This":[0,54,78],"paper":[1],"presents":[2],"a":[3,24,32,38,60,110,141],"new":[4],"method":[5],"for":[6],"recognizing":[7],"places":[8],"in":[9,180],"indoor":[10],"environments":[11],"based":[12],"on":[13],"the":[14,63,66,70,87,133,149,153,161,181],"extraction":[15],"of":[16,37,40,90,104],"planar":[17,42,67],"regions":[18],"from":[19,132],"range":[20],"data":[21],"provided":[22],"by":[23,45,140],"hand-held":[25],"RGB-D":[26],"sensor.":[27],"We":[28],"propose":[29],"to":[30,82,101,168],"build":[31],"plane-based":[33],"map":[34,79],"(PbMap)":[35],"consisting":[36],"set":[39],"3D":[41],"patches":[43,68],"described":[44],"simple":[46],"geometric":[47],"features":[48],"(normal":[49],"vector,":[50],"centroid,":[51],"area,":[52],"etc.).":[53],"world":[55],"representation":[56],"is":[57,164],"organized":[58],"as":[59],"graph":[61],"where":[62],"nodes":[64],"represent":[65],"and":[69,127],"edges":[71],"connect":[72],"planes":[73,105],"that":[74,93,121,160],"are":[75,136,177],"close":[76],"by.":[77],"structure":[80],"permits":[81,122],"efficiently":[83],"select":[84],"subgraphs":[85,99,115],"representing":[86],"local":[88,102],"neighborhood":[89],"observed":[91,126],"planes,":[92],"will":[94],"be":[95],"compared":[96],"with":[97,124],"other":[98],"corresponding":[100],"neighborhoods":[103],"acquired":[106],"previously.":[107],"To":[108],"find":[109],"candidate":[111],"match":[112],"between":[113,152],"two":[114],"we":[116],"employ":[117],"an":[118,165],"interpretation":[119,134],"tree":[120,135],"working":[123,172],"partially":[125],"missing":[128],"planes.":[129],"The":[130,156],"candidates":[131],"further":[137],"checked":[138],"out":[139],"rigid":[142],"registration":[143],"test,":[144],"which":[145],"also":[146],"gives":[147],"us":[148],"relative":[150],"pose":[151],"matched":[154],"places.":[155],"experimental":[157],"results":[158],"indicate":[159],"proposed":[162],"approach":[163],"efficient":[166],"way":[167],"solve":[169],"this":[170],"problem,":[171],"satisfactorily":[173],"even":[174],"when":[175],"there":[176],"substantial":[178],"changes":[179],"scene":[182],"(lifelong":[183],"maps).":[184]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":7},{"year":2017,"cited_by_count":13},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":7},{"year":2014,"cited_by_count":8},{"year":2013,"cited_by_count":1}],"updated_date":"2026-04-04T06:10:10.580331","created_date":"2025-10-10T00:00:00"}