{"id":"https://openalex.org/W2072569846","doi":"https://doi.org/10.1109/icra.2014.6906954","title":"Conservative edge sparsification for graph SLAM node removal","display_name":"Conservative edge sparsification for graph SLAM node removal","publication_year":2014,"publication_date":"2014-05-01","ids":{"openalex":"https://openalex.org/W2072569846","doi":"https://doi.org/10.1109/icra.2014.6906954","mag":"2072569846"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2014.6906954","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6906954","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","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/A5051442890","display_name":"Nicholas Carlevaris\u2010Bianco","orcid":null},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nicholas Carlevaris-Bianco","raw_affiliation_strings":["Department of Electrical Engineering & Computer Science, University of Michigan, Ann Arbor, USA","Department of Electrical Engineering and Computer Science, University of Michigan, Ann Arbor, MI 48109, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering & Computer Science, University of Michigan, Ann Arbor, USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, University of Michigan, Ann Arbor, MI 48109, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020864898","display_name":"Ryan M. Eustice","orcid":"https://orcid.org/0000-0002-9989-4942"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ryan M. Eustice","raw_affiliation_strings":["Department of Naval Architecture & Marine Engineering, University of Michigan, Ann Arbor, USA","[Department of Naval Architecture & Marine Engineering, University of Michigan, Ann Arbor, MI 48109 USA.]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Naval Architecture & Marine Engineering, University of Michigan, Ann Arbor, USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"[Department of Naval Architecture & Marine Engineering, University of Michigan, Ann Arbor, MI 48109 USA.]","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I27837315"],"apc_list":null,"apc_paid":null,"fwci":8.3299,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.97750653,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"854","last_page":"860"},"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":0.9983999729156494,"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":0.9941999912261963,"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/divergence","display_name":"Divergence (linguistics)","score":0.6593029499053955},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5977422595024109},{"id":"https://openalex.org/keywords/node","display_name":"Node (physics)","score":0.5799692273139954},{"id":"https://openalex.org/keywords/approximation-algorithm","display_name":"Approximation algorithm","score":0.5333231687545776},{"id":"https://openalex.org/keywords/enhanced-data-rates-for-gsm-evolution","display_name":"Enhanced Data Rates for GSM Evolution","score":0.4963153004646301},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4627516269683838},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46250101923942566},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4319218397140503},{"id":"https://openalex.org/keywords/kullback\u2013leibler-divergence","display_name":"Kullback\u2013Leibler divergence","score":0.42889901995658875},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.4232461750507355},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.39886918663978577},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3472731113433838},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31102433800697327},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.24798423051834106},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.13142317533493042},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08176213502883911}],"concepts":[{"id":"https://openalex.org/C207390915","wikidata":"https://www.wikidata.org/wiki/Q1230525","display_name":"Divergence (linguistics)","level":2,"score":0.6593029499053955},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5977422595024109},{"id":"https://openalex.org/C62611344","wikidata":"https://www.wikidata.org/wiki/Q1062658","display_name":"Node (physics)","level":2,"score":0.5799692273139954},{"id":"https://openalex.org/C148764684","wikidata":"https://www.wikidata.org/wiki/Q621751","display_name":"Approximation algorithm","level":2,"score":0.5333231687545776},{"id":"https://openalex.org/C162307627","wikidata":"https://www.wikidata.org/wiki/Q204833","display_name":"Enhanced Data Rates for GSM Evolution","level":2,"score":0.4963153004646301},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4627516269683838},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46250101923942566},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4319218397140503},{"id":"https://openalex.org/C171752962","wikidata":"https://www.wikidata.org/wiki/Q255166","display_name":"Kullback\u2013Leibler divergence","level":2,"score":0.42889901995658875},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.4232461750507355},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.39886918663978577},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3472731113433838},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31102433800697327},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.24798423051834106},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.13142317533493042},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08176213502883911},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2014.6906954","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6906954","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.460.9194","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.460.9194","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://robots.engin.umich.edu/publications/ncarlevaris-2014a.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/10","score":0.7799999713897705,"display_name":"Reduced inequalities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1656165940","https://openalex.org/W1977464512","https://openalex.org/W1986298071","https://openalex.org/W2024318675","https://openalex.org/W2024908906","https://openalex.org/W2033923716","https://openalex.org/W2047049913","https://openalex.org/W2062660218","https://openalex.org/W2064169939","https://openalex.org/W2091750321","https://openalex.org/W2101345862","https://openalex.org/W2107905629","https://openalex.org/W2115126368","https://openalex.org/W2121013842","https://openalex.org/W2137052305","https://openalex.org/W2147243899","https://openalex.org/W2148234182","https://openalex.org/W2154319942","https://openalex.org/W2156561799","https://openalex.org/W2163166770","https://openalex.org/W2164035059","https://openalex.org/W2171792626","https://openalex.org/W2260859552","https://openalex.org/W2296319761","https://openalex.org/W2336416123","https://openalex.org/W2912522929","https://openalex.org/W3140425959","https://openalex.org/W4250589301"],"related_works":["https://openalex.org/W2105321464","https://openalex.org/W2887774187","https://openalex.org/W2388220555","https://openalex.org/W1554844486","https://openalex.org/W1520875569","https://openalex.org/W3048739257","https://openalex.org/W1665563134","https://openalex.org/W2963604926","https://openalex.org/W2199957582","https://openalex.org/W2033178790"],"abstract_inverted_index":{"This":[0],"paper":[1],"reports":[2],"on":[3],"optimization-based":[4,47],"methods":[5,30,48,83],"for":[6],"producing":[7],"a":[8,33,85],"sparse,":[9,34],"conservative":[10,57,86],"approximation":[11,39,52],"of":[12,40],"the":[13,41,51,61,66,81,93],"dense":[14],"potentials":[15],"induced":[16],"by":[17],"node":[18],"marginalization":[19,42,68,95],"in":[20],"simultaneous":[21],"localization":[22],"and":[23,44,78],"mapping":[24],"(SLAM)":[25],"factor":[26],"graphs.":[27],"The":[28],"proposed":[29,82],"start":[31],"with":[32],"but":[35],"overconfident,":[36],"Chow-Liu":[37],"tree":[38],"potential":[43],"then":[45],"use":[46],"to":[49,59],"adjust":[50],"so":[53],"that":[54,80],"it":[55],"is":[56],"subject":[58],"minimizing":[60],"Kullback-Leibler":[62],"divergence":[63],"(KLD)":[64],"from":[65,92],"true":[67,94],"potential.":[69,96],"Results":[70],"are":[71],"presented":[72],"over":[73],"multiple":[74],"real-world":[75],"SLAM":[76],"graphs":[77],"show":[79],"enforce":[84],"approximation,":[87],"while":[88],"achieving":[89],"low":[90],"KLD":[91]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":4},{"year":2019,"cited_by_count":2},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}