{"id":"https://openalex.org/W2080486046","doi":"https://doi.org/10.1109/icra.2014.6907483","title":"Eliminating conditionally independent sets in factor graphs: A unifying perspective based on smart factors","display_name":"Eliminating conditionally independent sets in factor graphs: A unifying perspective based on smart factors","publication_year":2014,"publication_date":"2014-05-01","ids":{"openalex":"https://openalex.org/W2080486046","doi":"https://doi.org/10.1109/icra.2014.6907483","mag":"2080486046"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2014.6907483","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907483","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":"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/A5042157108","display_name":"Luca Carlone","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Luca Carlone","raw_affiliation_strings":["College of Computing, Georgia Institute of Technology, Atlanta, GA, USA","[Georgia Institute of Technology.]"],"affiliations":[{"raw_affiliation_string":"College of Computing, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"[Georgia Institute of Technology.]","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088892134","display_name":"Zsolt Kira","orcid":"https://orcid.org/0000-0002-2626-2004"},"institutions":[{"id":"https://openalex.org/I4388482740","display_name":"Georgia Tech Research Institute","ror":"https://ror.org/04qfrh333","country_code":null,"type":"facility","lineage":["https://openalex.org/I130701444","https://openalex.org/I4388482740"]},{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zsolt Kira","raw_affiliation_strings":["Georgia Tech Research Institute, Atlanta, GA, USA","[Georgia Institute of Technology.]"],"affiliations":[{"raw_affiliation_string":"Georgia Tech Research Institute, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444","https://openalex.org/I4388482740"]},{"raw_affiliation_string":"[Georgia Institute of Technology.]","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022826420","display_name":"Chris Beall","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chris Beall","raw_affiliation_strings":["College of Computing, Georgia Institute of Technology, Atlanta, GA, USA","[Georgia Institute of Technology.]"],"affiliations":[{"raw_affiliation_string":"College of Computing, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"[Georgia Institute of Technology.]","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079397023","display_name":"Vadim Indelman","orcid":"https://orcid.org/0000-0002-1863-3442"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vadim Indelman","raw_affiliation_strings":["College of Computing, Georgia Institute of Technology, Atlanta, GA, USA","[Georgia Institute of Technology.]"],"affiliations":[{"raw_affiliation_string":"College of Computing, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"[Georgia Institute of Technology.]","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087336025","display_name":"Frank Dellaert","orcid":"https://orcid.org/0000-0002-5532-3566"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Frank Dellaert","raw_affiliation_strings":["College of Computing, Georgia Institute of Technology, Atlanta, GA, USA","[Georgia Institute of Technology.]"],"affiliations":[{"raw_affiliation_string":"College of Computing, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"[Georgia Institute of Technology.]","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5042157108"],"corresponding_institution_ids":["https://openalex.org/I130701444"],"apc_list":null,"apc_paid":null,"fwci":2.9656,"has_fulltext":false,"cited_by_count":90,"citation_normalized_percentile":{"value":0.93195972,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"4290","last_page":"4297"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9987000226974487,"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"}},"topics":[{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9987000226974487,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9983000159263611,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.994700014591217,"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/exploit","display_name":"Exploit","score":0.6355206966400146},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5869541168212891},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5415061712265015},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.5396686792373657},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.5092571973800659},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4692908227443695},{"id":"https://openalex.org/keywords/partition","display_name":"Partition (number theory)","score":0.4656520485877991},{"id":"https://openalex.org/keywords/independent-set","display_name":"Independent set","score":0.45092979073524475},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41678646206855774},{"id":"https://openalex.org/keywords/variables","display_name":"Variables","score":0.415067195892334},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3659254312515259},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.35766416788101196},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.28196367621421814},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.28176814317703247}],"concepts":[{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.6355206966400146},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5869541168212891},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5415061712265015},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.5396686792373657},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.5092571973800659},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4692908227443695},{"id":"https://openalex.org/C42812","wikidata":"https://www.wikidata.org/wiki/Q1082910","display_name":"Partition (number theory)","level":2,"score":0.4656520485877991},{"id":"https://openalex.org/C122818955","wikidata":"https://www.wikidata.org/wiki/Q1060343","display_name":"Independent set","level":3,"score":0.45092979073524475},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41678646206855774},{"id":"https://openalex.org/C27574286","wikidata":"https://www.wikidata.org/wiki/Q320723","display_name":"Variables","level":2,"score":0.415067195892334},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3659254312515259},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.35766416788101196},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.28196367621421814},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.28176814317703247},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra.2014.6907483","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907483","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:smartech.gatech.edu:1853/53717","is_oa":false,"landing_page_url":"http://repository.gatech.edu/bitstreams/629d4d49-8b67-4fc9-8915-59f59be7f0f2/download","pdf_url":null,"source":{"id":"https://openalex.org/S4377196313","display_name":"SMARTech Repository (Georgia Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I130701444","host_organization_name":"Georgia Institute of Technology","host_organization_lineage":["https://openalex.org/I130701444"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.645.3579","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.645.3579","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cc.gatech.edu/~dellaert/pub/Carlone14icra.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W142685375","https://openalex.org/W1968315983","https://openalex.org/W1981699551","https://openalex.org/W1990884907","https://openalex.org/W1998346999","https://openalex.org/W1999399477","https://openalex.org/W2005389775","https://openalex.org/W2033923716","https://openalex.org/W2047049913","https://openalex.org/W2056358962","https://openalex.org/W2088880814","https://openalex.org/W2091750321","https://openalex.org/W2096052462","https://openalex.org/W2107402720","https://openalex.org/W2109271936","https://openalex.org/W2112404351","https://openalex.org/W2118223742","https://openalex.org/W2123195103","https://openalex.org/W2129201358","https://openalex.org/W2137813581","https://openalex.org/W2150066425","https://openalex.org/W2153054365","https://openalex.org/W2161064850","https://openalex.org/W2163684122","https://openalex.org/W2294894645","https://openalex.org/W2296754596","https://openalex.org/W2535722635","https://openalex.org/W6605876125","https://openalex.org/W6658679426","https://openalex.org/W6683828582","https://openalex.org/W6697303617","https://openalex.org/W6697688974","https://openalex.org/W6817085737"],"related_works":["https://openalex.org/W4388311650","https://openalex.org/W1974056099","https://openalex.org/W4245343541","https://openalex.org/W2386077341","https://openalex.org/W563589758","https://openalex.org/W5922282","https://openalex.org/W2954004777","https://openalex.org/W2949638731","https://openalex.org/W2951102138","https://openalex.org/W4299447939"],"abstract_inverted_index":{"Factor":[0],"graphs":[1],"are":[2,37,52,75,101],"a":[3,22,63,90],"general":[4],"estimation":[5,83,145],"framework":[6],"that":[7,70,100,129],"has":[8],"been":[9],"widely":[10],"used":[11],"in":[12,29,146],"computer":[13],"vision":[14],"and":[15,160,170],"robotics.":[16],"In":[17,85],"several":[18],"classes":[19],"of":[20,34,39,57,81,107,117,135,156,163],"problems":[21,99],"natural":[23],"partition":[24],"arises":[25],"among":[26,124],"variables":[27,36,51],"involved":[28],"the":[30,35,42,55,58,82,105,115,133,153,157,161],"estimation.":[31],"A":[32],"subset":[33],"actually":[38],"interest":[40],"for":[41,54],"user:":[43],"we":[44,71,88],"call":[45,72],"those":[46],"target":[47,108,125],"variables.":[48,109,126],"The":[49],"remaining":[50],"essential":[53],"formulation":[56],"optimization":[59,98,158],"problem":[60,159],"underlying":[61,154],"maximum":[62],"posteriori":[64],"(MAP)":[65],"estimation;":[66],"however":[67],"these":[68],"variables,":[69,74,96],"support":[73,95],"not":[76],"strictly":[77],"required":[78],"as":[79],"output":[80],"problem.":[84],"this":[86,130],"paper,":[87],"propose":[89],"systematic":[91],"way":[92],"to":[93,114,122,143,151],"abstract":[94],"defining":[97],"only":[102],"defined":[103],"over":[104],"set":[106],"This":[110],"abstraction":[111],"naturally":[112],"leads":[113],"definition":[116],"smart":[118],"factors,":[119],"which":[120],"correspond":[121],"constraints":[123],"We":[127],"show":[128],"perspective":[131],"unifies":[132],"treatment":[134,162],"heterogeneous":[136],"problems,":[137],"ranging":[138],"from":[139],"structureless":[140],"bundle":[141],"adjustment":[142],"robust":[144],"SLAM.":[147],"Moreover,":[148],"it":[149],"enables":[150],"exploit":[152],"structure":[155],"degenerate":[164],"instances,":[165],"enhancing":[166],"both":[167],"computational":[168],"efficiency":[169],"robustness.":[171]},"counts_by_year":[{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":12},{"year":2020,"cited_by_count":13},{"year":2019,"cited_by_count":12},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":4}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
