{"id":"https://openalex.org/W1552584821","doi":"https://doi.org/10.1109/icra.2015.7140013","title":"M3RSM: Many-to-many multi-resolution scan matching","display_name":"M3RSM: Many-to-many multi-resolution scan matching","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1552584821","doi":"https://doi.org/10.1109/icra.2015.7140013","mag":"1552584821"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7140013","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7140013","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 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/A5103139078","display_name":"Edwin Olson","orcid":null},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Edwin Olson","raw_affiliation_strings":["Computer Science and Engineering at the University of Michigan, Ann Arbor, MI","Computer Science and Engineering at the University of Michigan, 2260 Hayward St, Ann Arbor, USA"],"affiliations":[{"raw_affiliation_string":"Computer Science and Engineering at the University of Michigan, Ann Arbor, MI","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"Computer Science and Engineering at the University of Michigan, 2260 Hayward St, Ann Arbor, USA","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5103139078"],"corresponding_institution_ids":["https://openalex.org/I27837315"],"apc_list":null,"apc_paid":null,"fwci":132.7756,"has_fulltext":false,"cited_by_count":78,"citation_normalized_percentile":{"value":0.99871109,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"5815","last_page":"5821"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9980999827384949,"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":0.9980999827384949,"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":0.9980000257492065,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9970999956130981,"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/computer-science","display_name":"Computer science","score":0.6683646440505981},{"id":"https://openalex.org/keywords/resolution","display_name":"Resolution (logic)","score":0.5322109460830688},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.4886675179004669},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36591261625289917},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.32297563552856445},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08112087845802307}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6683646440505981},{"id":"https://openalex.org/C138268822","wikidata":"https://www.wikidata.org/wiki/Q1051925","display_name":"Resolution (logic)","level":2,"score":0.5322109460830688},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.4886675179004669},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36591261625289917},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.32297563552856445},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08112087845802307},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2015.7140013","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7140013","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1489204872","https://openalex.org/W1635475619","https://openalex.org/W1764461045","https://openalex.org/W1973629563","https://openalex.org/W1984608086","https://openalex.org/W1990884907","https://openalex.org/W1993267444","https://openalex.org/W1999399477","https://openalex.org/W2044435848","https://openalex.org/W2049981393","https://openalex.org/W2121272499","https://openalex.org/W2122410182","https://openalex.org/W2123417757","https://openalex.org/W2129743362","https://openalex.org/W2130763585","https://openalex.org/W2140881794","https://openalex.org/W2145060371","https://openalex.org/W2145166484","https://openalex.org/W2166076874","https://openalex.org/W2623293810","https://openalex.org/W6637016196","https://openalex.org/W6638006888","https://openalex.org/W6678525245"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"We":[0,51],"describe":[1,98],"a":[2,47,53,73,81,84,103,116,120],"new":[3],"multi-resolution":[4,23],"scan":[5,104,153],"matching":[6,14,105],"method":[7,40,59],"that":[8],"makes":[9],"exhaustive":[10],"(and":[11],"thus":[12],"local-minimum-proof)":[13],"practical,":[15],"even":[16],"for":[17,101],"large":[18],"positional":[19],"uncertainties.":[20],"Unlike":[21],"earlier":[22],"methods,":[24],"in":[25,68],"which":[26],"putative":[27],"matches":[28],"at":[29],"low-resolutions":[30],"can":[31],"lead":[32],"the":[33,43,64,69,112,127,141],"matcher":[34],"to":[35],"an":[36,99],"incorrect":[37],"solution,":[38],"our":[39,58],"generates":[41],"exactly":[42],"same":[44],"answer":[45],"as":[46,145,147],"brute-force":[48],"full-resolution":[49],"method.":[50],"provide":[52],"proof":[54],"of":[55,62,122,133,138],"this.":[56],"Novelly,":[57],"allows":[60],"decimation":[61],"both":[63],"look-up":[65],"table":[66],"and":[67,119],"point":[70],"cloud,":[71],"yielding":[72],"10x":[74],"speedup":[75],"versus":[76],"contemporary":[77],"correlative":[78],"methods.":[79],"When":[80],"robot":[82],"closes":[83],"large-scale":[85],"loop,":[86],"it":[87],"must":[88],"often":[89],"consider":[90],"many":[91],"loop-closure":[92],"candidates.":[93],"In":[94],"this":[95],"paper,":[96],"we":[97],"approach":[100],"posing":[102],"query":[106],"over":[107],"these":[108],"candidates":[109],"jointly,":[110],"finding":[111],"best":[113,128],"match(es)":[114],"between":[115,130],"particular":[117],"pose":[118],"set":[121],"candidate":[123],"poses":[124,134],"(\u201cone-to-many\u201d),":[125],"or":[126],"match":[129],"two":[131],"sets":[132],"(\u201cmany-to-many\u201d).":[135],"This":[136],"mode":[137],"operation":[139],"finds":[140],"first":[142],"loop":[143],"closure":[144],"much":[146],"45x":[148],"faster":[149],"than":[150],"traditional":[151],"\u201cone-to-one\u201d":[152],"matching.":[154]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":11},{"year":2020,"cited_by_count":15},{"year":2019,"cited_by_count":8},{"year":2018,"cited_by_count":9},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":2}],"updated_date":"2026-03-28T08:17:26.163206","created_date":"2025-10-10T00:00:00"}
