{"id":"https://openalex.org/W4383066378","doi":"https://doi.org/10.1109/icra48891.2023.10161166","title":"Towards View-invariant and Accurate Loop Detection Based on Scene Graph","display_name":"Towards View-invariant and Accurate Loop Detection Based on Scene Graph","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383066378","doi":"https://doi.org/10.1109/icra48891.2023.10161166"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10161166","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161166","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5078952009","display_name":"Chuhao Liu","orcid":"https://orcid.org/0000-0003-3050-6574"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Chuhao Liu","raw_affiliation_strings":["Hong Kong University of Science and Technology,Department of Electronic and Computer Engineering,Hong Kong,China","Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hong Kong University of Science and Technology,Department of Electronic and Computer Engineering,Hong Kong,China","institution_ids":["https://openalex.org/I200769079"]},{"raw_affiliation_string":"Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong, China","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001947944","display_name":"Shaojie Shen","orcid":"https://orcid.org/0000-0002-5573-2909"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Shaojie Shen","raw_affiliation_strings":["Hong Kong University of Science and Technology,Department of Electronic and Computer Engineering,Hong Kong,China","Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hong Kong University of Science and Technology,Department of Electronic and Computer Engineering,Hong Kong,China","institution_ids":["https://openalex.org/I200769079"]},{"raw_affiliation_string":"Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong, China","institution_ids":["https://openalex.org/I200769079"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I200769079"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2127","last_page":"2133"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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":0.9997000098228455,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9983999729156494,"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":0.7690900564193726},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5572933554649353},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5496214628219604},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5468988418579102},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.513822615146637},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4951564371585846},{"id":"https://openalex.org/keywords/viewpoints","display_name":"Viewpoints","score":0.4842836260795593},{"id":"https://openalex.org/keywords/loop","display_name":"Loop (graph theory)","score":0.4775039553642273},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.46806517243385315},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.44450944662094116},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.3022661805152893},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1957518756389618},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1434587836265564},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.135728657245636}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7690900564193726},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5572933554649353},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5496214628219604},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5468988418579102},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.513822615146637},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4951564371585846},{"id":"https://openalex.org/C2776035091","wikidata":"https://www.wikidata.org/wiki/Q7928819","display_name":"Viewpoints","level":2,"score":0.4842836260795593},{"id":"https://openalex.org/C184670325","wikidata":"https://www.wikidata.org/wiki/Q512604","display_name":"Loop (graph theory)","level":2,"score":0.4775039553642273},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.46806517243385315},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.44450944662094116},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.3022661805152893},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1957518756389618},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1434587836265564},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.135728657245636},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","level":1,"score":0.0},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra48891.2023.10161166","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161166","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-125169","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-125169","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1989484209","https://openalex.org/W2154851992","https://openalex.org/W2519911873","https://openalex.org/W2888144883","https://openalex.org/W2919379406","https://openalex.org/W2945292915","https://openalex.org/W2962756421","https://openalex.org/W2963150697","https://openalex.org/W2963256208","https://openalex.org/W2964025948","https://openalex.org/W2981422075","https://openalex.org/W3034275286","https://openalex.org/W3034550906","https://openalex.org/W3043971245","https://openalex.org/W3089846185","https://openalex.org/W3090386798","https://openalex.org/W3102330937","https://openalex.org/W3104097132","https://openalex.org/W3183042936","https://openalex.org/W3183768538","https://openalex.org/W4210252310","https://openalex.org/W4214773923","https://openalex.org/W4283332944"],"related_works":["https://openalex.org/W2385368906","https://openalex.org/W2902924992","https://openalex.org/W2626642044","https://openalex.org/W93537448","https://openalex.org/W2619807045","https://openalex.org/W2388758053","https://openalex.org/W2949734191","https://openalex.org/W2017333877","https://openalex.org/W2048332520","https://openalex.org/W2556215627"],"abstract_inverted_index":{"Loop":[0],"detection":[1,42,57,85],"plays":[2],"a":[3,51,82,138],"key":[4],"role":[5],"in":[6,35,61,76,132,141,157],"visual":[7,96],"Si-multaneous":[8],"Localization":[9],"and":[10,30,67,109,147],"Mapping":[11],"(SLAM)":[12],"by":[13],"correcting":[14],"the":[15,22,44,77,95,104],"accumulated":[16],"pose":[17],"drift.":[18],"In":[19],"indoor":[20,99,159],"scenarios,":[21],"richly":[23],"distributed":[24],"semantic":[25,47,65,112],"landmarks":[26],"are":[27,72],"view-point":[28],"invariant":[29],"hold":[31],"strong":[32],"descriptive":[33],"power":[34],"loop":[36,41,56,84],"detection.":[37],"The":[38],"current":[39,54],"semantic-aided":[40,55],"embeds":[43],"topology":[45,146],"between":[46],"instances":[48,66,113],"to":[49,114,128],"search":[50],"loop.":[52],"However,":[53],"methods":[58],"face":[59],"challenges":[60],"dealing":[62],"with":[63,144],"ambiguous":[64],"drastic":[68],"viewpoint":[69],"differences,":[70],"which":[71],"not":[73],"fully":[74],"addressed":[75],"literature.":[78],"This":[79],"paper":[80],"introduces":[81],"novel":[83],"method":[86,125,150],"based":[87],"on":[88],"an":[89],"incremen-tally":[90],"created":[91],"scene":[92],"graph,":[93],"targeting":[94],"SLAM":[97],"at":[98],"scenes.":[100,160],"It":[101,136],"jointly":[102],"considers":[103],"macro-view":[105],"topology,":[106,108],"micro-view":[107],"occupancy":[110],"of":[111],"find":[115],"correct":[116],"correspondences.":[117],"Experiments":[118],"using":[119],"handheld":[120],"RGB-D":[121],"sequence":[122],"show":[123],"our":[124],"is":[126,155],"able":[127],"accurately":[129],"detect":[130],"loops":[131],"drastically":[133],"changed":[134,158],"viewpoints.":[135],"maintains":[137],"high":[139],"precision":[140],"observing":[142],"objects":[143],"similar":[145],"appearance.":[148],"Our":[149],"also":[151],"demonstrates":[152],"that":[153],"it":[154],"robust":[156]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}