{"id":"https://openalex.org/W4401416545","doi":"https://doi.org/10.1109/icra57147.2024.10610962","title":"Effectively Detecting Loop Closures using Point Cloud Density Maps","display_name":"Effectively Detecting Loop Closures using Point Cloud Density Maps","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401416545","doi":"https://doi.org/10.1109/icra57147.2024.10610962"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610962","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610962","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5101903238","display_name":"Saurabh Gupta","orcid":"https://orcid.org/0000-0002-0698-208X"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Saurabh Gupta","raw_affiliation_strings":["University of Bonn,Center for Robotics,Germany"],"affiliations":[{"raw_affiliation_string":"University of Bonn,Center for Robotics,Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016069215","display_name":"Tiziano Guadagnino","orcid":"https://orcid.org/0000-0002-7853-5510"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Tiziano Guadagnino","raw_affiliation_strings":["University of Bonn,Center for Robotics,Germany"],"affiliations":[{"raw_affiliation_string":"University of Bonn,Center for Robotics,Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041356220","display_name":"Benedikt Mersch","orcid":"https://orcid.org/0000-0002-6937-2799"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Benedikt Mersch","raw_affiliation_strings":["University of Bonn,Center for Robotics,Germany"],"affiliations":[{"raw_affiliation_string":"University of Bonn,Center for Robotics,Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043685385","display_name":"Ignacio Vizzo","orcid":"https://orcid.org/0000-0001-5140-6359"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ignacio Vizzo","raw_affiliation_strings":["Dexory,UK"],"affiliations":[{"raw_affiliation_string":"Dexory,UK","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011166267","display_name":"Cyrill Stachniss","orcid":"https://orcid.org/0000-0003-1173-6972"},"institutions":[{"id":"https://openalex.org/I4387154616","display_name":"Lamarr Institute for Machine Learning and Artificial Intelligence","ror":"https://ror.org/04s11ea33","country_code":null,"type":"facility","lineage":["https://openalex.org/I135140700","https://openalex.org/I200332995","https://openalex.org/I4210098062","https://openalex.org/I4210144576","https://openalex.org/I4387154616","https://openalex.org/I4923324","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Cyrill Stachniss","raw_affiliation_strings":["Lamarr Institute for Machine Learning and Artificial Intelligence,Germany"],"affiliations":[{"raw_affiliation_string":"Lamarr Institute for Machine Learning and Artificial Intelligence,Germany","institution_ids":["https://openalex.org/I4387154616"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5101903238"],"corresponding_institution_ids":["https://openalex.org/I135140700"],"apc_list":null,"apc_paid":null,"fwci":21.2276,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.99492451,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"10260","last_page":"10266"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9979000091552734,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9975000023841858,"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/cloud-computing","display_name":"Cloud computing","score":0.6168188452720642},{"id":"https://openalex.org/keywords/loop","display_name":"Loop (graph theory)","score":0.6046469807624817},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5922794938087463},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5677863359451294},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4156843423843384},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2086029052734375},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12276136875152588},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.08664488792419434},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.058303654193878174}],"concepts":[{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.6168188452720642},{"id":"https://openalex.org/C184670325","wikidata":"https://www.wikidata.org/wiki/Q512604","display_name":"Loop (graph theory)","level":2,"score":0.6046469807624817},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5922794938087463},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5677863359451294},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4156843423843384},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2086029052734375},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12276136875152588},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.08664488792419434},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.058303654193878174},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610962","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610962","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/13","display_name":"Climate action","score":0.5099999904632568}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W1972485825","https://openalex.org/W1988322066","https://openalex.org/W1998346999","https://openalex.org/W2029449100","https://openalex.org/W2080823437","https://openalex.org/W2099606917","https://openalex.org/W2105977269","https://openalex.org/W2117228865","https://openalex.org/W2123824069","https://openalex.org/W2128019145","https://openalex.org/W2130422193","https://openalex.org/W2131821152","https://openalex.org/W2136567909","https://openalex.org/W2147126173","https://openalex.org/W2153054365","https://openalex.org/W2160821342","https://openalex.org/W2281383810","https://openalex.org/W2327620174","https://openalex.org/W2556205602","https://openalex.org/W2565998037","https://openalex.org/W2788806311","https://openalex.org/W2798278946","https://openalex.org/W2910489334","https://openalex.org/W2912583782","https://openalex.org/W3039808820","https://openalex.org/W3091337047","https://openalex.org/W3099851400","https://openalex.org/W3130736756","https://openalex.org/W3132401233","https://openalex.org/W3138171450","https://openalex.org/W3179694074","https://openalex.org/W3196890180","https://openalex.org/W3207483031","https://openalex.org/W3211389689","https://openalex.org/W4226275201","https://openalex.org/W4243385754","https://openalex.org/W4285147600","https://openalex.org/W4315778466","https://openalex.org/W4383066341","https://openalex.org/W4383097620","https://openalex.org/W4393864935","https://openalex.org/W4405081529","https://openalex.org/W6874754347"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W4244478748","https://openalex.org/W4223488648","https://openalex.org/W2134969820","https://openalex.org/W2251605416","https://openalex.org/W2560439919","https://openalex.org/W4389340727","https://openalex.org/W3150465815","https://openalex.org/W1997222214"],"abstract_inverted_index":{"The":[0,125],"ability":[1],"to":[2,104,122,133,151,178],"detect":[3],"loop":[4,37,64],"closures":[5,15,38,65],"plays":[6],"an":[7],"essential":[8],"role":[9],"in":[10,39,43],"any":[11],"SLAM":[12,41],"system.":[13],"Loop":[14],"allow":[16],"correcting":[17],"the":[18,32,54,58,76,91,135,145,148,188],"drifting":[19],"pose":[20],"estimates":[21],"from":[22,82],"a":[23,96,112,156,161,168],"sensor":[24],"odometry":[25,85],"pipeline.":[26],"In":[27,108],"this":[28],"paper,":[29],"we":[30,74,110],"address":[31],"problem":[33],"of":[34,49,53,57,78,101,127,137,147,164,190],"effectively":[35],"detecting":[36],"LiDAR":[40,68,172],"systems":[42],"various":[44],"environments":[45],"with":[46],"longer":[47],"lengths":[48],"sequences":[50],"and":[51,186],"agnostic":[52],"scanning":[55],"pattern":[56],"sensor.":[59,173],"While":[60],"many":[61],"approaches":[62,89,185],"for":[63,167],"using":[66],"3D":[67,171],"sensors":[69],"rely":[70],"on":[71,95],"individual":[72],"scans,":[73],"propose":[75],"usage":[77],"local":[79,129],"maps":[80,130],"generated":[81],"locally":[83],"consistent":[84],"estimates.":[86],"Several":[87],"recent":[88],"compute":[90,105],"maximum":[92],"elevation":[93],"map":[94],"bird\u2019s":[97,115],"eye":[98,116],"view":[99,117],"projection":[100],"point":[102],"clouds":[103],"feature":[106],"descriptors.":[107],"contrast,":[109],"use":[111],"density":[113],"image":[114],"representation,":[118],"which":[119],"is":[120],"robust":[121],"viewpoint":[123],"changes.":[124],"utilization":[126],"dense":[128],"allows":[131],"us":[132],"reduce":[134],"complexity":[136],"features":[138,154],"describing":[139],"these":[140,153],"maps,":[141],"as":[142,144],"well":[143],"size":[146],"database":[149],"required":[150],"store":[152],"over":[155],"long":[157],"sequence.":[158],"This":[159],"yields":[160],"real-time":[162],"application":[163],"our":[165,180,191],"approach":[166,181],"typical":[169],"robotic":[170],"We":[174],"perform":[175],"extensive":[176],"experiments":[177],"evaluate":[179],"against":[182],"other":[183],"state-of-the-art":[184],"show":[187],"benefits":[189],"proposed":[192],"approach.":[193]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":18},{"year":2024,"cited_by_count":2}],"updated_date":"2026-03-04T09:10:02.777135","created_date":"2025-10-10T00:00:00"}
