{"id":"https://openalex.org/W1999722113","doi":"https://doi.org/10.1109/iros.2011.6094602","title":"Memory management for real-time appearance-based loop closure detection","display_name":"Memory management for real-time appearance-based loop closure detection","publication_year":2011,"publication_date":"2011-09-01","ids":{"openalex":"https://openalex.org/W1999722113","doi":"https://doi.org/10.1109/iros.2011.6094602","mag":"1999722113"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2011.6094602","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094602","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2407.15890","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5027133846","display_name":"Martine Labb\u00e9","orcid":"https://orcid.org/0000-0001-7471-2308"},"institutions":[{"id":"https://openalex.org/I135117807","display_name":"Universit\u00e9 de Sherbrooke","ror":"https://ror.org/00kybxq39","country_code":"CA","type":"education","lineage":["https://openalex.org/I135117807"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"M. Labbe","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Universit\u00e9 de Sherbrooke, Sherbrooke, QUE, Canada","Department of Electrical and Computer Engineering, Universit\u00e9 de Sherbrooke, QC, CA J1K 2R1, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Universit\u00e9 de Sherbrooke, Sherbrooke, QUE, Canada","institution_ids":["https://openalex.org/I135117807"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Universit\u00e9 de Sherbrooke, QC, CA J1K 2R1, USA","institution_ids":["https://openalex.org/I135117807"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039171860","display_name":"Fran\u00e7ois Michaud","orcid":"https://orcid.org/0000-0002-3639-7770"},"institutions":[{"id":"https://openalex.org/I135117807","display_name":"Universit\u00e9 de Sherbrooke","ror":"https://ror.org/00kybxq39","country_code":"CA","type":"education","lineage":["https://openalex.org/I135117807"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"F. Michaud","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Universit\u00e9 de Sherbrooke, Sherbrooke, QUE, Canada","Department of Electrical and Computer Engineering, Universit\u00e9 de Sherbrooke, QC, CA J1K 2R1, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Universit\u00e9 de Sherbrooke, Sherbrooke, QUE, Canada","institution_ids":["https://openalex.org/I135117807"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Universit\u00e9 de Sherbrooke, QC, CA J1K 2R1, USA","institution_ids":["https://openalex.org/I135117807"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5027133846"],"corresponding_institution_ids":["https://openalex.org/I135117807"],"apc_list":null,"apc_paid":null,"fwci":8.2814,"has_fulltext":true,"cited_by_count":78,"citation_normalized_percentile":{"value":0.97403276,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"1271","last_page":"1276"},"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":0.9988999962806702,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9945999979972839,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.7928737998008728},{"id":"https://openalex.org/keywords/closure","display_name":"Closure (psychology)","score":0.7487468123435974},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6990391612052917},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.6631799936294556},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.6223356127738953},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5651114583015442},{"id":"https://openalex.org/keywords/limit","display_name":"Limit (mathematics)","score":0.5110589265823364},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.5104374289512634},{"id":"https://openalex.org/keywords/loop","display_name":"Loop (graph theory)","score":0.4744345247745514},{"id":"https://openalex.org/keywords/memory-management","display_name":"Memory management","score":0.45326539874076843},{"id":"https://openalex.org/keywords/time-limit","display_name":"Time limit","score":0.42428526282310486},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.28165850043296814},{"id":"https://openalex.org/keywords/computer-hardware","display_name":"Computer hardware","score":0.1453832983970642},{"id":"https://openalex.org/keywords/database","display_name":"Database","score":0.13630205392837524},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12626197934150696},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12267792224884033},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.07156944274902344}],"concepts":[{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.7928737998008728},{"id":"https://openalex.org/C146834321","wikidata":"https://www.wikidata.org/wiki/Q2979672","display_name":"Closure (psychology)","level":2,"score":0.7487468123435974},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6990391612052917},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.6631799936294556},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.6223356127738953},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5651114583015442},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.5110589265823364},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.5104374289512634},{"id":"https://openalex.org/C184670325","wikidata":"https://www.wikidata.org/wiki/Q512604","display_name":"Loop (graph theory)","level":2,"score":0.4744345247745514},{"id":"https://openalex.org/C176649486","wikidata":"https://www.wikidata.org/wiki/Q2308807","display_name":"Memory management","level":3,"score":0.45326539874076843},{"id":"https://openalex.org/C2781011336","wikidata":"https://www.wikidata.org/wiki/Q1465133","display_name":"Time limit","level":2,"score":0.42428526282310486},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.28165850043296814},{"id":"https://openalex.org/C9390403","wikidata":"https://www.wikidata.org/wiki/Q3966","display_name":"Computer hardware","level":1,"score":0.1453832983970642},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.13630205392837524},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12626197934150696},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12267792224884033},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.07156944274902344},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C98986596","wikidata":"https://www.wikidata.org/wiki/Q1143031","display_name":"Semiconductor memory","level":2,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"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/C34447519","wikidata":"https://www.wikidata.org/wiki/Q179522","display_name":"Market economy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2011.6094602","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094602","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2407.15890","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2407.15890","pdf_url":"https://arxiv.org/pdf/2407.15890","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2407.15890","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2407.15890","pdf_url":"https://arxiv.org/pdf/2407.15890","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2165548363","display_name":null,"funder_award_id":"Canada","funder_id":"https://openalex.org/F4320334593","funder_display_name":"Natural Sciences and Engineering Research Council of Canada"},{"id":"https://openalex.org/G5784215521","display_name":null,"funder_award_id":"Chair","funder_id":"https://openalex.org/F4320334593","funder_display_name":"Natural Sciences and Engineering Research Council of Canada"}],"funders":[{"id":"https://openalex.org/F4320320994","display_name":"Canada Research Chairs","ror":"https://ror.org/0517h6h17"},{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W1999722113.pdf","grobid_xml":"https://content.openalex.org/works/W1999722113.grobid-xml"},"referenced_works_count":34,"referenced_works":["https://openalex.org/W250466150","https://openalex.org/W1627400044","https://openalex.org/W1706881574","https://openalex.org/W1878893887","https://openalex.org/W1964905016","https://openalex.org/W1997645979","https://openalex.org/W2052997102","https://openalex.org/W2060922083","https://openalex.org/W2092351516","https://openalex.org/W2097771816","https://openalex.org/W2103905438","https://openalex.org/W2109197213","https://openalex.org/W2112164532","https://openalex.org/W2112669647","https://openalex.org/W2119605622","https://openalex.org/W2131163404","https://openalex.org/W2131846894","https://openalex.org/W2133759223","https://openalex.org/W2144824356","https://openalex.org/W2150632181","https://openalex.org/W2152671441","https://openalex.org/W2155193497","https://openalex.org/W2158187199","https://openalex.org/W2158505966","https://openalex.org/W2162536300","https://openalex.org/W2163468753","https://openalex.org/W2293047233","https://openalex.org/W2336416123","https://openalex.org/W3148864712","https://openalex.org/W4249628125","https://openalex.org/W6609418619","https://openalex.org/W6636759986","https://openalex.org/W6639406879","https://openalex.org/W6679330554"],"related_works":["https://openalex.org/W2357124094","https://openalex.org/W2387399993","https://openalex.org/W2389739210","https://openalex.org/W2348924972","https://openalex.org/W2365736347","https://openalex.org/W2047454415","https://openalex.org/W2070040999","https://openalex.org/W2387293848","https://openalex.org/W2250140200","https://openalex.org/W3121791438"],"abstract_inverted_index":{"Loop":[0],"closure":[1,56],"detection":[2,57],"is":[3,66],"the":[4,14,25,36,39,87],"process":[5,31],"involved":[6],"when":[7],"trying":[8],"to":[9,30],"find":[10],"a":[11,17,52,69,82],"match":[12],"between":[13],"current":[15],"and":[16,61,90],"previously":[18],"visited":[19],"locations":[20],"in":[21],"SLAM.":[22,63],"Over":[23],"time,":[24],"amount":[26],"of":[27,38],"time":[28,76],"required":[29],"new":[32,79],"observations":[33],"increases":[34],"with":[35],"size":[37],"internal":[40],"map,":[41],"which":[42],"may":[43],"influence":[44],"real-time":[45,54],"processing.":[46],"In":[47],"this":[48],"paper,":[49],"we":[50],"present":[51],"novel":[53],"loop":[55],"approach":[58,65],"for":[59,77],"large-scale":[60],"long-term":[62],"Our":[64],"based":[67],"on":[68],"memory":[70],"management":[71],"method":[72],"that":[73],"keeps":[74],"computation":[75],"each":[78],"observation":[80],"under":[81],"fixed":[83],"limit.":[84],"Results":[85],"demonstrate":[86],"approach's":[88],"adaptability":[89],"scalability":[91],"using":[92],"four":[93],"standard":[94],"data":[95],"sets.":[96]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":10},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":14},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":7},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":4}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}