{"id":"https://openalex.org/W1988867013","doi":"https://doi.org/10.1109/iros.2014.6942989","title":"Fast and effective visual place recognition using binary codes and disparity information","display_name":"Fast and effective visual place recognition using binary codes and disparity information","publication_year":2014,"publication_date":"2014-09-01","ids":{"openalex":"https://openalex.org/W1988867013","doi":"https://doi.org/10.1109/iros.2014.6942989","mag":"1988867013"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2014.6942989","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6942989","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5023114838","display_name":"Roberto Arroyo","orcid":"https://orcid.org/0000-0003-2649-0477"},"institutions":[{"id":"https://openalex.org/I189268942","display_name":"Universidad de Alcal\u00e1","ror":"https://ror.org/04pmn0e78","country_code":"ES","type":"education","lineage":["https://openalex.org/I189268942"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Roberto Arroyo","raw_affiliation_strings":["Department of Electronics, University of Alcal\u00e1 (UAH), Madrid, Spain","Department of Electronics, University of Alcal\u00e1 (UAH), Alcal\u00e1 de Henares, 28871, Madrid, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronics, University of Alcal\u00e1 (UAH), Madrid, Spain","institution_ids":["https://openalex.org/I189268942"]},{"raw_affiliation_string":"Department of Electronics, University of Alcal\u00e1 (UAH), Alcal\u00e1 de Henares, 28871, Madrid, Spain","institution_ids":["https://openalex.org/I189268942"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054810781","display_name":"Pablo F. Alcantarilla","orcid":"https://orcid.org/0000-0001-7185-2911"},"institutions":[{"id":"https://openalex.org/I1292669757","display_name":"Toshiba (Japan)","ror":"https://ror.org/0326v3z14","country_code":"JP","type":"company","lineage":["https://openalex.org/I1292669757"]},{"id":"https://openalex.org/I4210143477","display_name":"Toshiba (United Kingdom)","ror":"https://ror.org/054hmd463","country_code":"GB","type":"company","lineage":["https://openalex.org/I1292669757","https://openalex.org/I4210143477"]}],"countries":["GB","JP"],"is_corresponding":false,"raw_author_name":"Pablo F. Alcantarilla","raw_affiliation_strings":["Toshiba Research Europe Ltd., Cambridge, United Kingdom","Toshiba Research Europe Ltd, Cambridge, United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Toshiba Research Europe Ltd., Cambridge, United Kingdom","institution_ids":["https://openalex.org/I4210143477"]},{"raw_affiliation_string":"Toshiba Research Europe Ltd, Cambridge, United Kingdom","institution_ids":["https://openalex.org/I1292669757"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077780013","display_name":"Luis M. Bergasa","orcid":"https://orcid.org/0000-0002-0087-3077"},"institutions":[{"id":"https://openalex.org/I189268942","display_name":"Universidad de Alcal\u00e1","ror":"https://ror.org/04pmn0e78","country_code":"ES","type":"education","lineage":["https://openalex.org/I189268942"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Luis M. Bergasa","raw_affiliation_strings":["Department of Electronics, University of Alcal\u00e1 (UAH), Madrid, Spain","Department of Electronics, University of Alcal\u00e1 (UAH), Alcal\u00e1 de Henares, 28871, Madrid, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronics, University of Alcal\u00e1 (UAH), Madrid, Spain","institution_ids":["https://openalex.org/I189268942"]},{"raw_affiliation_string":"Department of Electronics, University of Alcal\u00e1 (UAH), Alcal\u00e1 de Henares, 28871, Madrid, Spain","institution_ids":["https://openalex.org/I189268942"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007826739","display_name":"J. Javier Yebes","orcid":"https://orcid.org/0000-0002-3028-9525"},"institutions":[{"id":"https://openalex.org/I189268942","display_name":"Universidad de Alcal\u00e1","ror":"https://ror.org/04pmn0e78","country_code":"ES","type":"education","lineage":["https://openalex.org/I189268942"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"J. Javier Yebes","raw_affiliation_strings":["Department of Electronics, University of Alcal\u00e1 (UAH), Madrid, Spain","Department of Electronics, University of Alcal\u00e1 (UAH), Alcal\u00e1 de Henares, 28871, Madrid, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronics, University of Alcal\u00e1 (UAH), Madrid, Spain","institution_ids":["https://openalex.org/I189268942"]},{"raw_affiliation_string":"Department of Electronics, University of Alcal\u00e1 (UAH), Alcal\u00e1 de Henares, 28871, Madrid, Spain","institution_ids":["https://openalex.org/I189268942"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5072118555","display_name":"S. Bronte","orcid":null},"institutions":[{"id":"https://openalex.org/I189268942","display_name":"Universidad de Alcal\u00e1","ror":"https://ror.org/04pmn0e78","country_code":"ES","type":"education","lineage":["https://openalex.org/I189268942"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Sebastian Bronte","raw_affiliation_strings":["Department of Electronics, University of Alcal\u00e1 (UAH), Madrid, Spain","Department of Electronics, University of Alcal\u00e1 (UAH), Alcal\u00e1 de Henares, 28871, Madrid, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronics, University of Alcal\u00e1 (UAH), Madrid, Spain","institution_ids":["https://openalex.org/I189268942"]},{"raw_affiliation_string":"Department of Electronics, University of Alcal\u00e1 (UAH), Alcal\u00e1 de Henares, 28871, Madrid, Spain","institution_ids":["https://openalex.org/I189268942"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":125.4642,"has_fulltext":false,"cited_by_count":60,"citation_normalized_percentile":{"value":0.99860866,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"3089","last_page":"3094"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9998000264167786,"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":0.9968000054359436,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.778929591178894},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6716615557670593},{"id":"https://openalex.org/keywords/pairwise-comparison","display_name":"Pairwise comparison","score":0.5877494812011719},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.5678317546844482},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.5492302775382996},{"id":"https://openalex.org/keywords/binary-number","display_name":"Binary number","score":0.5401422381401062},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5138707160949707},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4881003797054291},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.463725745677948},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.43166279792785645},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.4289296269416809},{"id":"https://openalex.org/keywords/aliasing","display_name":"Aliasing","score":0.4133407175540924},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2577727437019348},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19628900289535522},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.11312460899353027}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.778929591178894},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6716615557670593},{"id":"https://openalex.org/C184898388","wikidata":"https://www.wikidata.org/wiki/Q1435712","display_name":"Pairwise comparison","level":2,"score":0.5877494812011719},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.5678317546844482},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.5492302775382996},{"id":"https://openalex.org/C48372109","wikidata":"https://www.wikidata.org/wiki/Q3913","display_name":"Binary number","level":2,"score":0.5401422381401062},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5138707160949707},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4881003797054291},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.463725745677948},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.43166279792785645},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.4289296269416809},{"id":"https://openalex.org/C4069607","wikidata":"https://www.wikidata.org/wiki/Q868732","display_name":"Aliasing","level":3,"score":0.4133407175540924},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2577727437019348},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19628900289535522},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.11312460899353027},{"id":"https://openalex.org/C136536468","wikidata":"https://www.wikidata.org/wiki/Q1225894","display_name":"Undersampling","level":2,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C94375191","wikidata":"https://www.wikidata.org/wiki/Q11205","display_name":"Arithmetic","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros.2014.6942989","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6942989","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.710.9697","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.710.9697","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.robesafe.com/personal/pablo.alcantarilla/papers/Arroyo14iros.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.725.8337","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.725.8337","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.robesafe.com/personal/roberto.arroyo/docs/Arroyo14iros.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":27,"referenced_works":["https://openalex.org/W1491719799","https://openalex.org/W1964629479","https://openalex.org/W1981962374","https://openalex.org/W1989484209","https://openalex.org/W2006548260","https://openalex.org/W2031781893","https://openalex.org/W2038694110","https://openalex.org/W2048710758","https://openalex.org/W2095260419","https://openalex.org/W2095761085","https://openalex.org/W2110405746","https://openalex.org/W2117228865","https://openalex.org/W2117248802","https://openalex.org/W2119605622","https://openalex.org/W2141584146","https://openalex.org/W2144824356","https://openalex.org/W2146020873","https://openalex.org/W2150066425","https://openalex.org/W2150252608","https://openalex.org/W2158229939","https://openalex.org/W2293882161","https://openalex.org/W2342383553","https://openalex.org/W3210232381","https://openalex.org/W4210951900","https://openalex.org/W6629564929","https://openalex.org/W6696812176","https://openalex.org/W6803376173"],"related_works":["https://openalex.org/W2414561716","https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W3024737167","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W2981103992","https://openalex.org/W2312326526","https://openalex.org/W3105866016","https://openalex.org/W4312703710"],"abstract_inverted_index":{"We":[0],"present":[1],"a":[2,33,38,55,122,141,168],"novel":[3],"approach":[4,111],"for":[5,131,145,154],"place":[6,95],"recognition":[7,96],"and":[8,16,49,119,153,170,185],"loop":[9,123,174],"closure":[10,124,175],"detection":[11,176],"based":[12,46],"on":[13,47,69],"binary":[14,79],"codes":[15],"disparity":[17,75],"information":[18,76,85],"using":[19],"stereo":[20],"images.":[21],"Our":[22],"method":[23,152,166],"(ABLE-S)":[24],"applies":[25],"the":[26,78,88,132,137,162],"Local":[27],"Difference":[28],"Binary":[29],"(LDB)":[30],"descriptor":[31,80],"in":[32,94,128],"global":[34,40],"framework":[35],"to":[36,108,113,161,178],"obtain":[37],"robust":[39,142],"image":[41],"description,":[42],"which":[43,66,86],"is":[44,105,126],"initially":[45],"intensity":[48],"gradient":[50],"pairwise":[51],"comparisons.":[52],"LDB":[53],"has":[54],"higher":[56],"descriptiveness":[57],"power":[58],"than":[59],"other":[60],"popular":[61],"alternatives":[62],"such":[63,97,181],"as":[64,98,182],"BRIEF,":[65],"only":[67],"relies":[68],"intensity.":[70],"In":[71],"addition,":[72],"we":[73],"integrate":[74],"into":[77],"(D-LDB).":[81],"Disparity":[82],"provides":[83],"valuable":[84],"decreases":[87],"effect":[89],"of":[90,139,157],"some":[91],"typical":[92],"problems":[93],"perceptual":[99],"aliasing.":[100],"The":[101],"KITTI":[102,133],"Odometry":[103,134],"dataset":[104],"mainly":[106],"used":[107],"test":[109],"our":[110,151,165],"due":[112],"its":[114],"varied":[115],"environments,":[116],"challenging":[117],"situations":[118],"length.":[120],"Additionally,":[121],"ground-truth":[125],"introduced":[127],"this":[129],"work":[130],"benchmark":[135],"with":[136],"aim":[138],"standardizing":[140],"evaluation":[143],"methodology":[144],"comparing":[146],"different":[147],"previous":[148],"algorithms":[149,180],"against":[150],"future":[155],"benchmarking":[156],"new":[158],"proposals.":[159],"Attending":[160],"presented":[163],"results,":[164],"allows":[167],"fast":[169],"more":[171],"effective":[172],"visual":[173],"compared":[177],"state-of-the-art":[179],"FAB-MAP,":[183],"WI-SURF":[184],"BRIEF-Gist.":[186]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":8},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":9},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
