{"id":"https://openalex.org/W2006791732","doi":"https://doi.org/10.1109/iros.2014.6943209","title":"Large-scale image mosaicking using multimodal hyperedge constraints from multiple registration methods within the Generalized Graph SLAM framework","display_name":"Large-scale image mosaicking using multimodal hyperedge constraints from multiple registration methods within the Generalized Graph SLAM framework","publication_year":2014,"publication_date":"2014-09-01","ids":{"openalex":"https://openalex.org/W2006791732","doi":"https://doi.org/10.1109/iros.2014.6943209","mag":"2006791732"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2014.6943209","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6943209","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/A5078041415","display_name":"Max Pfingsthorn","orcid":"https://orcid.org/0000-0002-2923-7250"},"institutions":[{"id":"https://openalex.org/I193619901","display_name":"Constructor University","ror":"https://ror.org/02yrs2n53","country_code":"DE","type":"education","lineage":["https://openalex.org/I193619901"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Max Pfingsthorn","raw_affiliation_strings":["Dept. of Electrical Engineering & Computer Science, Jacobs University, Bremen, Germany","Department of Electrical Engineering & Computer Science, Jacobs University Bremen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Electrical Engineering & Computer Science, Jacobs University, Bremen, Germany","institution_ids":["https://openalex.org/I193619901"]},{"raw_affiliation_string":"Department of Electrical Engineering & Computer Science, Jacobs University Bremen, Germany","institution_ids":["https://openalex.org/I193619901"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050308210","display_name":"Andreas Birk","orcid":"https://orcid.org/0000-0003-4577-2525"},"institutions":[{"id":"https://openalex.org/I193619901","display_name":"Constructor University","ror":"https://ror.org/02yrs2n53","country_code":"DE","type":"education","lineage":["https://openalex.org/I193619901"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Andreas Birk","raw_affiliation_strings":["Dept. of Electrical Engineering & Computer Science, Jacobs University, Bremen, Germany","Department of Electrical Engineering & Computer Science, Jacobs University Bremen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Electrical Engineering & Computer Science, Jacobs University, Bremen, Germany","institution_ids":["https://openalex.org/I193619901"]},{"raw_affiliation_string":"Department of Electrical Engineering & Computer Science, Jacobs University Bremen, Germany","institution_ids":["https://openalex.org/I193619901"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033413776","display_name":"Fausto Ferreira","orcid":"https://orcid.org/0000-0003-1954-5388"},"institutions":[{"id":"https://openalex.org/I4210100607","display_name":"Institute of Electronics, Computer and Telecommunication Engineering","ror":"https://ror.org/00n4jbh84","country_code":"IT","type":"facility","lineage":["https://openalex.org/I4210100607","https://openalex.org/I4210155236"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Fausto Ferreira","raw_affiliation_strings":["Consiglio Nazionale delle Ricerche, Istituto di Elettronica e di Ingegneria dell'Informazione e delle Telecomunicazioni, Genova, Italy","Istituto di Elettronica e di Ingegneria dell'Informazione e delle Telecomunicazioni, Consiglio Nazionale delle Ricerche, Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Consiglio Nazionale delle Ricerche, Istituto di Elettronica e di Ingegneria dell'Informazione e delle Telecomunicazioni, Genova, Italy","institution_ids":["https://openalex.org/I4210100607"]},{"raw_affiliation_string":"Istituto di Elettronica e di Ingegneria dell'Informazione e delle Telecomunicazioni, Consiglio Nazionale delle Ricerche, Genova, Italy","institution_ids":["https://openalex.org/I4210100607"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048608910","display_name":"G. Veruggio","orcid":null},"institutions":[{"id":"https://openalex.org/I4210100607","display_name":"Institute of Electronics, Computer and Telecommunication Engineering","ror":"https://ror.org/00n4jbh84","country_code":"IT","type":"facility","lineage":["https://openalex.org/I4210100607","https://openalex.org/I4210155236"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Gianmarco Veruggio","raw_affiliation_strings":["Consiglio Nazionale delle Ricerche, Istituto di Elettronica e di Ingegneria dell'Informazione e delle Telecomunicazioni, Genova, Italy","Istituto di Elettronica e di Ingegneria dell'Informazione e delle Telecomunicazioni, Consiglio Nazionale delle Ricerche, Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Consiglio Nazionale delle Ricerche, Istituto di Elettronica e di Ingegneria dell'Informazione e delle Telecomunicazioni, Genova, Italy","institution_ids":["https://openalex.org/I4210100607"]},{"raw_affiliation_string":"Istituto di Elettronica e di Ingegneria dell'Informazione e delle Telecomunicazioni, Consiglio Nazionale delle Ricerche, Genova, Italy","institution_ids":["https://openalex.org/I4210100607"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081810172","display_name":"Massimo Caccia","orcid":"https://orcid.org/0000-0002-4482-4541"},"institutions":[{"id":"https://openalex.org/I4210100607","display_name":"Institute of Electronics, Computer and Telecommunication Engineering","ror":"https://ror.org/00n4jbh84","country_code":"IT","type":"facility","lineage":["https://openalex.org/I4210100607","https://openalex.org/I4210155236"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Massimo Caccia","raw_affiliation_strings":["Consiglio Nazionale delle Ricerche, Istituto di Elettronica e di Ingegneria dell'Informazione e delle Telecomunicazioni, Genova, Italy","Istituto di Elettronica e di Ingegneria dell'Informazione e delle Telecomunicazioni, Consiglio Nazionale delle Ricerche, Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Consiglio Nazionale delle Ricerche, Istituto di Elettronica e di Ingegneria dell'Informazione e delle Telecomunicazioni, Genova, Italy","institution_ids":["https://openalex.org/I4210100607"]},{"raw_affiliation_string":"Istituto di Elettronica e di Ingegneria dell'Informazione e delle Telecomunicazioni, Consiglio Nazionale delle Ricerche, Genova, Italy","institution_ids":["https://openalex.org/I4210100607"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5046989909","display_name":"Gabriele Bruzzone","orcid":"https://orcid.org/0000-0002-9569-1160"},"institutions":[{"id":"https://openalex.org/I4210100607","display_name":"Institute of Electronics, Computer and Telecommunication Engineering","ror":"https://ror.org/00n4jbh84","country_code":"IT","type":"facility","lineage":["https://openalex.org/I4210100607","https://openalex.org/I4210155236"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Gabriele Bruzzone","raw_affiliation_strings":["Consiglio Nazionale delle Ricerche, Istituto di Elettronica e di Ingegneria dell'Informazione e delle Telecomunicazioni, Genova, Italy","Istituto di Elettronica e di Ingegneria dell'Informazione e delle Telecomunicazioni, Consiglio Nazionale delle Ricerche, Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Consiglio Nazionale delle Ricerche, Istituto di Elettronica e di Ingegneria dell'Informazione e delle Telecomunicazioni, Genova, Italy","institution_ids":["https://openalex.org/I4210100607"]},{"raw_affiliation_string":"Istituto di Elettronica e di Ingegneria dell'Informazione e delle Telecomunicazioni, Consiglio Nazionale delle Ricerche, Genova, Italy","institution_ids":["https://openalex.org/I4210100607"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":13.2068,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.98211745,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":"26","issue":null,"first_page":"4564","last_page":"4570"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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":0.9997000098228455,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.994700014591217,"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":0.6940914988517761},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6881899833679199},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6380079984664917},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5831203460693359},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5669792294502258},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.5087643265724182},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.45597541332244873},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.348784863948822},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.23587998747825623},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.08497640490531921},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.0799388587474823}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6940914988517761},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6881899833679199},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6380079984664917},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5831203460693359},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5669792294502258},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.5087643265724182},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.45597541332244873},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.348784863948822},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.23587998747825623},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.08497640490531921},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0799388587474823},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2014.6943209","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6943209","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W1527061076","https://openalex.org/W1589960303","https://openalex.org/W1964617067","https://openalex.org/W1974093076","https://openalex.org/W1990884907","https://openalex.org/W1991172434","https://openalex.org/W1992542543","https://openalex.org/W1999399477","https://openalex.org/W2011767579","https://openalex.org/W2021506636","https://openalex.org/W2064169939","https://openalex.org/W2072287274","https://openalex.org/W2088196933","https://openalex.org/W2095761085","https://openalex.org/W2097009858","https://openalex.org/W2100107292","https://openalex.org/W2105018789","https://openalex.org/W2107905629","https://openalex.org/W2108753058","https://openalex.org/W2108851588","https://openalex.org/W2108951266","https://openalex.org/W2109271936","https://openalex.org/W2119776195","https://openalex.org/W2120378835","https://openalex.org/W2121170221","https://openalex.org/W2121683864","https://openalex.org/W2132512702","https://openalex.org/W2134867446","https://openalex.org/W2153054365","https://openalex.org/W2154139987","https://openalex.org/W2159069738","https://openalex.org/W2170232086","https://openalex.org/W2170375678","https://openalex.org/W2171130677","https://openalex.org/W2175514610","https://openalex.org/W2296360731","https://openalex.org/W4214824230","https://openalex.org/W4243216532","https://openalex.org/W6648054680","https://openalex.org/W6668790824","https://openalex.org/W6677663079","https://openalex.org/W6809198070"],"related_works":["https://openalex.org/W4388412763","https://openalex.org/W1999583034","https://openalex.org/W3217214504","https://openalex.org/W3168963531","https://openalex.org/W2591930867","https://openalex.org/W2953138830","https://openalex.org/W2773822314","https://openalex.org/W3176162126","https://openalex.org/W2891537746","https://openalex.org/W3201231642"],"abstract_inverted_index":{"Underwater":[0],"image":[1,112],"mosaicking":[2],"is":[3],"an":[4],"important":[5],"tool":[6],"for":[7,37],"visual":[8],"surveys,":[9],"object":[10],"detection,":[11],"and":[12,41,99],"as":[13],"a":[14,31,109],"means":[15],"to":[16,52,64,71],"control":[17],"the":[18,65,68,85,94,101],"underwater":[19,111],"robot":[20],"if":[21],"done":[22],"online.":[23],"Such":[24],"application":[25],"areas":[26],"can":[27],"benefit":[28],"significantly":[29],"from":[30,56,75],"recent":[32],"focus":[33],"on":[34,47,108],"robust":[35],"methods":[36,58,95,107],"graph-based":[38],"Simultaneous":[39],"Localization":[40],"Mapping":[42],"(SLAM).":[43],"This":[44],"paper":[45],"focuses":[46],"two":[48],"contributions:":[49],"An":[50],"approach":[51],"combine":[53],"registration":[54],"results":[55,91],"multiple":[57],"in":[59],"multimodal":[60],"constraints":[61,74,98],"and,":[62],"up":[63],"authors'":[66,102],"knowledge,":[67],"first":[69],"method":[70,104],"generate":[72,96],"hyperedge":[73],"state-of-the-art":[76],"place":[77],"recognition":[78],"techniques.":[79],"Both":[80],"contributions":[81],"are":[82],"implemented":[83],"within":[84],"Generalized":[86],"Graph":[87],"SLAM":[88],"framework.":[89],"Experimental":[90],"show":[92],"that":[93,100],"informative":[97],"Prefilter":[103],"outperforms":[105],"related":[106],"large":[110],"dataset":[113],"processed":[114],"with":[115],"these":[116],"methods.":[117]},"counts_by_year":[{"year":2015,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}