{"id":"https://openalex.org/W2211833556","doi":"https://doi.org/10.1109/iros.2015.7353895","title":"Bridging text spotting and SLAM with junction features","display_name":"Bridging text spotting and SLAM with junction features","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W2211833556","doi":"https://doi.org/10.1109/iros.2015.7353895","mag":"2211833556"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2015.7353895","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353895","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5068913253","display_name":"Hsueh\u2010Cheng Wang","orcid":"https://orcid.org/0000-0002-9419-4111"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Hsueh-Cheng Wang","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, USA#TAB#"],"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, USA#TAB#","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005431772","display_name":"Chelsea Finn","orcid":"https://orcid.org/0000-0001-6298-0874"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chelsea Finn","raw_affiliation_strings":["Electrical Engineering and Computer Sciences, UC Berkeley","Electrical Engineering and Computer Sciences, UC Berkeley, USA"],"affiliations":[{"raw_affiliation_string":"Electrical Engineering and Computer Sciences, UC Berkeley","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Electrical Engineering and Computer Sciences, UC Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037065865","display_name":"Liam Paull","orcid":"https://orcid.org/0000-0003-2492-6660"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Liam Paull","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, USA#TAB#"],"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, USA#TAB#","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014216861","display_name":"Michael Kaess","orcid":"https://orcid.org/0000-0002-7590-3357"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael Kaess","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University","Robotics Institute, Carnegie Mellon University USA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029276542","display_name":"Ruth Rosenholtz","orcid":"https://orcid.org/0000-0001-5299-0331"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ruth Rosenholtz","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, USA#TAB#"],"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, USA#TAB#","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109862901","display_name":"Seth Teller","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Seth Teller","raw_affiliation_strings":["Massachusetts Institute of Technology, Cambridge, MA, US","Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, USA#TAB#"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology, Cambridge, MA, US","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, USA#TAB#","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110293164","display_name":"John J. Leonard","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"John Leonard","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, USA#TAB#"],"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, USA#TAB#","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5068913253"],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":1.1046,"has_fulltext":false,"cited_by_count":28,"citation_normalized_percentile":{"value":0.84977053,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"3701","last_page":"3708"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9940000176429749,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9900000095367432,"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/spotting","display_name":"Spotting","score":0.9623761177062988},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7884601354598999},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.648287832736969},{"id":"https://openalex.org/keywords/prior-probability","display_name":"Prior probability","score":0.6229596138000488},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5527304410934448},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5038992762565613},{"id":"https://openalex.org/keywords/bridging","display_name":"Bridging (networking)","score":0.4592269957065582},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.4435425400733948},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.43962493538856506},{"id":"https://openalex.org/keywords/natural-language-processing","display_name":"Natural language processing","score":0.4344308376312256},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3673381209373474},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3413410782814026},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.23442360758781433},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.17020311951637268},{"id":"https://openalex.org/keywords/bayesian-probability","display_name":"Bayesian probability","score":0.09214100241661072}],"concepts":[{"id":"https://openalex.org/C2779506182","wikidata":"https://www.wikidata.org/wiki/Q7580141","display_name":"Spotting","level":2,"score":0.9623761177062988},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7884601354598999},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.648287832736969},{"id":"https://openalex.org/C177769412","wikidata":"https://www.wikidata.org/wiki/Q278090","display_name":"Prior probability","level":3,"score":0.6229596138000488},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5527304410934448},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5038992762565613},{"id":"https://openalex.org/C174348530","wikidata":"https://www.wikidata.org/wiki/Q188635","display_name":"Bridging (networking)","level":2,"score":0.4592269957065582},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.4435425400733948},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.43962493538856506},{"id":"https://openalex.org/C204321447","wikidata":"https://www.wikidata.org/wiki/Q30642","display_name":"Natural language processing","level":1,"score":0.4344308376312256},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3673381209373474},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3413410782814026},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.23442360758781433},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.17020311951637268},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.09214100241661072},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2015.7353895","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353895","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":59,"referenced_works":["https://openalex.org/W70975097","https://openalex.org/W101496726","https://openalex.org/W1442556093","https://openalex.org/W1488125194","https://openalex.org/W1491389626","https://openalex.org/W1521064364","https://openalex.org/W1532362218","https://openalex.org/W1607307044","https://openalex.org/W1966693245","https://openalex.org/W1968315983","https://openalex.org/W1978729128","https://openalex.org/W1992257524","https://openalex.org/W1998042868","https://openalex.org/W2001642682","https://openalex.org/W2015787694","https://openalex.org/W2024723121","https://openalex.org/W2035058553","https://openalex.org/W2043075591","https://openalex.org/W2056435187","https://openalex.org/W2057175746","https://openalex.org/W2059607459","https://openalex.org/W2061802763","https://openalex.org/W2064169939","https://openalex.org/W2074070730","https://openalex.org/W2076014259","https://openalex.org/W2099046646","https://openalex.org/W2102990061","https://openalex.org/W2104497032","https://openalex.org/W2104946622","https://openalex.org/W2111308925","https://openalex.org/W2122221966","https://openalex.org/W2125188427","https://openalex.org/W2128854450","https://openalex.org/W2137052305","https://openalex.org/W2141493963","https://openalex.org/W2142159465","https://openalex.org/W2144502914","https://openalex.org/W2146881125","https://openalex.org/W2148718939","https://openalex.org/W2151049637","https://openalex.org/W2151103935","https://openalex.org/W2152864241","https://openalex.org/W2154459632","https://openalex.org/W2161969291","https://openalex.org/W2163352848","https://openalex.org/W2165569569","https://openalex.org/W2237722484","https://openalex.org/W4301185181","https://openalex.org/W6602936574","https://openalex.org/W6604055046","https://openalex.org/W6628346141","https://openalex.org/W6629021407","https://openalex.org/W6629590909","https://openalex.org/W6631707545","https://openalex.org/W6636382570","https://openalex.org/W6649973027","https://openalex.org/W6650820226","https://openalex.org/W6683411478","https://openalex.org/W6689727198"],"related_works":["https://openalex.org/W2034439647","https://openalex.org/W4249589822","https://openalex.org/W2103063669","https://openalex.org/W3184921334","https://openalex.org/W4255446307","https://openalex.org/W2033009170","https://openalex.org/W2988098900","https://openalex.org/W4386895402","https://openalex.org/W3202382261","https://openalex.org/W4362466842"],"abstract_inverted_index":{"Navigating":[0],"in":[1,11],"a":[2,12,81,117],"previously":[3],"unknown":[4],"environment":[5],"and":[6,34,41,47,69,95],"recognizing":[7],"naturally":[8],"occurring":[9],"text":[10,39,49,62,93,111,129],"scene":[13,33],"are":[14,20,29,70,105],"two":[15,27],"important":[16],"autonomous":[17,61],"capabilities":[18],"that":[19,103],"typically":[21,64],"treated":[22],"as":[23],"distinct.":[24],"However,":[25],"these":[26],"tasks":[28],"potentially":[30],"complementary,":[31],"(i)":[32],"pose":[35],"priors":[36,123],"can":[37,51],"benefit":[38,52],"spotting,":[40],"(ii)":[42],"the":[43,86],"ability":[44],"to":[45,60,92,99,107],"identify":[46],"associate":[48],"features":[50],"navigation":[53],"accuracy":[54],"through":[55,110],"loop":[56,126],"closures.":[57],"Previous":[58],"approaches":[59],"spotting":[63,112],"require":[65],"significant":[66],"training":[67],"data":[68],"too":[71],"slow":[72],"for":[73],"real-time":[74],"implementation.":[75],"In":[76],"this":[77],"work,":[78],"we":[79,104],"propose":[80],"novel":[82],"high-level":[83],"feature":[84],"descriptor,":[85],"\u201cjunction\u201d,":[87],"which":[88],"is":[89,96],"particularly":[90],"well-suited":[91],"representation":[94],"also":[97],"fast":[98],"compute.":[100],"We":[101],"show":[102],"able":[106],"improve":[108],"SLAM":[109],"on":[113],"datasets":[114],"collected":[115],"with":[116,128],"Google":[118],"Tango,":[119],"illustrating":[120],"how":[121],"location":[122],"enable":[124],"improved":[125],"closure":[127],"features.":[130]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
