{"id":"https://openalex.org/W2217311778","doi":"https://doi.org/10.1109/iros.2015.7353896","title":"Global localization by soft object recognition from 3D Partial Views","display_name":"Global localization by soft object recognition from 3D Partial Views","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W2217311778","doi":"https://doi.org/10.1109/iros.2015.7353896","mag":"2217311778"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2015.7353896","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353896","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/A5000090542","display_name":"Ant\u00f3nio Fernando Ribeiro","orcid":"https://orcid.org/0000-0002-6438-1223"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Fernando Ribeiro","raw_affiliation_strings":["Fernando Ribeiro is with ECE at 1ST, Portugal"],"affiliations":[{"raw_affiliation_string":"Fernando Ribeiro is with ECE at 1ST, Portugal","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059733728","display_name":"Susana Brand\u00e3o","orcid":"https://orcid.org/0000-0002-3217-7885"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Susana Brandao","raw_affiliation_strings":["Susana Brandao is with ECE at CMU USA and 1ST, Portugal"],"affiliations":[{"raw_affiliation_string":"Susana Brandao is with ECE at CMU USA and 1ST, Portugal","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068389832","display_name":"Jo\u00e3o Paulo Costeira","orcid":"https://orcid.org/0000-0001-6769-2935"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Joao P. Costeira","raw_affiliation_strings":["Faculty of ECE at 1ST, Portugal"],"affiliations":[{"raw_affiliation_string":"Faculty of ECE at 1ST, Portugal","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088276691","display_name":"Manuela Veloso","orcid":"https://orcid.org/0000-0001-6738-238X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Manuela Veloso","raw_affiliation_strings":["Faculty of CS, CMU, USA"],"affiliations":[{"raw_affiliation_string":"Faculty of CS, CMU, USA","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5000090542"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.6216,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.87365516,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"3709","last_page":"3714"},"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9986000061035156,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9984999895095825,"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":0.8475200533866882},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7868717908859253},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.7409365773200989},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7156526446342468},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.6190760135650635},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5910671353340149},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5501476526260376},{"id":"https://openalex.org/keywords/cognitive-neuroscience-of-visual-object-recognition","display_name":"Cognitive neuroscience of visual object recognition","score":0.49291467666625977},{"id":"https://openalex.org/keywords/kernel","display_name":"Kernel (algebra)","score":0.47175177931785583},{"id":"https://openalex.org/keywords/articulated-body-pose-estimation","display_name":"Articulated body pose estimation","score":0.4689725637435913},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4453073740005493},{"id":"https://openalex.org/keywords/3d-pose-estimation","display_name":"3D pose estimation","score":0.44064438343048096},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.42318516969680786},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3313825726509094},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17920348048210144}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8475200533866882},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7868717908859253},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.7409365773200989},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7156526446342468},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.6190760135650635},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5910671353340149},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5501476526260376},{"id":"https://openalex.org/C64876066","wikidata":"https://www.wikidata.org/wiki/Q5141226","display_name":"Cognitive neuroscience of visual object recognition","level":3,"score":0.49291467666625977},{"id":"https://openalex.org/C74193536","wikidata":"https://www.wikidata.org/wiki/Q574844","display_name":"Kernel (algebra)","level":2,"score":0.47175177931785583},{"id":"https://openalex.org/C22100474","wikidata":"https://www.wikidata.org/wiki/Q4800952","display_name":"Articulated body pose estimation","level":4,"score":0.4689725637435913},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4453073740005493},{"id":"https://openalex.org/C36613465","wikidata":"https://www.wikidata.org/wiki/Q4636322","display_name":"3D pose estimation","level":3,"score":0.44064438343048096},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.42318516969680786},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3313825726509094},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17920348048210144},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2015.7353896","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353896","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"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.698.6319","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.698.6319","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.cmu.edu/afs/cs/user/mmv/www/papers/15iros-3DViewLoc.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":15,"referenced_works":["https://openalex.org/W170770739","https://openalex.org/W1601092863","https://openalex.org/W1994349244","https://openalex.org/W2022117559","https://openalex.org/W2067783472","https://openalex.org/W2086002651","https://openalex.org/W2092760593","https://openalex.org/W2097696373","https://openalex.org/W2100657858","https://openalex.org/W2113243634","https://openalex.org/W2140986858","https://openalex.org/W2160337655","https://openalex.org/W2160584648","https://openalex.org/W2166221222","https://openalex.org/W2293098187"],"related_works":["https://openalex.org/W2113785214","https://openalex.org/W2946083937","https://openalex.org/W2798721181","https://openalex.org/W4299867837","https://openalex.org/W4386075737","https://openalex.org/W2951583186","https://openalex.org/W1974260915","https://openalex.org/W4382141741","https://openalex.org/W2088028039","https://openalex.org/W3165753266"],"abstract_inverted_index":{"Global":[0],"localization":[1,72],"is":[2,62,187],"a":[3,19,96,117],"widely":[4],"studied":[5],"problem,":[6],"and":[7,27,32,134,150],"in":[8,88,153,162],"essence":[9],"corresponds":[10],"to":[11,49,79,85,112,143,146,181],"the":[12,37,40,51,81,86,89,108,113,154,175,183],"online":[13],"robot":[14,29,52,109,164],"pose":[15,53,82,110],"estimation":[16],"based":[17,115],"on":[18,116],"given":[20,90],"map":[21,38],"with":[22,58,83,166],"landmarks,":[23],"an":[24,69],"odometry":[25],"model,":[26],"real":[28],"sensory":[30,60,148],"observations":[31],"motion.":[33],"In":[34,64],"most":[35],"approaches,":[36],"provides":[39],"position":[41],"of":[42,119,177],"visible":[43],"objects,":[44,114],"which":[45,104,140],"are":[46,141],"then":[47],"recognized":[48],"provide":[50],"estimation.":[54],"Such":[55],"object":[56,77,151],"recognition":[57,78,155],"noisy":[59,147],"data":[61,149],"challenging.":[63],"this":[65],"paper,":[66],"we":[67],"present":[68],"effective":[70],"global":[71],"technique":[73],"using":[74],"soft":[75],"3D":[76,120,138,169],"estimate":[80],"respect":[84],"landmarks":[87],"map.":[91],"A":[92],"depth":[93],"sensor":[94],"acquires":[95],"partial":[97,184],"view":[98,185],"for":[99],"each":[100],"observed":[101],"object,":[102],"from":[103,129],"our":[105,160,178],"algorithm":[106],"extracts":[107],"relative":[111],"library":[118],"Partial":[121],"View":[122],"Heat":[123],"Kernel":[124],"descriptors.":[125],"Our":[126],"approach":[127],"departs":[128],"methods":[130],"that":[131],"require":[132],"classification":[133],"registration":[135],"against":[136],"complete":[137],"models,":[139],"prone":[142],"errors":[144],"due":[145],"misclassifications":[152],"stage.":[156],"We":[157,172],"experimentally":[158],"validate":[159],"method":[161,179],"different":[163,167],"paths":[165],"common":[168],"environment":[170],"objects.":[171],"also":[173],"show":[174],"improvement":[176],"compared":[180],"when":[182],"information":[186],"not":[188],"used.":[189]},"counts_by_year":[{"year":2019,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
