{"id":"https://openalex.org/W2562983653","doi":"https://doi.org/10.1109/iros.2016.7759673","title":"Erasing bad memories: Agent-side summarization for long-term mapping","display_name":"Erasing bad memories: Agent-side summarization for long-term mapping","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2562983653","doi":"https://doi.org/10.1109/iros.2016.7759673","mag":"2562983653"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2016.7759673","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759673","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5045300921","display_name":"Marcin Dymczyk","orcid":"https://orcid.org/0000-0003-3667-8764"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Marcin Dymczyk","raw_affiliation_strings":["Autonomous Systems Lab, ETH Zurich"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Zurich","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063076241","display_name":"Thomas Schneider","orcid":"https://orcid.org/0000-0002-1383-769X"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Thomas Schneider","raw_affiliation_strings":["Autonomous Systems Lab, ETH Zurich"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Zurich","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078356081","display_name":"Igor Gilitschenski","orcid":"https://orcid.org/0000-0001-6426-365X"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Igor Gilitschenski","raw_affiliation_strings":["Autonomous Systems Lab, ETH Zurich"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Zurich","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083003222","display_name":"Roland Siegwart","orcid":"https://orcid.org/0000-0002-2760-7983"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Roland Siegwart","raw_affiliation_strings":["Autonomous Systems Lab, ETH Zurich"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Zurich","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032724078","display_name":"Elena Stumm","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Elena Stumm","raw_affiliation_strings":["Autonomous Systems Lab, ETH Zurich"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Zurich","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I35440088"],"apc_list":null,"apc_paid":null,"fwci":18.4164,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.9900433,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"4572","last_page":"4579"},"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9993000030517578,"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"}},{"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8333785533905029},{"id":"https://openalex.org/keywords/automatic-summarization","display_name":"Automatic summarization","score":0.7109631299972534},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.6944305896759033},{"id":"https://openalex.org/keywords/landmark","display_name":"Landmark","score":0.5390228033065796},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.47429922223091125},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.46574437618255615},{"id":"https://openalex.org/keywords/session","display_name":"Session (web analytics)","score":0.4332476854324341},{"id":"https://openalex.org/keywords/reduction","display_name":"Reduction (mathematics)","score":0.4272501468658447},{"id":"https://openalex.org/keywords/term","display_name":"Term (time)","score":0.424324631690979},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.38311195373535156},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.375916987657547},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.3724334239959717},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3662881851196289},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.10466277599334717},{"id":"https://openalex.org/keywords/world-wide-web","display_name":"World Wide Web","score":0.09690049290657043}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8333785533905029},{"id":"https://openalex.org/C170858558","wikidata":"https://www.wikidata.org/wiki/Q1394144","display_name":"Automatic summarization","level":2,"score":0.7109631299972534},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.6944305896759033},{"id":"https://openalex.org/C2780297707","wikidata":"https://www.wikidata.org/wiki/Q4895393","display_name":"Landmark","level":2,"score":0.5390228033065796},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.47429922223091125},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.46574437618255615},{"id":"https://openalex.org/C2779182362","wikidata":"https://www.wikidata.org/wiki/Q17126187","display_name":"Session (web analytics)","level":2,"score":0.4332476854324341},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.4272501468658447},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.424324631690979},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.38311195373535156},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.375916987657547},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.3724334239959717},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3662881851196289},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.10466277599334717},{"id":"https://openalex.org/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","level":1,"score":0.09690049290657043},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2016.7759673","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759673","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Partnerships for the goals","id":"https://metadata.un.org/sdg/17","score":0.4300000071525574}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W425251948","https://openalex.org/W1162411702","https://openalex.org/W1518680072","https://openalex.org/W1537528663","https://openalex.org/W1552672384","https://openalex.org/W1583132079","https://openalex.org/W1875235752","https://openalex.org/W1945298332","https://openalex.org/W1972267259","https://openalex.org/W1989379388","https://openalex.org/W1989484209","https://openalex.org/W1989838848","https://openalex.org/W2003919215","https://openalex.org/W2021542322","https://openalex.org/W2024676408","https://openalex.org/W2037971631","https://openalex.org/W2041620409","https://openalex.org/W2110405746","https://openalex.org/W2118223845","https://openalex.org/W2129000642","https://openalex.org/W2141231167","https://openalex.org/W2141584146","https://openalex.org/W2170647363","https://openalex.org/W2198391854","https://openalex.org/W2278591674","https://openalex.org/W2911652069","https://openalex.org/W4241431727","https://openalex.org/W6647919513"],"related_works":["https://openalex.org/W2575432787","https://openalex.org/W1978408947","https://openalex.org/W2351187795","https://openalex.org/W2380641910","https://openalex.org/W2589098947","https://openalex.org/W2285613413","https://openalex.org/W2561691764","https://openalex.org/W2389846579","https://openalex.org/W2308250245","https://openalex.org/W1998320603"],"abstract_inverted_index":{"Precisely":[0],"estimating":[1],"the":[2,57,63,67,72,76,82,101,105,108,127,137,140,190],"pose":[3],"of":[4,20,59,66,129,218],"an":[5],"agent":[6,138],"in":[7,143,182,210],"a":[8,13,18,47,120,153,176,179,203,211,216],"global":[9,77],"reference":[10],"frame":[11],"is":[12,79,123,150],"crucial":[14],"goal":[15],"that":[16,122,131,157,206],"unlocks":[17],"multitude":[19],"robotic":[21],"applications,":[22],"including":[23],"autonomous":[24],"navigation":[25],"and":[26,45,62,81,165,189],"collaboration.":[27],"In":[28,115],"order":[29],"to":[30,107,125,133,139,192],"achieve":[31],"this,":[32],"current":[33],"state-of-the-art":[34],"localization":[35,50,187],"approaches":[36],"collect":[37],"data":[38,69,102,130,183,204],"provided":[39],"by":[40,96],"one":[41],"or":[42],"more":[43],"agents":[44,83,106],"create":[46],"single,":[48],"consistent":[49],"map,":[51],"maintained":[52],"over":[53,196,215],"time.":[54,197],"However,":[55],"with":[56],"introduction":[58],"lengthier":[60],"sorties":[61],"growing":[64],"size":[65],"environments,":[68],"transfers":[70],"between":[71],"backend":[73,109],"server":[74],"where":[75],"map":[78],"stored":[80],"are":[84],"becoming":[85],"prohibitively":[86],"large.":[87],"While":[88],"some":[89],"existing":[90],"methods":[91],"partially":[92],"address":[93],"this":[94,116],"issue":[95],"building":[97],"compact":[98],"summary":[99],"maps,":[100],"transfer":[103,184],"from":[104,136,161],"can":[110],"still":[111],"easily":[112],"become":[113],"unmanageable.":[114],"paper,":[117],"we":[118],"propose":[119],"method":[121,156],"designed":[124],"reduce":[126],"amount":[128],"needs":[132],"be":[134],"transferred":[135],"backend,":[141],"functioning":[142],"large-scale,":[144],"multi-session":[145],"mapping":[146],"scenarios.":[147],"Our":[148],"approach":[149,201],"based":[151],"upon":[152],"landmark":[154,167],"selection":[155,177],"exploits":[158],"information":[159],"coming":[160],"multiple,":[162],"possibly":[163],"weak":[164],"correlated,":[166],"utility":[168],"predictors;":[169],"fused":[170],"using":[171],"learned":[172],"feature":[173],"coefficients.":[174],"Such":[175],"yields":[178],"drastic":[180],"reduction":[181],"while":[185],"maintaining":[186],"performance":[188],"ability":[191],"efficiently":[193],"summarize":[194],"environments":[195],"We":[198],"evaluate":[199],"our":[200],"on":[202],"set":[205],"was":[207],"autonomously":[208],"collected":[209],"dynamic":[212],"indoor":[213],"environment":[214],"period":[217],"several":[219],"months.":[220]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":5}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
