{"id":"https://openalex.org/W2775721386","doi":"https://doi.org/10.1109/iros.2017.8202270","title":"Multi-trajectory pose correspondences using scale-dependent topological analysis of pose-graphs","display_name":"Multi-trajectory pose correspondences using scale-dependent topological analysis of pose-graphs","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2775721386","doi":"https://doi.org/10.1109/iros.2017.8202270","mag":"2775721386"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8202270","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8202270","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 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/A5071148847","display_name":"Sayantan Datta","orcid":"https://orcid.org/0000-0001-6858-5816"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I65181880","display_name":"Indian Institute of Technology Hyderabad","ror":"https://ror.org/01j4v3x97","country_code":"IN","type":"education","lineage":["https://openalex.org/I65181880"]}],"countries":["IN","US"],"is_corresponding":false,"raw_author_name":"Sayantan Datta","raw_affiliation_strings":["Robotics Research Center, IIIT, Hyderabad"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Research Center, IIIT, Hyderabad","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I65181880"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060714797","display_name":"Avinash Sharma","orcid":"https://orcid.org/0000-0001-5013-5024"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I65181880","display_name":"Indian Institute of Technology Hyderabad","ror":"https://ror.org/01j4v3x97","country_code":"IN","type":"education","lineage":["https://openalex.org/I65181880"]}],"countries":["IN","US"],"is_corresponding":false,"raw_author_name":"Avinash Sharma","raw_affiliation_strings":["Robotics Research Center, IIIT, Hyderabad"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Research Center, IIIT, Hyderabad","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I65181880"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075816776","display_name":"K. Madhava Krishna","orcid":"https://orcid.org/0000-0001-7846-7901"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I65181880","display_name":"Indian Institute of Technology Hyderabad","ror":"https://ror.org/01j4v3x97","country_code":"IN","type":"education","lineage":["https://openalex.org/I65181880"]}],"countries":["IN","US"],"is_corresponding":false,"raw_author_name":"K. Madhava Krishna","raw_affiliation_strings":["Robotics Research Center, IIIT, Hyderabad"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Research Center, IIIT, Hyderabad","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I65181880"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.3519139,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1019","last_page":"1025"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994000196456909,"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":0.9986000061035156,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/initialization","display_name":"Initialization","score":0.799368143081665},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.6760756373405457},{"id":"https://openalex.org/keywords/articulated-body-pose-estimation","display_name":"Articulated body pose estimation","score":0.6398035287857056},{"id":"https://openalex.org/keywords/landmark","display_name":"Landmark","score":0.6264944672584534},{"id":"https://openalex.org/keywords/iterative-closest-point","display_name":"Iterative closest point","score":0.574916422367096},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5667251348495483},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5563299059867859},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.5354516506195068},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.48577597737312317},{"id":"https://openalex.org/keywords/metric-map","display_name":"Metric map","score":0.47053560614585876},{"id":"https://openalex.org/keywords/kernel","display_name":"Kernel (algebra)","score":0.44810643792152405},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4204011559486389},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.40585848689079285},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.385861337184906},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3825054168701172},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.3809260427951813},{"id":"https://openalex.org/keywords/3d-pose-estimation","display_name":"3D pose estimation","score":0.3575153946876526},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3517689108848572},{"id":"https://openalex.org/keywords/metric-space","display_name":"Metric space","score":0.30316096544265747},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.2041577696800232},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.12934741377830505},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.0951564610004425},{"id":"https://openalex.org/keywords/discrete-mathematics","display_name":"Discrete mathematics","score":0.0936112105846405}],"concepts":[{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.799368143081665},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.6760756373405457},{"id":"https://openalex.org/C22100474","wikidata":"https://www.wikidata.org/wiki/Q4800952","display_name":"Articulated body pose estimation","level":4,"score":0.6398035287857056},{"id":"https://openalex.org/C2780297707","wikidata":"https://www.wikidata.org/wiki/Q4895393","display_name":"Landmark","level":2,"score":0.6264944672584534},{"id":"https://openalex.org/C195958017","wikidata":"https://www.wikidata.org/wiki/Q1675268","display_name":"Iterative closest point","level":3,"score":0.574916422367096},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5667251348495483},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5563299059867859},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.5354516506195068},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.48577597737312317},{"id":"https://openalex.org/C145084290","wikidata":"https://www.wikidata.org/wiki/Q2713824","display_name":"Metric map","level":4,"score":0.47053560614585876},{"id":"https://openalex.org/C74193536","wikidata":"https://www.wikidata.org/wiki/Q574844","display_name":"Kernel (algebra)","level":2,"score":0.44810643792152405},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4204011559486389},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.40585848689079285},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.385861337184906},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3825054168701172},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.3809260427951813},{"id":"https://openalex.org/C36613465","wikidata":"https://www.wikidata.org/wiki/Q4636322","display_name":"3D pose estimation","level":3,"score":0.3575153946876526},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3517689108848572},{"id":"https://openalex.org/C198043062","wikidata":"https://www.wikidata.org/wiki/Q180953","display_name":"Metric space","level":2,"score":0.30316096544265747},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.2041577696800232},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.12934741377830505},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0951564610004425},{"id":"https://openalex.org/C118615104","wikidata":"https://www.wikidata.org/wiki/Q121416","display_name":"Discrete mathematics","level":1,"score":0.0936112105846405},{"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","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},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C196613150","wikidata":"https://www.wikidata.org/wiki/Q3966092","display_name":"Convex metric space","level":3,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2017.8202270","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8202270","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320332009","display_name":"International Institute of Information Technology, Hyderabad","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1591802112","https://openalex.org/W1964591239","https://openalex.org/W1989484209","https://openalex.org/W2040134986","https://openalex.org/W2049981393","https://openalex.org/W2054442768","https://openalex.org/W2075628226","https://openalex.org/W2083624955","https://openalex.org/W2100187127","https://openalex.org/W2101805040","https://openalex.org/W2102233102","https://openalex.org/W2109448614","https://openalex.org/W2115579991","https://openalex.org/W2116516211","https://openalex.org/W2119801619","https://openalex.org/W2125543527","https://openalex.org/W2166820607","https://openalex.org/W2168676389","https://openalex.org/W2170229019","https://openalex.org/W2268461703","https://openalex.org/W2415785087","https://openalex.org/W2569707097"],"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":{"This":[0],"paper":[1],"considers":[2],"the":[3,93,120,127,131,143],"problem":[4,144],"of":[5,11,49,92,99,122,130,145],"finding":[6],"pose":[7,57,86,100,110,146],"matches":[8,21,111],"between":[9,22,30,60],"trajectories":[10,23,31,61],"multiple":[12],"robots":[13],"in":[14,38,108,112,135,148],"their":[15],"respective":[16],"coordinate":[17],"frames":[18],"or":[19],"equivalent":[20],"obtained":[24],"during":[25],"different":[26],"sessions.":[27],"Pose":[28],"correspondences":[29,59,147],"are":[32],"mediated":[33],"by":[34],"common":[35],"landmarks":[36],"represented":[37],"a":[39,63,149],"topological":[40],"map":[41],"lacking":[42],"distinct":[43],"metric":[44,51],"coordinates.":[45],"Despite":[46],"such":[47],"lack":[48],"explicit":[50],"level":[52,58],"associations,":[53],"we":[54],"mine":[55],"preliminary":[56],"through":[62],"novel":[64],"multi-scale":[65],"heat-kernel":[66],"descriptor":[67],"and":[68,101,104,152],"correspondence":[69],"graph":[70,139],"framework.":[71],"These":[72],"serve":[73],"as":[74],"an":[75],"improved":[76],"initialization":[77],"for":[78],"ICP":[79,116],"(Iterative":[80],"Closest":[81],"Point)":[82],"to":[83,141],"yield":[84],"dense":[85],"correspondences.":[87],"We":[88],"perform":[89],"extensive":[90],"analysis":[91],"proposed":[94],"method":[95],"under":[96],"varying":[97],"levels":[98],"landmark":[102],"noise":[103],"showcase":[105],"its":[106],"superiority":[107],"obtaining":[109],"comparison":[113],"with":[114],"standard":[115],"like":[117],"methods.":[118],"To":[119],"best":[121],"our":[123],"knowledge,":[124],"this":[125],"is":[126],"first":[128],"work":[129],"kind":[132],"that":[133],"brings":[134],"elements":[136],"from":[137,155],"spectral":[138],"theory":[140],"solve":[142],"multi-robotic":[150],"setting":[151],"differentiates":[153],"itself":[154],"other":[156],"works.":[157]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}