{"id":"https://openalex.org/W2773220853","doi":"https://doi.org/10.1109/iros.2017.8206292","title":"Stable laser interest point selection for place recognition in a forest","display_name":"Stable laser interest point selection for place recognition in a forest","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2773220853","doi":"https://doi.org/10.1109/iros.2017.8206292","mag":"2773220853"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8206292","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206292","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/A5016960644","display_name":"Matthew Giamou","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"]},{"id":"https://openalex.org/I4210157567","display_name":"Aerospace Testing (United States)","ror":"https://ror.org/04j7z5d67","country_code":"US","type":"company","lineage":["https://openalex.org/I4210157567"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Matthew Giamou","raw_affiliation_strings":["Aerospace Controls Laboratory, Massachusetts Institute of Technology"],"affiliations":[{"raw_affiliation_string":"Aerospace Controls Laboratory, Massachusetts Institute of Technology","institution_ids":["https://openalex.org/I4210157567","https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007986814","display_name":"Yaroslav Babich","orcid":null},"institutions":[{"id":"https://openalex.org/I4210157567","display_name":"Aerospace Testing (United States)","ror":"https://ror.org/04j7z5d67","country_code":"US","type":"company","lineage":["https://openalex.org/I4210157567"]},{"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":"Yaroslav Babich","raw_affiliation_strings":["Aerospace Controls Laboratory, Massachusetts Institute of Technology"],"affiliations":[{"raw_affiliation_string":"Aerospace Controls Laboratory, Massachusetts Institute of Technology","institution_ids":["https://openalex.org/I4210157567","https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076998853","display_name":"Golnaz Habibi","orcid":"https://orcid.org/0000-0002-9130-9323"},"institutions":[{"id":"https://openalex.org/I4210157567","display_name":"Aerospace Testing (United States)","ror":"https://ror.org/04j7z5d67","country_code":"US","type":"company","lineage":["https://openalex.org/I4210157567"]},{"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":"Golnaz Habibi","raw_affiliation_strings":["Aerospace Controls Laboratory, Massachusetts Institute of Technology"],"affiliations":[{"raw_affiliation_string":"Aerospace Controls Laboratory, Massachusetts Institute of Technology","institution_ids":["https://openalex.org/I4210157567","https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011665886","display_name":"Jonathan P. How","orcid":"https://orcid.org/0000-0001-8576-1930"},"institutions":[{"id":"https://openalex.org/I4210157567","display_name":"Aerospace Testing (United States)","ror":"https://ror.org/04j7z5d67","country_code":"US","type":"company","lineage":["https://openalex.org/I4210157567"]},{"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":"Jonathan P. How","raw_affiliation_strings":["Aerospace Controls Laboratory, Massachusetts Institute of Technology"],"affiliations":[{"raw_affiliation_string":"Aerospace Controls Laboratory, Massachusetts Institute of Technology","institution_ids":["https://openalex.org/I4210157567","https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5016960644"],"corresponding_institution_ids":["https://openalex.org/I4210157567","https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":2.1775,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.89636534,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"4","issue":null,"first_page":"4290","last_page":"4297"},"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9980999827384949,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9853000044822693,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/salient","display_name":"Salient","score":0.7149190902709961},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.681868314743042},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6348932981491089},{"id":"https://openalex.org/keywords/cluster-analysis","display_name":"Cluster analysis","score":0.558545708656311},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5466029644012451},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5296278595924377},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5246463418006897},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.4947802424430847},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.4690563976764679},{"id":"https://openalex.org/keywords/bandwidth","display_name":"Bandwidth (computing)","score":0.45644834637641907},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.43967053294181824},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4145278036594391},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.33730417490005493},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.15874969959259033},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.11513879895210266}],"concepts":[{"id":"https://openalex.org/C2780719617","wikidata":"https://www.wikidata.org/wiki/Q1030752","display_name":"Salient","level":2,"score":0.7149190902709961},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.681868314743042},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6348932981491089},{"id":"https://openalex.org/C73555534","wikidata":"https://www.wikidata.org/wiki/Q622825","display_name":"Cluster analysis","level":2,"score":0.558545708656311},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5466029644012451},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5296278595924377},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5246463418006897},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.4947802424430847},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.4690563976764679},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"score":0.45644834637641907},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.43967053294181824},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4145278036594391},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.33730417490005493},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.15874969959259033},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.11513879895210266},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2017.8206292","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206292","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":[{"display_name":"Life in Land","id":"https://metadata.un.org/sdg/15","score":0.7599999904632568}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306101","display_name":"National Aeronautics and Space Administration","ror":"https://ror.org/027ka1x80"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1574773379","https://openalex.org/W1974093076","https://openalex.org/W1988322066","https://openalex.org/W1989484209","https://openalex.org/W2007870360","https://openalex.org/W2038694110","https://openalex.org/W2045903504","https://openalex.org/W2071571922","https://openalex.org/W2085120503","https://openalex.org/W2098836126","https://openalex.org/W2101992557","https://openalex.org/W2118607269","https://openalex.org/W2119801619","https://openalex.org/W2143776582","https://openalex.org/W2183091601","https://openalex.org/W2267102519","https://openalex.org/W2275442570","https://openalex.org/W2293882161","https://openalex.org/W2563604660","https://openalex.org/W2570713051","https://openalex.org/W2580035297","https://openalex.org/W2950825549","https://openalex.org/W6675320002","https://openalex.org/W6677910561","https://openalex.org/W6685863130"],"related_works":["https://openalex.org/W2329500892","https://openalex.org/W28991112","https://openalex.org/W2370726991","https://openalex.org/W2369710579","https://openalex.org/W4327728159","https://openalex.org/W2912751582","https://openalex.org/W1990856605","https://openalex.org/W2053783616","https://openalex.org/W2545348020","https://openalex.org/W3016928466"],"abstract_inverted_index":{"Place":[0],"recognition":[1,35,73],"is":[2,51,102],"an":[3],"essential":[4],"part":[5],"of":[6,63,75,123,143],"robot":[7],"localization":[8],"and":[9,28,89,107,114,131],"mapping":[10],"problems.":[11],"Using":[12],"lower":[13],"data-rate":[14],"sensors":[15],"like":[16,42,49],"2D":[17,70,91],"scanning":[18],"laser":[19,92],"rangefinders":[20],"enables":[21],"the":[22,64,69,121],"robots":[23],"to":[24,77],"use":[25],"less":[26],"memory":[27],"computation":[29],"in":[30,45,128],"building":[31],"maps.":[32],"However,":[33],"place":[34,72,133],"by":[36],"a":[37,43,55,60,78,83,111,139],"vehicle":[38],"with":[39,54,82,116],"6-DOF":[40],"dynamics":[41],"quadrotor":[44],"unstructured,":[46],"3D":[47],"environments":[48],"forests":[50],"challenging,":[52],"especially":[53],"sensor":[56],"that":[57],"only":[58],"measures":[59],"planar":[61],"slice":[62],"environment.":[65],"This":[66,100],"paper":[67],"extends":[68],"geometry-based":[71],"system":[74],"[1]":[76],"challenging":[79],"forest":[80,112],"envirnoment":[81],"novel":[84],"procedure":[85],"for":[86,149],"selecting":[87],"stable":[88],"salient":[90,124],"interest":[93,125],"points":[94],"using":[95],"Dirichlet":[96],"process":[97],"clustering":[98],"(DP-means).":[99],"method":[101],"tested":[103],"on":[104],"both":[105],"synthetic":[106],"real":[108],"data":[109],"from":[110],"trail":[113],"compared":[115],"[1].":[117],"The":[118],"result":[119],"reveals":[120],"importance":[122],"point":[126],"selection":[127],"allowing":[129],"accurate":[130],"fast":[132],"recognition.":[134],"Our":[135],"approach":[136],"also":[137],"ensures":[138],"low":[140],"bandwidth":[141],"representation":[142],"visited":[144],"areas,":[145],"making":[146],"it":[147],"suitable":[148],"real-time,":[150],"multi-agent":[151],"SLAM":[152],"applications.":[153]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
