{"id":"https://openalex.org/W3131379059","doi":"https://doi.org/10.1109/iros45743.2020.9341517","title":"Seed: A Segmentation-Based Egocentric 3D Point Cloud Descriptor for Loop Closure Detection","display_name":"Seed: A Segmentation-Based Egocentric 3D Point Cloud Descriptor for Loop Closure Detection","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3131379059","doi":"https://doi.org/10.1109/iros45743.2020.9341517","mag":"3131379059"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341517","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341517","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 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/A5023043868","display_name":"Yunfeng Fan","orcid":"https://orcid.org/0000-0001-5690-0348"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Yunfeng Fan","raw_affiliation_strings":["Pillar of Engineering Product Development, Singapore University of Technology and Design, Singapore"],"affiliations":[{"raw_affiliation_string":"Pillar of Engineering Product Development, Singapore University of Technology and Design, Singapore","institution_ids":["https://openalex.org/I152815399"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043311850","display_name":"Yichang He","orcid":"https://orcid.org/0000-0001-9036-2870"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Yichang He","raw_affiliation_strings":["Pillar of Engineering Product Development, Singapore University of Technology and Design, Singapore"],"affiliations":[{"raw_affiliation_string":"Pillar of Engineering Product Development, Singapore University of Technology and Design, Singapore","institution_ids":["https://openalex.org/I152815399"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023142347","display_name":"U-Xuan Tan","orcid":"https://orcid.org/0000-0002-5757-1379"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"U-Xuan Tan","raw_affiliation_strings":["Pillar of Engineering Product Development, Singapore University of Technology and Design, Singapore"],"affiliations":[{"raw_affiliation_string":"Pillar of Engineering Product Development, Singapore University of Technology and Design, Singapore","institution_ids":["https://openalex.org/I152815399"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5023043868"],"corresponding_institution_ids":["https://openalex.org/I152815399"],"apc_list":null,"apc_paid":null,"fwci":6.5581,"has_fulltext":false,"cited_by_count":35,"citation_normalized_percentile":{"value":0.96255281,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"5158","last_page":"5163"},"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental 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":0.8114899396896362},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.775766134262085},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7532206773757935},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.7249442338943481},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.695014476776123},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6314864158630371},{"id":"https://openalex.org/keywords/translation","display_name":"Translation (biology)","score":0.5262838006019592},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.5226635336875916},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.47877514362335205},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.4652031362056732},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.45414093136787415},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.43691951036453247},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4339962303638458},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4332123100757599},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4327967166900635},{"id":"https://openalex.org/keywords/image-segmentation","display_name":"Image segmentation","score":0.4292648732662201},{"id":"https://openalex.org/keywords/for-loop","display_name":"For loop","score":0.41617900133132935},{"id":"https://openalex.org/keywords/loop","display_name":"Loop (graph theory)","score":0.28622013330459595},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1721135377883911},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.1713172197341919},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1640775501728058},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.11684015393257141},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.11077609658241272},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.09730663895606995}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8114899396896362},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.775766134262085},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7532206773757935},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.7249442338943481},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.695014476776123},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6314864158630371},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.5262838006019592},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.5226635336875916},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.47877514362335205},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.4652031362056732},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.45414093136787415},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.43691951036453247},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4339962303638458},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4332123100757599},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4327967166900635},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.4292648732662201},{"id":"https://openalex.org/C2779624466","wikidata":"https://www.wikidata.org/wiki/Q838119","display_name":"For loop","level":3,"score":0.41617900133132935},{"id":"https://openalex.org/C184670325","wikidata":"https://www.wikidata.org/wiki/Q512604","display_name":"Loop (graph theory)","level":2,"score":0.28622013330459595},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1721135377883911},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.1713172197341919},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1640775501728058},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.11684015393257141},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.11077609658241272},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.09730663895606995},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C105580179","wikidata":"https://www.wikidata.org/wiki/Q188928","display_name":"Messenger RNA","level":3,"score":0.0},{"id":"https://openalex.org/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros45743.2020.9341517","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341517","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/10","score":0.44999998807907104,"display_name":"Reduced inequalities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1482825550","https://openalex.org/W1509463039","https://openalex.org/W1988322066","https://openalex.org/W2033834476","https://openalex.org/W2041469568","https://openalex.org/W2045162826","https://openalex.org/W2085120503","https://openalex.org/W2105977269","https://openalex.org/W2115579991","https://openalex.org/W2132360065","https://openalex.org/W2144824356","https://openalex.org/W2148823327","https://openalex.org/W2157315715","https://openalex.org/W2165213665","https://openalex.org/W2187295369","https://openalex.org/W2213518912","https://openalex.org/W2216023515","https://openalex.org/W2535547924","https://openalex.org/W2565998037","https://openalex.org/W2745859992","https://openalex.org/W2910489334","https://openalex.org/W3102327032","https://openalex.org/W6688511070"],"related_works":["https://openalex.org/W4293094720","https://openalex.org/W2739701376","https://openalex.org/W4212966960","https://openalex.org/W3196708299","https://openalex.org/W3126674423","https://openalex.org/W3165205231","https://openalex.org/W2949553486","https://openalex.org/W4288626232","https://openalex.org/W2912965286","https://openalex.org/W4386820682"],"abstract_inverted_index":{"Place":[0],"recognition":[1],"is":[2,9,108,120,133],"essential":[3],"for":[4,11],"SLAM":[5],"system":[6],"since":[7],"it":[8,97],"critical":[10],"loop":[12],"closure":[13],"and":[14,22,93,123,139],"can":[15,34,89],"help":[16],"to":[17,40,49,74,125],"correct":[18],"the":[19,30,42,76,79,91,101,105,111,117,136,140,144,148],"accumulated":[20],"drift":[21],"result":[23],"in":[24,151],"a":[25,51,62,70],"globally":[26],"consistent":[27],"map.":[28],"Unlike":[29,113],"visual":[31],"slam":[32],"which":[33,88],"use":[35],"diverse":[36],"feature":[37],"detection":[38],"methods":[39],"describe":[41,75],"scene,":[43],"there":[44],"are":[45],"limited":[46],"works":[47],"reported":[48,115],"represent":[50],"place":[52],"using":[53,69],"single":[54,71],"LiDAR":[55,72],"scan.":[56],"In":[57],"this":[58],"paper,":[59],"we":[60,82],"propose":[61],"segmentation-based":[63],"egocentric":[64],"descriptor":[65],"termed":[66],"Seed":[67],"by":[68],"scan":[73],"scene.":[77],"Through":[78],"segmentation":[80],"approach,":[81],"first":[83],"obtain":[84],"different":[85],"segmented":[86,106],"objects,":[87],"reduce":[90],"noise":[92],"resolution":[94],"effect,":[95],"making":[96],"more":[98],"robust.":[99],"Then,":[100],"topological":[102],"information":[103],"of":[104,130,153],"objects":[107],"encoded":[109],"into":[110],"descriptor.":[112],"other":[114],"approaches,":[116],"proposed":[118,131,145],"method":[119,132,146,150],"rotation":[121],"invariant":[122],"insensitive":[124],"translation":[126],"variation.":[127],"The":[128],"feasibility":[129],"evaluated":[134],"through":[135],"KITTI":[137],"dataset":[138],"results":[141],"show":[142],"that":[143],"outperforms":[147],"state-of-the-art":[149],"terms":[152],"accuracy.":[154]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":13},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":5}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
