{"id":"https://openalex.org/W3082203263","doi":"https://doi.org/10.1109/iros45743.2020.9341667","title":"Gaussian Process Gradient Maps for Loop-Closure Detection in Unstructured Planetary Environments","display_name":"Gaussian Process Gradient Maps for Loop-Closure Detection in Unstructured Planetary Environments","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3082203263","doi":"https://doi.org/10.1109/iros45743.2020.9341667","mag":"3082203263"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341667","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341667","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":"preprint","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://opus.lib.uts.edu.au/bitstream/10453/147639/2/gaussian_process_gradient_map.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5054326889","display_name":"C\u00e9dric Le Gentil","orcid":"https://orcid.org/0000-0002-9790-5935"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"Cedric Le Gentil","raw_affiliation_strings":["Centre for Autonomous Systems at the Faculty of Engineering and IT, University of Technology Sydney","University of Technology Sydney,Centre for Autonomous Systems at the Faculty of Engineering and IT"],"affiliations":[{"raw_affiliation_string":"Centre for Autonomous Systems at the Faculty of Engineering and IT, University of Technology Sydney","institution_ids":["https://openalex.org/I114017466"]},{"raw_affiliation_string":"University of Technology Sydney,Centre for Autonomous Systems at the Faculty of Engineering and IT","institution_ids":["https://openalex.org/I114017466"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054538696","display_name":"Mallikarjuna Vayugundla","orcid":"https://orcid.org/0000-0002-9277-0461"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Mallikarjuna Vayugundla","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center (DLR)","German Aerospace Center (DLR), Institute of Robotics and Mechatronics"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR)","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"German Aerospace Center (DLR), Institute of Robotics and Mechatronics","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076463708","display_name":"Riccardo Giubilato","orcid":"https://orcid.org/0000-0002-3161-3171"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Riccardo Giubilato","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center (DLR)","German Aerospace Center (DLR), Institute of Robotics and Mechatronics"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR)","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"German Aerospace Center (DLR), Institute of Robotics and Mechatronics","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062395244","display_name":"Wolfgang St\u00fcrzl","orcid":"https://orcid.org/0000-0003-2440-5857"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Wolfgang Sturzl","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center (DLR)","German Aerospace Center (DLR), Institute of Robotics and Mechatronics"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR)","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"German Aerospace Center (DLR), Institute of Robotics and Mechatronics","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086794522","display_name":"Teresa Vidal\u2010Calleja","orcid":"https://orcid.org/0000-0002-5763-9644"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Teresa Vidal-Calleja","raw_affiliation_strings":["Centre for Autonomous Systems at the Faculty of Engineering and IT, University of Technology Sydney","University of Technology Sydney,Centre for Autonomous Systems at the Faculty of Engineering and IT"],"affiliations":[{"raw_affiliation_string":"Centre for Autonomous Systems at the Faculty of Engineering and IT, University of Technology Sydney","institution_ids":["https://openalex.org/I114017466"]},{"raw_affiliation_string":"University of Technology Sydney,Centre for Autonomous Systems at the Faculty of Engineering and IT","institution_ids":["https://openalex.org/I114017466"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050478468","display_name":"Rudolph Triebel","orcid":"https://orcid.org/0000-0002-7975-036X"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]},{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Rudolph Triebel","raw_affiliation_strings":["Department of Computer Science, Technical University of Munich (TUM)","Institute of Robotics and Mechatronics, German Aerospace Center (DLR)","German Aerospace Center (DLR), Institute of Robotics and Mechatronics"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Technical University of Munich (TUM)","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR)","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"German Aerospace Center (DLR), Institute of Robotics and Mechatronics","institution_ids":["https://openalex.org/I2898391981"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5054326889"],"corresponding_institution_ids":["https://openalex.org/I114017466"],"apc_list":null,"apc_paid":null,"fwci":4.884,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.96095655,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1895","last_page":"1902"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9991999864578247,"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":0.9991999864578247,"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":0.9883999824523926,"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/T12814","display_name":"Gaussian Processes and Bayesian Inference","score":0.9751999974250793,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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":0.7277859449386597},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6573176383972168},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6439493894577026},{"id":"https://openalex.org/keywords/elevation","display_name":"Elevation (ballistics)","score":0.5528629422187805},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.5439439415931702},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.529453694820404},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4895397126674652},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.4679407477378845},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.42658448219299316},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.42107030749320984},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.4204294681549072},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.4094220995903015},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3646083176136017},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.3250308036804199},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.2433164119720459},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14944088459014893},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.12436270713806152}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7277859449386597},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6573176383972168},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6439493894577026},{"id":"https://openalex.org/C37054046","wikidata":"https://www.wikidata.org/wiki/Q641888","display_name":"Elevation (ballistics)","level":2,"score":0.5528629422187805},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5439439415931702},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.529453694820404},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4895397126674652},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.4679407477378845},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.42658448219299316},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.42107030749320984},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.4204294681549072},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.4094220995903015},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3646083176136017},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.3250308036804199},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.2433164119720459},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14944088459014893},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.12436270713806152},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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":5,"locations":[{"id":"doi:10.1109/iros45743.2020.9341667","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341667","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"},{"id":"pmh:oai:elib.dlr.de:137981","is_oa":false,"landing_page_url":"https://doi.org/10.1109/IROS45743.2020.9341667>.","pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"PeerReviewed"},{"id":"pmh:oai:opus.lib.uts.edu.au:10453/147639","is_oa":true,"landing_page_url":"http://hdl.handle.net/10453/147639","pdf_url":"https://opus.lib.uts.edu.au/bitstream/10453/147639/2/gaussian_process_gradient_map.pdf","source":{"id":"https://openalex.org/S4306401357","display_name":"UTS ePRESS (University of Technology Sydney)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114017466","host_organization_name":"University of Technology Sydney","host_organization_lineage":["https://openalex.org/I114017466"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Proceeding"},{"id":"mag:3082203263","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/2009.00221","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"pmh:oai:opus.lib.uts.edu.au:10453/147641","is_oa":false,"landing_page_url":"http://hdl.handle.net/10453/147641","pdf_url":null,"source":{"id":"https://openalex.org/S4306401357","display_name":"UTS ePRESS (University of Technology Sydney)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114017466","host_organization_name":"University of Technology Sydney","host_organization_lineage":["https://openalex.org/I114017466"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Proceeding"}],"best_oa_location":{"id":"pmh:oai:opus.lib.uts.edu.au:10453/147639","is_oa":true,"landing_page_url":"http://hdl.handle.net/10453/147639","pdf_url":"https://opus.lib.uts.edu.au/bitstream/10453/147639/2/gaussian_process_gradient_map.pdf","source":{"id":"https://openalex.org/S4306401357","display_name":"UTS ePRESS (University of Technology Sydney)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114017466","host_organization_name":"University of Technology Sydney","host_organization_lineage":["https://openalex.org/I114017466"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Proceeding"},"sustainable_development_goals":[{"score":0.8299999833106995,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G1130118883","display_name":null,"funder_award_id":"UA-DAAD","funder_id":"https://openalex.org/F4320320875","funder_display_name":"Deutscher Akademischer Austauschdienst"},{"id":"https://openalex.org/G6777017359","display_name":null,"funder_award_id":"unknown","funder_id":"https://openalex.org/F4320320875","funder_display_name":"Deutscher Akademischer Austauschdienst"}],"funders":[{"id":"https://openalex.org/F4320320875","display_name":"Deutscher Akademischer Austauschdienst","ror":"https://ror.org/039djdh30"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3082203263.pdf","grobid_xml":"https://content.openalex.org/works/W3082203263.grobid-xml"},"referenced_works_count":49,"referenced_works":["https://openalex.org/W31424620","https://openalex.org/W177314305","https://openalex.org/W1493184037","https://openalex.org/W1571870753","https://openalex.org/W1677409904","https://openalex.org/W1967077835","https://openalex.org/W1977189000","https://openalex.org/W1988322066","https://openalex.org/W1989484209","https://openalex.org/W2103924867","https://openalex.org/W2117228865","https://openalex.org/W2129298951","https://openalex.org/W2139114878","https://openalex.org/W2150066425","https://openalex.org/W2151103935","https://openalex.org/W2152864241","https://openalex.org/W2205443796","https://openalex.org/W2284029970","https://openalex.org/W2551421619","https://openalex.org/W2566688177","https://openalex.org/W2567328166","https://openalex.org/W2753102628","https://openalex.org/W2767694002","https://openalex.org/W2783139685","https://openalex.org/W2785901219","https://openalex.org/W2788806311","https://openalex.org/W2794149315","https://openalex.org/W2798278946","https://openalex.org/W2883357174","https://openalex.org/W2895588840","https://openalex.org/W2896711393","https://openalex.org/W2901839369","https://openalex.org/W2902610326","https://openalex.org/W2910489334","https://openalex.org/W2957348723","https://openalex.org/W2962846261","https://openalex.org/W2963046720","https://openalex.org/W2998917800","https://openalex.org/W3002989245","https://openalex.org/W3005456533","https://openalex.org/W3083135905","https://openalex.org/W3099851400","https://openalex.org/W6601271567","https://openalex.org/W6637400245","https://openalex.org/W6729814728","https://openalex.org/W6748095251","https://openalex.org/W6753472729","https://openalex.org/W6755533502","https://openalex.org/W6756409600"],"related_works":["https://openalex.org/W3133049378","https://openalex.org/W3200399229","https://openalex.org/W3110517361","https://openalex.org/W2037490150","https://openalex.org/W1598947584","https://openalex.org/W783935760","https://openalex.org/W2115991397","https://openalex.org/W2095103413","https://openalex.org/W2229290600","https://openalex.org/W2588362002","https://openalex.org/W3111666733","https://openalex.org/W2059681931","https://openalex.org/W3003248574","https://openalex.org/W2772641132","https://openalex.org/W2272507962","https://openalex.org/W3048026019","https://openalex.org/W3129505458","https://openalex.org/W3199435753","https://openalex.org/W2092371500","https://openalex.org/W2893149982"],"abstract_inverted_index":{"The":[0,69,166],"ability":[1],"to":[2,21,25,59,73,103,120,158],"recognize":[3],"previously":[4],"mapped":[5],"locations":[6],"is":[7,72,156,171,182],"an":[8],"essential":[9],"feature":[10],"for":[11,122],"autonomous":[12],"systems.":[13],"Unstructured":[14],"planetary-like":[15,193],"environments":[16,194],"pose":[17],"a":[18,32,57,75,179,185],"major":[19],"challenge":[20],"these":[22],"systems":[23],"due":[24],"the":[26,29,34,37,61,90,92,109,132,136,143,147,160,163],"similarity":[27],"of":[28,36,81,89,108,135,146,162,168],"terrain.":[30],"As":[31],"result,":[33],"ambiguity":[35],"visual":[38,42],"appearance":[39],"makes":[40],"state-of-the-art":[41],"place":[43],"recognition":[44],"approaches":[45],"less":[46],"effective":[47],"than":[48],"in":[49,190,195],"urban":[50],"or":[51],"man-made":[52],"environments.":[53],"This":[54],"paper":[55],"presents":[56],"method":[58],"solve":[60],"loop":[62],"closure":[63],"problem":[64],"using":[65,175],"only":[66],"spatial":[67,133],"information.":[68,112],"key":[70],"idea":[71],"use":[74],"novel":[76],"continuous":[77,105],"and":[78,142,153,173,188,197],"probabilistic":[79,144],"representations":[80],"terrain":[82,110],"elevation":[83,111,137],"maps.":[84],"Given":[85],"3D":[86],"point":[87],"clouds":[88],"environment,":[91],"proposed":[93,164],"approach":[94],"exploits":[95],"Gaussian":[96],"Process":[97],"(GP)":[98],"regression":[99],"with":[100,184],"linear":[101],"operators":[102],"generate":[104],"gradient":[106],"maps":[107,138],"Traditional":[113],"image":[114],"registration":[115],"techniques":[116],"are":[117,127],"then":[118],"used":[119,157],"search":[121],"potential":[123],"matches.":[124],"Loop":[125],"closures":[126],"verified":[128],"by":[129],"leveraging":[130],"both":[131],"characteristic":[134],"(SE":[139],"(2)":[140],"registration)":[141],"nature":[145],"GP":[148],"representation.":[149],"A":[150],"submap-based":[151],"localization":[152],"mapping":[154],"framework":[155],"demonstrate":[159],"validity":[161],"approach.":[165],"performance":[167],"this":[169],"pipeline":[170],"evaluated":[172],"benchmarked":[174],"real":[176],"data":[177],"from":[178],"rover":[180],"that":[181],"equipped":[183],"stereo":[186],"camera":[187],"navigates":[189],"challenging,":[191],"unstructured":[192],"Morocco":[196],"on":[198],"Mt.":[199],"Etna.":[200]},"counts_by_year":[{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":1}],"updated_date":"2026-04-16T08:26:57.006410","created_date":"2025-10-10T00:00:00"}