{"id":"https://openalex.org/W3046909600","doi":"https://doi.org/10.1109/iros45743.2020.9341789","title":"Better Together: Online Probabilistic Clique Change Detection in 3D Landmark-Based Maps","display_name":"Better Together: Online Probabilistic Clique Change Detection in 3D Landmark-Based Maps","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3046909600","doi":"https://doi.org/10.1109/iros45743.2020.9341789","mag":"3046909600"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341789","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341789","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":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2008.00372","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5081867400","display_name":"Samuel Bateman","orcid":"https://orcid.org/0000-0002-1584-3188"},"institutions":[{"id":"https://openalex.org/I2802236040","display_name":"University of Colorado System","ror":"https://ror.org/00jc20583","country_code":"US","type":"education","lineage":["https://openalex.org/I2802236040"]},{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Samuel Bateman","raw_affiliation_strings":["Department of Computer Science, University of Colorado, Boulder, CO, USA","University of Colorado Boulder"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Colorado, Boulder, CO, USA","institution_ids":["https://openalex.org/I188538660"]},{"raw_affiliation_string":"University of Colorado Boulder","institution_ids":["https://openalex.org/I2802236040","https://openalex.org/I188538660"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009373860","display_name":"Kyle Harlow","orcid":"https://orcid.org/0000-0002-9092-3655"},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kyle Harlow","raw_affiliation_strings":["Department of Computer Science, University of Colorado, Boulder, CO, USA","University of Colorado,Department of Computer Science,Boulder,CO,USA,80309"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Colorado, Boulder, CO, USA","institution_ids":["https://openalex.org/I188538660"]},{"raw_affiliation_string":"University of Colorado,Department of Computer Science,Boulder,CO,USA,80309","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009328815","display_name":"Christoffer Heckman","orcid":"https://orcid.org/0000-0002-9651-6866"},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Christoffer Heckman","raw_affiliation_strings":["Department of Computer Science, University of Colorado, Boulder, CO, USA","University of Colorado,Department of Computer Science,Boulder,CO,USA,80309"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Colorado, Boulder, CO, USA","institution_ids":["https://openalex.org/I188538660"]},{"raw_affiliation_string":"University of Colorado,Department of Computer Science,Boulder,CO,USA,80309","institution_ids":["https://openalex.org/I188538660"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5081867400"],"corresponding_institution_ids":["https://openalex.org/I188538660","https://openalex.org/I2802236040"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.14985544,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4878","last_page":"4885"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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":0.9980000257492065,"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":0.9962000250816345,"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/landmark","display_name":"Landmark","score":0.9281121492385864},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7255178093910217},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.6986421346664429},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6647475361824036},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5836398005485535},{"id":"https://openalex.org/keywords/clique","display_name":"Clique","score":0.5554531216621399},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.5343453288078308},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.49180176854133606},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.483895868062973},{"id":"https://openalex.org/keywords/prior-probability","display_name":"Prior probability","score":0.45307374000549316},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.41354307532310486},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.23005393147468567},{"id":"https://openalex.org/keywords/bayesian-probability","display_name":"Bayesian probability","score":0.22396346926689148},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15524598956108093}],"concepts":[{"id":"https://openalex.org/C2780297707","wikidata":"https://www.wikidata.org/wiki/Q4895393","display_name":"Landmark","level":2,"score":0.9281121492385864},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7255178093910217},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.6986421346664429},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6647475361824036},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5836398005485535},{"id":"https://openalex.org/C2777035058","wikidata":"https://www.wikidata.org/wiki/Q1662634","display_name":"Clique","level":2,"score":0.5554531216621399},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.5343453288078308},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.49180176854133606},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.483895868062973},{"id":"https://openalex.org/C177769412","wikidata":"https://www.wikidata.org/wiki/Q278090","display_name":"Prior probability","level":3,"score":0.45307374000549316},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.41354307532310486},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.23005393147468567},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.22396346926689148},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15524598956108093},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/iros45743.2020.9341789","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341789","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:arXiv.org:2008.00372","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2008.00372","pdf_url":"https://arxiv.org/pdf/2008.00372","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":null,"raw_type":"text"},{"id":"mag:3046909600","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/2008.00372","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":"doi:10.48550/arxiv.2008.00372","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2008.00372","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":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2008.00372","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2008.00372","pdf_url":"https://arxiv.org/pdf/2008.00372","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":null,"raw_type":"text"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.7900000214576721,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320332815","display_name":"Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W3046909600.pdf"},"referenced_works_count":34,"referenced_works":["https://openalex.org/W1554663441","https://openalex.org/W1567487277","https://openalex.org/W2013075384","https://openalex.org/W2024908906","https://openalex.org/W2041232406","https://openalex.org/W2065202099","https://openalex.org/W2068763856","https://openalex.org/W2076917298","https://openalex.org/W2079007559","https://openalex.org/W2107402720","https://openalex.org/W2113524801","https://openalex.org/W2117228865","https://openalex.org/W2119605622","https://openalex.org/W2124386111","https://openalex.org/W2133464237","https://openalex.org/W2134670479","https://openalex.org/W2148228392","https://openalex.org/W2149916176","https://openalex.org/W2156715992","https://openalex.org/W2162846467","https://openalex.org/W2412846155","https://openalex.org/W2558027072","https://openalex.org/W2571050459","https://openalex.org/W2890213701","https://openalex.org/W2890792164","https://openalex.org/W2921237916","https://openalex.org/W2963881442","https://openalex.org/W3143919370","https://openalex.org/W3187867541","https://openalex.org/W4236715194","https://openalex.org/W6630774135","https://openalex.org/W6633240210","https://openalex.org/W6679239469","https://openalex.org/W6679792166"],"related_works":["https://openalex.org/W1545536875","https://openalex.org/W2053665831","https://openalex.org/W3168282534","https://openalex.org/W1591449811","https://openalex.org/W2054740247","https://openalex.org/W3099472416","https://openalex.org/W2952878171","https://openalex.org/W2970694761","https://openalex.org/W2963091090","https://openalex.org/W2771230335","https://openalex.org/W2950143309","https://openalex.org/W2909791330","https://openalex.org/W3196889539","https://openalex.org/W3204310325","https://openalex.org/W2890090517","https://openalex.org/W2835677615","https://openalex.org/W2610207162","https://openalex.org/W3102705261","https://openalex.org/W3085583000","https://openalex.org/W2963193200"],"abstract_inverted_index":{"Many":[0],"modern":[1],"simultaneous":[2],"localization":[3],"and":[4,109,139],"mapping":[5],"(SLAM)":[6],"techniques":[7,20],"rely":[8],"on":[9,93],"sparse":[10],"landmark-based":[11],"maps":[12],"due":[13],"to":[14,56,99,114,142],"their":[15,116],"real-time":[16],"performance.":[17],"However,":[18],"these":[19,24],"frequently":[21],"assert":[22],"that":[23,91,96],"landmarks":[25,60,104,123],"are":[26,54,105],"fixed":[27],"in":[28,44,80,124,155],"position":[29],"over":[30,50],"time,":[31],"known":[32],"as":[33],"the":[34,42,85,94,122],"static-world":[35],"assumption.":[36],"This":[37,72,127],"is":[38,112,153],"rarely,":[39],"if":[40],"ever,":[41],"case":[43],"most":[45],"real-world":[46],"environments.":[47],"Even":[48],"worse,":[49],"long":[51],"deployments,":[52],"robots":[53],"bound":[55],"observe":[57],"traditionally":[58],"static":[59,148],"change,":[61],"for":[62,78,137],"example":[63],"when":[64],"an":[65],"autonomous":[66],"vehicle":[67],"encounters":[68],"a":[69,88,110,125,146,156],"construction":[70],"zone.":[71],"work":[73],"addresses":[74],"this":[75],"challenge,":[76],"accounting":[77],"changes":[79],"complex":[81],"three-dimensional":[82],"environments":[83],"with":[84],"creation":[86],"of":[87,121,133],"probabilistic":[89],"filter":[90,111,128],"operates":[92],"features":[95],"give":[97],"rise":[98],"landmarks.":[100],"To":[101],"accomplish":[102],"this,":[103],"clustered":[106],"into":[107],"cliques":[108],"developed":[113],"estimate":[115],"persistence":[117],"jointly":[118],"among":[119],"observations":[120],"clique.":[126],"uses":[129],"estimated":[130],"spatial-temporal":[131],"priors":[132],"geometric":[134],"objects,":[135],"allowing":[136],"dynamic":[138],"semi-static":[140],"objects":[141],"be":[143],"removed":[144],"from":[145],"formally":[147],"map.":[149],"The":[150],"proposed":[151],"algorithm":[152],"validated":[154],"3D":[157],"simulated":[158],"environment.":[159]},"counts_by_year":[],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
