{"id":"https://openalex.org/W4312729238","doi":"https://doi.org/10.1109/iros47612.2022.9981050","title":"Keyframe Selection with Information Occupancy Grid Model for Long-term Data Association","display_name":"Keyframe Selection with Information Occupancy Grid Model for Long-term Data Association","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312729238","doi":"https://doi.org/10.1109/iros47612.2022.9981050"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981050","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981050","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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/A5101989449","display_name":"Weinan Chen","orcid":"https://orcid.org/0009-0009-5233-6247"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]},{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Weinan Chen","raw_affiliation_strings":["Southern University of Science and Technology,Department of Electronic and Electrical Engineering,Shenzhen,China","Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China","Guangdong University of Technology, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology,Department of Electronic and Electrical Engineering,Shenzhen,China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Guangdong University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005136300","display_name":"Hanjing Ye","orcid":"https://orcid.org/0000-0002-8522-3638"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hanjing Ye","raw_affiliation_strings":["Southern University of Science and Technology,Department of Electronic and Electrical Engineering,Shenzhen,China","Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology,Department of Electronic and Electrical Engineering,Shenzhen,China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076745341","display_name":"Lei Zhu","orcid":"https://orcid.org/0000-0002-3919-3095"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]},{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Zhu","raw_affiliation_strings":["Southern University of Science and Technology,Department of Electronic and Electrical Engineering,Shenzhen,China","Guangdong University of Technology, Guangzhou, China","Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology,Department of Electronic and Electrical Engineering,Shenzhen,China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Guangdong University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I139024713"]},{"raw_affiliation_string":"Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002919496","display_name":"Chao Tang","orcid":"https://orcid.org/0000-0003-1474-3705"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chao Tang","raw_affiliation_strings":["Southern University of Science and Technology,Department of Electronic and Electrical Engineering,Shenzhen,China","Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology,Department of Electronic and Electrical Engineering,Shenzhen,China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021315949","display_name":"Changfei Fu","orcid":null},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changfei Fu","raw_affiliation_strings":["Southern University of Science and Technology,Department of Electronic and Electrical Engineering,Shenzhen,China","Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology,Department of Electronic and Electrical Engineering,Shenzhen,China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100723349","display_name":"Yonggang Chen","orcid":"https://orcid.org/0000-0002-0970-6363"},"institutions":[{"id":"https://openalex.org/I2799850029","display_name":"Dongguan University of Technology","ror":"https://ror.org/01m8p7q42","country_code":"CN","type":"education","lineage":["https://openalex.org/I2799850029"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yonggang Chen","raw_affiliation_strings":["DongGuan Polytechnic,Dongguan,China","DongGuan Polytechnic, Dongguan, China"],"affiliations":[{"raw_affiliation_string":"DongGuan Polytechnic,Dongguan,China","institution_ids":["https://openalex.org/I2799850029"]},{"raw_affiliation_string":"DongGuan Polytechnic, Dongguan, China","institution_ids":["https://openalex.org/I2799850029"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100430266","display_name":"Hong Zhang","orcid":"https://orcid.org/0000-0002-1677-6132"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hong Zhang","raw_affiliation_strings":["Southern University of Science and Technology,Department of Electronic and Electrical Engineering,Shenzhen,China","Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology,Department of Electronic and Electrical Engineering,Shenzhen,China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5101989449"],"corresponding_institution_ids":["https://openalex.org/I139024713","https://openalex.org/I3045169105"],"apc_list":null,"apc_paid":null,"fwci":0.1204,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.44438899,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"2786","last_page":"2793"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9993000030517578,"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"}},"topics":[{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9993000030517578,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.998199999332428,"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/T10824","display_name":"Image Retrieval and Classification Techniques","score":0.9937000274658203,"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/computer-science","display_name":"Computer science","score":0.7896930575370789},{"id":"https://openalex.org/keywords/abstraction","display_name":"Abstraction","score":0.6334649324417114},{"id":"https://openalex.org/keywords/selection","display_name":"Selection (genetic algorithm)","score":0.6147933602333069},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6136834025382996},{"id":"https://openalex.org/keywords/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.5794947743415833},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.5386813282966614},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5354288816452026},{"id":"https://openalex.org/keywords/association","display_name":"Association (psychology)","score":0.5242027044296265},{"id":"https://openalex.org/keywords/term","display_name":"Term (time)","score":0.5192582607269287},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.5154591202735901},{"id":"https://openalex.org/keywords/occupancy","display_name":"Occupancy","score":0.49741294980049133},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.4903128445148468},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.39447155594825745},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.35633161664009094},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08593598008155823}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7896930575370789},{"id":"https://openalex.org/C124304363","wikidata":"https://www.wikidata.org/wiki/Q673661","display_name":"Abstraction","level":2,"score":0.6334649324417114},{"id":"https://openalex.org/C81917197","wikidata":"https://www.wikidata.org/wiki/Q628760","display_name":"Selection (genetic algorithm)","level":2,"score":0.6147933602333069},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6136834025382996},{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.5794947743415833},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.5386813282966614},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5354288816452026},{"id":"https://openalex.org/C142853389","wikidata":"https://www.wikidata.org/wiki/Q744778","display_name":"Association (psychology)","level":2,"score":0.5242027044296265},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.5192582607269287},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.5154591202735901},{"id":"https://openalex.org/C160331591","wikidata":"https://www.wikidata.org/wiki/Q7075743","display_name":"Occupancy","level":2,"score":0.49741294980049133},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.4903128445148468},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.39447155594825745},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.35633161664009094},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08593598008155823},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","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/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9981050","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981050","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2112037453","display_name":null,"funder_award_id":"2021M701576","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"},{"id":"https://openalex.org/G4065850228","display_name":null,"funder_award_id":"62103179","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6273825278","display_name":null,"funder_award_id":"2016LJ06G498","funder_id":"https://openalex.org/F4320327783","funder_display_name":"Leading Talents Program of Guangdong Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"},{"id":"https://openalex.org/F4320327783","display_name":"Leading Talents Program of Guangdong Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W301022506","https://openalex.org/W612478963","https://openalex.org/W1514716220","https://openalex.org/W1677182931","https://openalex.org/W1686810756","https://openalex.org/W1836465849","https://openalex.org/W2005854391","https://openalex.org/W2021851106","https://openalex.org/W2047463778","https://openalex.org/W2069479606","https://openalex.org/W2103924867","https://openalex.org/W2112162870","https://openalex.org/W2131846894","https://openalex.org/W2141362318","https://openalex.org/W2216883103","https://openalex.org/W2283534560","https://openalex.org/W2396274919","https://openalex.org/W2464148602","https://openalex.org/W2474281075","https://openalex.org/W2535547924","https://openalex.org/W2558027072","https://openalex.org/W2564632156","https://openalex.org/W2605640878","https://openalex.org/W2758772066","https://openalex.org/W2884962765","https://openalex.org/W2909860872","https://openalex.org/W2937713253","https://openalex.org/W2941927864","https://openalex.org/W2951019013","https://openalex.org/W2962851944","https://openalex.org/W2963706662","https://openalex.org/W2966911063","https://openalex.org/W3003392845","https://openalex.org/W3033758230","https://openalex.org/W3043971245","https://openalex.org/W3098710403","https://openalex.org/W3102327032","https://openalex.org/W3131912965","https://openalex.org/W3199931265","https://openalex.org/W3206335241","https://openalex.org/W6637373629","https://openalex.org/W6638667902","https://openalex.org/W6675402254","https://openalex.org/W6685133223","https://openalex.org/W6780226713"],"related_works":["https://openalex.org/W4282043467","https://openalex.org/W2105697914","https://openalex.org/W3093197249","https://openalex.org/W1968324288","https://openalex.org/W1540010871","https://openalex.org/W2162255319","https://openalex.org/W5037887","https://openalex.org/W1999050017","https://openalex.org/W4293877624","https://openalex.org/W4229444815"],"abstract_inverted_index":{"As":[0],"the":[1,35,45,87,94,105,109,120,135,139],"basics":[2],"of":[3,25,38,47,122,128,138],"Visual":[4],"Simultaneous":[5],"Localization":[6],"And":[7],"Mapping":[8],"(VSLAM),":[9],"keyframes":[10,18],"play":[11],"an":[12,57,63,96],"essential":[13],"role.":[14],"In":[15,52],"previous":[16],"works,":[17],"are":[19,117],"selected":[20],"according":[21],"to":[22,103],"a":[23,69,76,81],"series":[24],"view":[26],"change-based":[27],"strategies":[28],"for":[29,80],"short-term":[30],"data":[31,49],"association":[32,50],"(STDA).":[33],"However,":[34],"texture":[36,88],"enrichment":[37,59,89,107],"frames":[39],"is":[40,73,90,101,142],"always":[41],"ignored,":[42],"resulting":[43],"in":[44,85,126,156],"failure":[46],"long-term":[48],"(LTDA).":[51],"this":[53],"paper,":[54],"we":[55],"propose":[56],"information":[58,64,97,106],"selection":[60,130,147],"strategy":[61,148],"with":[62,158],"occupancy":[65,98],"grid":[66,99],"model":[67,100],"and":[68,108,131,152,161],"deep":[70,77,140],"descriptor.":[71],"Frame":[72],"expressed":[74],"by":[75],"global":[78],"descriptor":[79,141],"statistical":[82,136],"explainable":[83],"abstraction,":[84,95],"which":[86],"indicated.":[91],"Based":[92],"on":[93,114],"established":[102],"measure":[104],"potential":[110],"LTDA":[111,151],"ability.":[112],"Evaluations":[113],"variant":[115],"datasets":[116],"conducted,":[118],"showing":[119],"advantage":[121],"our":[123],"proposed":[124,145],"method":[125],"terms":[127],"keyframe":[129,146],"tracking":[132,153],"precision.":[133],"Also,":[134],"explainability":[137],"provided.":[143],"The":[144],"can":[149],"improve":[150],"precision,":[154],"especially":[155],"situations":[157],"repeated":[159],"observations":[160],"loop-closures.":[162]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
