{"id":"https://openalex.org/W4312822224","doi":"https://doi.org/10.1109/iros47612.2022.9981496","title":"Fast Structural Representation and Structure-aware Loop Closing for Visual SLAM","display_name":"Fast Structural Representation and Structure-aware Loop Closing for Visual SLAM","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312822224","doi":"https://doi.org/10.1109/iros47612.2022.9981496"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981496","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981496","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/A5060191097","display_name":"Shuxiang Xie","orcid":null},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]},{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Shuxiang Xie","raw_affiliation_strings":["Institute of Industrial Science, The University of Tokyo,Japan","Institute of Industrial Science, The University of Tokyo, Japan","The National Institute of Advanced Industrial Science and Technology (AIST), Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Institute of Industrial Science, The University of Tokyo,Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Institute of Industrial Science, The University of Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"The National Institute of Advanced Industrial Science and Technology (AIST), Tokyo, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027278922","display_name":"Ryoichi Ishikawa","orcid":"https://orcid.org/0000-0001-6904-3437"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ryoichi Ishikawa","raw_affiliation_strings":["Institute of Industrial Science, The University of Tokyo,Japan","Institute of Industrial Science, The University of Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Institute of Industrial Science, The University of Tokyo,Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Institute of Industrial Science, The University of Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056495032","display_name":"Ken Sakurada","orcid":null},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ken Sakurada","raw_affiliation_strings":["The National Institute of Advanced Industrial Science and Technology (AIST),Tokyo,Japan","The National Institute of Advanced Industrial Science and Technology (AIST), Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"The National Institute of Advanced Industrial Science and Technology (AIST),Tokyo,Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"The National Institute of Advanced Industrial Science and Technology (AIST), Tokyo, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031341888","display_name":"Masaki Onishi","orcid":"https://orcid.org/0000-0002-4580-4868"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masaki Onishi","raw_affiliation_strings":["The National Institute of Advanced Industrial Science and Technology (AIST),Tokyo,Japan","The National Institute of Advanced Industrial Science and Technology (AIST), Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"The National Institute of Advanced Industrial Science and Technology (AIST),Tokyo,Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"The National Institute of Advanced Industrial Science and Technology (AIST), Tokyo, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040804509","display_name":"Takeshi Oishi","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takeshi Oishi","raw_affiliation_strings":["Institute of Industrial Science, The University of Tokyo,Japan","Institute of Industrial Science, The University of Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Institute of Industrial Science, The University of Tokyo,Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Institute of Industrial Science, The University of Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5060191097"],"corresponding_institution_ids":["https://openalex.org/I73613424","https://openalex.org/I74801974"],"apc_list":null,"apc_paid":null,"fwci":0.2777,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.47403925,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"6396","last_page":"6403"},"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9991000294685364,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9973999857902527,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.8626607656478882},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.6821237206459045},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6820290088653564},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.681007444858551},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6458725929260254},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5680133700370789},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.5359172821044922},{"id":"https://openalex.org/keywords/sparse-approximation","display_name":"Sparse approximation","score":0.5126356482505798},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.497437983751297},{"id":"https://openalex.org/keywords/aliasing","display_name":"Aliasing","score":0.4346065819263458},{"id":"https://openalex.org/keywords/closing","display_name":"Closing (real estate)","score":0.42447933554649353},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.32188618183135986},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.15333575010299683},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.10378327965736389}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.8626607656478882},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.6821237206459045},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6820290088653564},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.681007444858551},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6458725929260254},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5680133700370789},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5359172821044922},{"id":"https://openalex.org/C124066611","wikidata":"https://www.wikidata.org/wiki/Q28684319","display_name":"Sparse approximation","level":2,"score":0.5126356482505798},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.497437983751297},{"id":"https://openalex.org/C4069607","wikidata":"https://www.wikidata.org/wiki/Q868732","display_name":"Aliasing","level":3,"score":0.4346065819263458},{"id":"https://openalex.org/C2778775528","wikidata":"https://www.wikidata.org/wiki/Q5135432","display_name":"Closing (real estate)","level":2,"score":0.42447933554649353},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.32188618183135986},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.15333575010299683},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.10378327965736389},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"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/C136536468","wikidata":"https://www.wikidata.org/wiki/Q1225894","display_name":"Undersampling","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9981496","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981496","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":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W1491719799","https://openalex.org/W1561952261","https://openalex.org/W1612997784","https://openalex.org/W1829390374","https://openalex.org/W1967718366","https://openalex.org/W1989484209","https://openalex.org/W1999399477","https://openalex.org/W2011767579","https://openalex.org/W2013270301","https://openalex.org/W2097792297","https://openalex.org/W2109271936","https://openalex.org/W2117228865","https://openalex.org/W2119605622","https://openalex.org/W2128017662","https://openalex.org/W2141584146","https://openalex.org/W2144824356","https://openalex.org/W2151103935","https://openalex.org/W2162161345","https://openalex.org/W2535547924","https://openalex.org/W2620629206","https://openalex.org/W2740418457","https://openalex.org/W2745859992","https://openalex.org/W2887296834","https://openalex.org/W2898306786","https://openalex.org/W2910234834","https://openalex.org/W2960033181","https://openalex.org/W2963873956","https://openalex.org/W2964164560","https://openalex.org/W2968893828","https://openalex.org/W2977977449","https://openalex.org/W2979458572","https://openalex.org/W3034275286","https://openalex.org/W3043075211","https://openalex.org/W3043971245","https://openalex.org/W3045101785","https://openalex.org/W3093386634","https://openalex.org/W3102327032","https://openalex.org/W3103957575","https://openalex.org/W3131673036","https://openalex.org/W3133648073","https://openalex.org/W3140331270","https://openalex.org/W3211389689","https://openalex.org/W4226236972","https://openalex.org/W4236769309","https://openalex.org/W4251395003"],"related_works":["https://openalex.org/W2091018038","https://openalex.org/W2225378543","https://openalex.org/W9839718","https://openalex.org/W3110613631","https://openalex.org/W4287122200","https://openalex.org/W2040913503","https://openalex.org/W3166845860","https://openalex.org/W2742744817","https://openalex.org/W3202472720","https://openalex.org/W2991246638"],"abstract_inverted_index":{"Perceptual":[0],"Aliasing":[1],"is":[2,31],"one":[3],"of":[4,23,42,65,128],"the":[5,24,63,95,126],"main":[6],"problems":[7],"in":[8,86,107,119,138],"simultaneous":[9],"localization":[10],"and":[11],"mapping":[12],"(SLAM).":[13],"Wrong":[14],"associations":[15],"between":[16],"different":[17,142],"places":[18],"may":[19],"lead":[20],"to":[21,37,62,124],"failure":[22],"whole":[25],"map.":[26],"Research":[27],"on":[28,141],"structure":[29,55,71,96],"information":[30,56,97],"rarely":[32,58],"investigated":[33],"among":[34],"existing":[35],"solutions":[36],"this":[38],"problem.":[39],"In":[40],"cases":[41],"visual":[43,87,120],"SLAM":[44,88,121,129],"without":[45],"sensors,":[46],"such":[47],"as":[48],"LiDAR":[49],"or":[50],"Inertial":[51],"Measurement":[52],"Unit":[53],"(IMU),":[54],"can":[57],"be":[59],"obtained":[60],"due":[61],"sparsity":[64],"3D":[66],"points,":[67],"which":[68,93],"also":[69],"makes":[70],"analysis":[72],"complex.":[73],"This":[74],"study":[75],"provides":[76],"a":[77,114,135],"spherical":[78],"harmonics":[79],"(SH)":[80],"based":[81],"fast":[82],"structural":[83],"representation":[84],"(SH-FS)":[85],"using":[89],"sparse":[90,99],"point":[91],"clouds,":[92],"extracts":[94],"from":[98],"points":[100],"into":[101],"single":[102],"vector.":[103],"SH-FS":[104],"was":[105,122],"applied":[106],"conventional":[108],"feature-based":[109],"loop":[110,116],"closing":[111,117],"process.":[112],"Furthermore,":[113],"structure-aware":[115],"method":[118],"proposed":[123],"improve":[125],"robustness":[127],"systems.":[130],"Moreover,":[131],"our":[132],"methods":[133],"show":[134],"favorable":[136],"performance":[137],"extensive":[139],"experiments":[140],"large-scale":[143],"real":[144],"world":[145],"datasets.":[146]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-01-13T01:12:25.745995","created_date":"2025-10-10T00:00:00"}