{"id":"https://openalex.org/W3157225278","doi":"https://doi.org/10.1109/iros51168.2021.9635915","title":"Multi-Modal Loop Closing in Unstructured Planetary Environments with Visually Enriched Submaps","display_name":"Multi-Modal Loop Closing in Unstructured Planetary Environments with Visually Enriched Submaps","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W3157225278","doi":"https://doi.org/10.1109/iros51168.2021.9635915","mag":"3157225278"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9635915","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9635915","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 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":"2021 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/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":true,"raw_author_name":"Riccardo Giubilato","raw_affiliation_strings":["German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Germany"],"affiliations":[{"raw_affiliation_string":"German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"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":["German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Germany"],"affiliations":[{"raw_affiliation_string":"German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Germany","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":["German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Germany"],"affiliations":[{"raw_affiliation_string":"German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026935526","display_name":"Martin J. Schuster","orcid":"https://orcid.org/0000-0002-6983-3719"},"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":"Martin J. Schuster","raw_affiliation_strings":["German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Germany"],"affiliations":[{"raw_affiliation_string":"German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013856331","display_name":"Armin Wedler","orcid":"https://orcid.org/0000-0001-8641-0163"},"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":"Armin Wedler","raw_affiliation_strings":["German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Germany"],"affiliations":[{"raw_affiliation_string":"German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"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"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Rudolph Triebel","raw_affiliation_strings":["German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Germany"],"affiliations":[{"raw_affiliation_string":"German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Germany","institution_ids":["https://openalex.org/I2898391981"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5076463708"],"corresponding_institution_ids":["https://openalex.org/I2898391981"],"apc_list":null,"apc_paid":null,"fwci":2.825,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.90177017,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"44","issue":null,"first_page":"8758","last_page":"8765"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991999864578247,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9968000054359436,"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":0.8077201247215271},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.8035634756088257},{"id":"https://openalex.org/keywords/modal","display_name":"Modal","score":0.5799583196640015},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.571325421333313},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.559114933013916},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5467638969421387},{"id":"https://openalex.org/keywords/cluster-analysis","display_name":"Cluster analysis","score":0.44224950671195984},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.4251539409160614}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8077201247215271},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.8035634756088257},{"id":"https://openalex.org/C71139939","wikidata":"https://www.wikidata.org/wiki/Q910194","display_name":"Modal","level":2,"score":0.5799583196640015},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.571325421333313},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.559114933013916},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5467638969421387},{"id":"https://openalex.org/C73555534","wikidata":"https://www.wikidata.org/wiki/Q622825","display_name":"Cluster analysis","level":2,"score":0.44224950671195984},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.4251539409160614},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C188027245","wikidata":"https://www.wikidata.org/wiki/Q750446","display_name":"Polymer chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros51168.2021.9635915","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9635915","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 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":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:elib.dlr.de:143410","is_oa":false,"landing_page_url":"https://doi.org/10.1109/IROS51168.2021.9635915>.","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320325698","display_name":"Helmholtz Association","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":64,"referenced_works":["https://openalex.org/W1482770670","https://openalex.org/W1677409904","https://openalex.org/W1968315983","https://openalex.org/W1974093076","https://openalex.org/W1989484209","https://openalex.org/W1990976732","https://openalex.org/W1993267444","https://openalex.org/W1999399477","https://openalex.org/W2015144449","https://openalex.org/W2097649661","https://openalex.org/W2116428968","https://openalex.org/W2117228865","https://openalex.org/W2117248802","https://openalex.org/W2139114878","https://openalex.org/W2141584146","https://openalex.org/W2151103935","https://openalex.org/W2160821342","https://openalex.org/W2202527257","https://openalex.org/W2461937780","https://openalex.org/W2530912226","https://openalex.org/W2535048900","https://openalex.org/W2535547924","https://openalex.org/W2567328166","https://openalex.org/W2606894526","https://openalex.org/W2752709290","https://openalex.org/W2783139685","https://openalex.org/W2785901219","https://openalex.org/W2794149315","https://openalex.org/W2883357174","https://openalex.org/W2884962765","https://openalex.org/W2891820683","https://openalex.org/W2896711393","https://openalex.org/W2898231767","https://openalex.org/W2901839369","https://openalex.org/W2909178302","https://openalex.org/W2909955272","https://openalex.org/W2910489334","https://openalex.org/W2912788846","https://openalex.org/W2914616910","https://openalex.org/W2955863859","https://openalex.org/W2957348723","https://openalex.org/W2964014140","https://openalex.org/W2971023449","https://openalex.org/W2973718576","https://openalex.org/W2998917800","https://openalex.org/W3040904863","https://openalex.org/W3048085917","https://openalex.org/W3091701820","https://openalex.org/W3097984693","https://openalex.org/W3099727102","https://openalex.org/W3102327032","https://openalex.org/W3102617634","https://openalex.org/W3124420883","https://openalex.org/W3133049378","https://openalex.org/W3171850432","https://openalex.org/W6637400245","https://openalex.org/W6647918550","https://openalex.org/W6748095251","https://openalex.org/W6753472729","https://openalex.org/W6755116606","https://openalex.org/W6756409600","https://openalex.org/W6767744281","https://openalex.org/W6769135678","https://openalex.org/W6796386834"],"related_works":["https://openalex.org/W4244478748","https://openalex.org/W4223488648","https://openalex.org/W2134969820","https://openalex.org/W2251605416","https://openalex.org/W4389340727","https://openalex.org/W4205786897","https://openalex.org/W3150465815","https://openalex.org/W4287694812","https://openalex.org/W3128716822","https://openalex.org/W3046762217"],"abstract_inverted_index":{"Future":[0],"planetary":[1,147],"missions":[2],"will":[3],"rely":[4],"on":[5,150],"rovers":[6],"that":[7,25,65],"can":[8],"autonomously":[9],"explore":[10],"and":[11,45,51,85,100,110],"navigate":[12],"in":[13,123,136],"unstructured":[14],"environments.":[15],"An":[16],"essential":[17],"element":[18],"is":[19],"the":[20,36,49,129,170,173],"ability":[21,37],"to":[22,41,62,117,165],"recognize":[23],"places":[24],"were":[26],"already":[27],"visited":[28],"or":[29,160],"mapped.":[30],"In":[31],"this":[32],"work,":[33],"we":[34,132],"leverage":[35],"of":[38,53,155,172],"stereo":[39,70],"cameras":[40],"provide":[42,118,166],"both":[43,108,137],"visual":[44,74,90],"depth":[46],"information,":[47],"guiding":[48],"search":[50],"validation":[52],"loop":[54],"closures":[55],"from":[56,107],"a":[57,145],"multi-modal":[58,175],"perspective.":[59],"We":[60],"propose":[61],"augment":[63],"submaps":[64,122],"are":[66,79,92,114],"created":[67],"by":[68,81,87,94],"aggregating":[69],"point":[71,111,161],"clouds,":[72],"with":[73],"keyframes.":[75],"Point":[76],"clouds":[77,162],"matches":[78,91,113,168],"found":[80],"comparing":[82,95],"CSHOT":[83],"descriptors":[84],"validated":[86],"clustering,":[88],"while":[89],"established":[93],"keyframes":[96,159],"using":[97],"Bag-of-Words":[98],"(BoW)":[99],"ORB":[101],"descriptors.":[102],"The":[103],"relative":[104],"transformations":[105],"resulting":[106],"keyframe":[109],"cloud":[112],"then":[115],"fused":[116],"pose":[119],"constraints":[120],"between":[121],"our":[124],"graph-based":[125],"SLAM":[126],"framework.":[127],"Using":[128],"LRU":[130],"rover,":[131],"performed":[133],"several":[134],"tests":[135],"an":[138],"indoor":[139],"laboratory":[140],"environment":[141,149],"as":[142,144],"well":[143],"challenging":[146],"analog":[148],"Mount":[151],"Etna,":[152],"Italy,":[153],"consisting":[154],"areas":[156],"where":[157],"either":[158],"alone":[163],"failed":[164],"adequate":[167],"demonstrating":[169],"benefit":[171],"proposed":[174],"approach.":[176]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
