{"id":"https://openalex.org/W4405786830","doi":"https://doi.org/10.1109/iros58592.2024.10801471","title":"SOS-Match: Segmentation for Open-Set Robust Correspondence Search and Robot Localization in Unstructured Environments","display_name":"SOS-Match: Segmentation for Open-Set Robust Correspondence Search and Robot Localization in Unstructured Environments","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405786830","doi":"https://doi.org/10.1109/iros58592.2024.10801471"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10801471","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801471","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5113069985","display_name":"Annika Thomas","orcid":null},"institutions":[{"id":"https://openalex.org/I46020346","display_name":"American Institute of Aeronautics and Astronautics","ror":"https://ror.org/00a1rzv11","country_code":"US","type":"other","lineage":["https://openalex.org/I46020346"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Annika Thomas","raw_affiliation_strings":["Massachusetts Institute of Technology,Department of Aeronautics and Astronautics"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Department of Aeronautics and Astronautics","institution_ids":["https://openalex.org/I46020346","https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081561701","display_name":"Jouko Kinnari","orcid":"https://orcid.org/0000-0001-7672-3086"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jouko Kinnari","raw_affiliation_strings":["Saab Finland Oy,Helsinki,Finland,00100"],"affiliations":[{"raw_affiliation_string":"Saab Finland Oy,Helsinki,Finland,00100","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073040616","display_name":"Parker C. Lusk","orcid":"https://orcid.org/0000-0002-9755-1276"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]},{"id":"https://openalex.org/I46020346","display_name":"American Institute of Aeronautics and Astronautics","ror":"https://ror.org/00a1rzv11","country_code":"US","type":"other","lineage":["https://openalex.org/I46020346"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Parker C. Lusk","raw_affiliation_strings":["Massachusetts Institute of Technology,Department of Aeronautics and Astronautics"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Department of Aeronautics and Astronautics","institution_ids":["https://openalex.org/I46020346","https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109673730","display_name":"K Kondo","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]},{"id":"https://openalex.org/I46020346","display_name":"American Institute of Aeronautics and Astronautics","ror":"https://ror.org/00a1rzv11","country_code":"US","type":"other","lineage":["https://openalex.org/I46020346"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kota Kondo","raw_affiliation_strings":["Massachusetts Institute of Technology,Department of Aeronautics and Astronautics"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Department of Aeronautics and Astronautics","institution_ids":["https://openalex.org/I46020346","https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011665886","display_name":"Jonathan P. How","orcid":"https://orcid.org/0000-0001-8576-1930"},"institutions":[{"id":"https://openalex.org/I46020346","display_name":"American Institute of Aeronautics and Astronautics","ror":"https://ror.org/00a1rzv11","country_code":"US","type":"other","lineage":["https://openalex.org/I46020346"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jonathan P. How","raw_affiliation_strings":["Massachusetts Institute of Technology,Department of Aeronautics and Astronautics"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Department of Aeronautics and Astronautics","institution_ids":["https://openalex.org/I46020346","https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5113069985"],"corresponding_institution_ids":["https://openalex.org/I46020346","https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":1.0526,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.79400115,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"5613","last_page":"5620"},"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":0.9936000108718872,"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":0.9936000108718872,"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":0.9932000041007996,"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/T12288","display_name":"Optimization and Search Problems","score":0.9634000062942505,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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":0.7066929340362549},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.6257219910621643},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6198812127113342},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.6035943627357483},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5715272426605225},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5111854672431946},{"id":"https://openalex.org/keywords/image-segmentation","display_name":"Image segmentation","score":0.471282422542572}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7066929340362549},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.6257219910621643},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6198812127113342},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.6035943627357483},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5715272426605225},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5111854672431946},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.471282422542572},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10801471","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801471","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306077","display_name":"Boeing","ror":"https://ror.org/04sm5zn07"},{"id":"https://openalex.org/F4320330095","display_name":"Saab","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1677409904","https://openalex.org/W1988874269","https://openalex.org/W2033819227","https://openalex.org/W2085261163","https://openalex.org/W2103924867","https://openalex.org/W2114393071","https://openalex.org/W2117228865","https://openalex.org/W2132360065","https://openalex.org/W2151103935","https://openalex.org/W2222512263","https://openalex.org/W2461937780","https://openalex.org/W2889923199","https://openalex.org/W2951019013","https://openalex.org/W2979458572","https://openalex.org/W2981830252","https://openalex.org/W3034275286","https://openalex.org/W3043075211","https://openalex.org/W3166285241","https://openalex.org/W3175829913","https://openalex.org/W3205253566","https://openalex.org/W4226481925","https://openalex.org/W4246399668","https://openalex.org/W4281642191","https://openalex.org/W4285053689","https://openalex.org/W4312854990","https://openalex.org/W4319300119","https://openalex.org/W4385412693","https://openalex.org/W4389666908","https://openalex.org/W4390874575","https://openalex.org/W4401415952","https://openalex.org/W6685664056","https://openalex.org/W6791353385","https://openalex.org/W6800751262","https://openalex.org/W6851800889","https://openalex.org/W6853219587"],"related_works":["https://openalex.org/W8302103","https://openalex.org/W4379231730","https://openalex.org/W4389858081","https://openalex.org/W3171631314","https://openalex.org/W2674584172","https://openalex.org/W2967743314","https://openalex.org/W2501551404","https://openalex.org/W2606825221","https://openalex.org/W4298131179","https://openalex.org/W1522196789"],"abstract_inverted_index":{"We":[0,61,200],"present":[1],"SOS-Match,":[2],"a":[3,19,24,41,57,75,126,139,155,193],"novel":[4],"framework":[5],"for":[6,159],"detecting":[7],"and":[8,34,39,84,99,110,120,137,162,175,177],"matching":[9],"objects":[10],"in":[11,97,165,173,197],"unstructured":[12,166,198],"environments.":[13,199],"Our":[14],"system":[15],"consists":[16],"of":[17,50,59,78,147,190],"1)":[18],"front-end":[20],"mapping":[21],"pipeline":[22,44],"using":[23],"zero-shot":[25],"segmentation":[26],"model":[27],"to":[28,53,95,130,171],"extract":[29],"object":[30,51],"masks":[31],"from":[32],"images":[33],"track":[35],"them":[36],"across":[37,56],"frames":[38],"2)":[40],"frame":[42],"alignment":[43],"that":[45,89,168,186],"uses":[46],"the":[47,65,145,148,187],"geometric":[48,188],"consistency":[49],"relationships":[52],"efficiently":[54],"localize":[55],"variety":[58],"conditions.":[60,86],"evaluate":[62],"SOS-Match":[63,123,153],"on":[64],"B\u00e5tvik":[66],"seasonal":[67],"dataset":[68],"which":[69],"includes":[70],"drone":[71],"flights":[72],"collected":[73],"over":[74],"coastal":[76],"plot":[77],"southern":[79],"Finland":[80],"during":[81],"different":[82],"seasons":[83],"lighting":[85,98,174],"Results":[87],"show":[88],"our":[90,202],"approach":[91,158],"is":[92,154,169,178,192],"more":[93,113,179],"robust":[94,170],"changes":[96,172],"appearance":[100,176],"than":[101,116,133,143,182],"classical":[102],"image":[103],"feature-based":[104,135],"approaches":[105,136],"or":[106],"global":[107],"descriptor":[108],"methods,":[109],"it":[111],"provides":[112],"viewpoint":[114],"invariance":[115],"learning-based":[117],"feature":[118],"detection":[119,161],"description":[121],"approaches.":[122],"localizes":[124],"within":[125],"reference":[127],"map":[128,140],"up":[129],"46x":[131],"faster":[132],"other":[134,151,183],"has":[138],"size":[141,146],"less":[142],"0.5%":[144],"most":[149],"compact":[150],"maps.":[152],"promising":[156],"new":[157],"landmark":[160],"correspondence":[163],"search":[164],"environments":[167],"computationally":[180],"efficient":[181],"approaches,":[184],"suggesting":[185],"arrangement":[189],"segments":[191],"valuable":[194],"localization":[195],"cue":[196],"release":[201],"datasets":[203],"at":[204],"https://acl.mit.edu/SOS-Match/.":[205]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3}],"updated_date":"2025-12-23T23:11:35.936235","created_date":"2025-10-10T00:00:00"}
