{"id":"https://openalex.org/W4416749820","doi":"https://doi.org/10.1109/iros60139.2025.11246796","title":"Bag-of-Word-Groups (BoWG): A Robust and Efficient Loop Closure Detection Method Under Perceptual Aliasing","display_name":"Bag-of-Word-Groups (BoWG): A Robust and Efficient Loop Closure Detection Method Under Perceptual Aliasing","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416749820","doi":"https://doi.org/10.1109/iros60139.2025.11246796"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246796","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246796","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5081342676","display_name":"Xiang Fei","orcid":"https://orcid.org/0000-0002-0877-7047"},"institutions":[{"id":"https://openalex.org/I4210114355","display_name":"Carnegie Robotics (United States)","ror":"https://ror.org/01ztv7k18","country_code":"US","type":"company","lineage":["https://openalex.org/I4210114355"]},{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Xiang Fei","raw_affiliation_strings":["The Robotics Institute at Carnegie Mellon University,Biorobotics Lab,Pittsburgh,PA,USA,15213"],"affiliations":[{"raw_affiliation_string":"The Robotics Institute at Carnegie Mellon University,Biorobotics Lab,Pittsburgh,PA,USA,15213","institution_ids":["https://openalex.org/I74973139","https://openalex.org/I4210114355"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109252998","display_name":"Tina Tian","orcid":null},"institutions":[{"id":"https://openalex.org/I4210114355","display_name":"Carnegie Robotics (United States)","ror":"https://ror.org/01ztv7k18","country_code":"US","type":"company","lineage":["https://openalex.org/I4210114355"]},{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tina Tian","raw_affiliation_strings":["The Robotics Institute at Carnegie Mellon University,Biorobotics Lab,Pittsburgh,PA,USA,15213"],"affiliations":[{"raw_affiliation_string":"The Robotics Institute at Carnegie Mellon University,Biorobotics Lab,Pittsburgh,PA,USA,15213","institution_ids":["https://openalex.org/I74973139","https://openalex.org/I4210114355"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048906141","display_name":"Howie Choset","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]},{"id":"https://openalex.org/I4210114355","display_name":"Carnegie Robotics (United States)","ror":"https://ror.org/01ztv7k18","country_code":"US","type":"company","lineage":["https://openalex.org/I4210114355"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Howie Choset","raw_affiliation_strings":["The Robotics Institute at Carnegie Mellon University,Biorobotics Lab,Pittsburgh,PA,USA,15213"],"affiliations":[{"raw_affiliation_string":"The Robotics Institute at Carnegie Mellon University,Biorobotics Lab,Pittsburgh,PA,USA,15213","institution_ids":["https://openalex.org/I74973139","https://openalex.org/I4210114355"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025311982","display_name":"Lu Li","orcid":"https://orcid.org/0000-0002-3346-283X"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]},{"id":"https://openalex.org/I4210114355","display_name":"Carnegie Robotics (United States)","ror":"https://ror.org/01ztv7k18","country_code":"US","type":"company","lineage":["https://openalex.org/I4210114355"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lu Li","raw_affiliation_strings":["The Robotics Institute at Carnegie Mellon University,Biorobotics Lab,Pittsburgh,PA,USA,15213"],"affiliations":[{"raw_affiliation_string":"The Robotics Institute at Carnegie Mellon University,Biorobotics Lab,Pittsburgh,PA,USA,15213","institution_ids":["https://openalex.org/I74973139","https://openalex.org/I4210114355"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5081342676"],"corresponding_institution_ids":["https://openalex.org/I4210114355","https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.43981846,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3428","last_page":"3435"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.7940000295639038,"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":0.7940000295639038,"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":0.057999998331069946,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.03720000013709068,"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/computation","display_name":"Computation","score":0.5332000255584717},{"id":"https://openalex.org/keywords/aliasing","display_name":"Aliasing","score":0.5163000226020813},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5149999856948853},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.4803999960422516},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.46219998598098755},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.45559999346733093},{"id":"https://openalex.org/keywords/similarity","display_name":"Similarity (geometry)","score":0.4494999945163727},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.4408000111579895},{"id":"https://openalex.org/keywords/code","display_name":"Code (set theory)","score":0.4068000018596649}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.708299994468689},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5371999740600586},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5332000255584717},{"id":"https://openalex.org/C4069607","wikidata":"https://www.wikidata.org/wiki/Q868732","display_name":"Aliasing","level":3,"score":0.5163000226020813},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5149999856948853},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.4803999960422516},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.46219998598098755},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.45559999346733093},{"id":"https://openalex.org/C103278499","wikidata":"https://www.wikidata.org/wiki/Q254465","display_name":"Similarity (geometry)","level":3,"score":0.4494999945163727},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.4408000111579895},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.42559999227523804},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.4068000018596649},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.40049999952316284},{"id":"https://openalex.org/C146834321","wikidata":"https://www.wikidata.org/wiki/Q2979672","display_name":"Closure (psychology)","level":2,"score":0.38839998841285706},{"id":"https://openalex.org/C203595873","wikidata":"https://www.wikidata.org/wiki/Q25389927","display_name":"Change detection","level":2,"score":0.3513999879360199},{"id":"https://openalex.org/C90805587","wikidata":"https://www.wikidata.org/wiki/Q10944557","display_name":"Word (group theory)","level":2,"score":0.34200000762939453},{"id":"https://openalex.org/C184670325","wikidata":"https://www.wikidata.org/wiki/Q512604","display_name":"Loop (graph theory)","level":2,"score":0.3384999930858612},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.336899995803833},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.3278000056743622},{"id":"https://openalex.org/C2779624466","wikidata":"https://www.wikidata.org/wiki/Q838119","display_name":"For loop","level":3,"score":0.3127000033855438},{"id":"https://openalex.org/C179799912","wikidata":"https://www.wikidata.org/wiki/Q205084","display_name":"Computational complexity theory","level":2,"score":0.3089999854564667},{"id":"https://openalex.org/C43126263","wikidata":"https://www.wikidata.org/wiki/Q128751","display_name":"Source code","level":2,"score":0.30399999022483826},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.3012999892234802},{"id":"https://openalex.org/C83665646","wikidata":"https://www.wikidata.org/wiki/Q42139305","display_name":"Feature vector","level":2,"score":0.2791000008583069},{"id":"https://openalex.org/C2164484","wikidata":"https://www.wikidata.org/wiki/Q5170150","display_name":"Core (optical fiber)","level":2,"score":0.27880001068115234},{"id":"https://openalex.org/C9417928","wikidata":"https://www.wikidata.org/wiki/Q1070689","display_name":"Image processing","level":3,"score":0.27720001339912415},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.27000001072883606},{"id":"https://openalex.org/C66024118","wikidata":"https://www.wikidata.org/wiki/Q1122506","display_name":"Computational model","level":2,"score":0.2515000104904175}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246796","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246796","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/F4320332815","display_name":"Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1491719799","https://openalex.org/W1612997784","https://openalex.org/W1677409904","https://openalex.org/W1980549145","https://openalex.org/W1989174032","https://openalex.org/W1989484209","https://openalex.org/W1998886892","https://openalex.org/W2006548260","https://openalex.org/W2031781893","https://openalex.org/W2047463778","https://openalex.org/W2108023813","https://openalex.org/W2115499947","https://openalex.org/W2117228865","https://openalex.org/W2128017662","https://openalex.org/W2130103520","https://openalex.org/W2131846894","https://openalex.org/W2144824356","https://openalex.org/W2154268702","https://openalex.org/W2162536300","https://openalex.org/W2202527257","https://openalex.org/W2205318549","https://openalex.org/W2265387887","https://openalex.org/W2745859992","https://openalex.org/W2951019013","https://openalex.org/W3003348284","https://openalex.org/W3004213029","https://openalex.org/W3093960966","https://openalex.org/W3154158938","https://openalex.org/W3179808469","https://openalex.org/W3203672409","https://openalex.org/W4378473502"],"related_works":[],"abstract_inverted_index":{"Loop":[0],"closure":[1,57],"is":[2,118,195],"critical":[3],"in":[4,24,72,188],"Simultaneous":[5],"Localization":[6],"and":[7,15,38,65,83,127,145,160,166],"Mapping":[8],"(SLAM)":[9],"systems":[10],"to":[11,33,88],"reduce":[12],"accumulative":[13],"drift":[14],"ensure":[16],"global":[17],"mapping":[18],"consistency.":[19],"However,":[20],"conventional":[21],"methods":[22],"struggle":[23],"perceptually":[25],"aliased":[26],"environments,":[27],"such":[28],"as":[29],"narrow":[30],"pipes,":[31],"due":[32],"vector":[34],"quantization,":[35],"feature":[36,123],"sparsity,":[37],"repetitive":[39],"textures,":[40],"while":[41],"existing":[42],"solutions":[43],"often":[44],"incur":[45],"high":[46],"computational":[47,66,167],"costs.":[48],"This":[49],"paper":[50],"presents":[51],"Bag-of-Word-Groups":[52],"(BoWG),":[53],"a":[54,122,146],"novel":[55],"loop":[56],"detection":[58],"method":[59,117],"that":[60,153],"achieves":[61],"superior":[62],"precision-recall,":[63],"robustness,":[64],"efficiency.":[67,168],"The":[68,116,192],"core":[69],"innovation":[70],"lies":[71],"the":[73,80,133,189],"introduction":[74],"of":[75,85,135,164,180],"word":[76],"groups,":[77],"which":[78],"captures":[79],"spatial":[81],"co-occurrence":[82],"proximity":[84],"visual":[86],"words":[87],"construct":[89],"an":[90,109,176],"online":[91],"dictionary.":[92],"Additionally,":[93],"drawing":[94],"inspiration":[95],"from":[96],"probabilistic":[97],"transition":[98],"models,":[99],"we":[100,138,149],"incorporate":[101],"temporal":[102],"consistency":[103],"directly":[104],"into":[105],"similarity":[106],"computation":[107],"with":[108],"adaptive":[110],"scheme,":[111],"substantially":[112],"improving":[113],"precision-recall":[114,165],"performance.":[115],"further":[119],"strengthened":[120],"by":[121],"distribution":[124],"analysis":[125],"module":[126],"dedicated":[128],"post-verification":[129],"mechanisms.":[130],"To":[131],"evaluate":[132],"effectiveness":[134],"our":[136],"method,":[137],"conduct":[139],"experiments":[140],"on":[141],"both":[142,158],"public":[143],"datasets":[144],"confined-pipe":[147],"dataset":[148],"constructed.":[150],"Results":[151],"demonstrate":[152],"BoWG":[154],"surpasses":[155],"state-of-the-art":[156],"methods\u2014including":[157],"traditional":[159],"learning-based":[161],"approaches\u2014in":[162],"terms":[163],"Our":[169],"approach":[170],"also":[171],"exhibits":[172],"excellent":[173],"scalability,":[174],"achieving":[175],"average":[177],"processing":[178],"time":[179],"16":[181],"ms":[182],"per":[183],"image":[184],"across":[185],"17,565":[186],"images":[187],"Bicocca25b":[190],"dataset.":[191],"source":[193],"code":[194],"available":[196],"at:":[197],"https://github.com/EdgarFx/BoWG.":[198]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-11-28T00:00:00"}
