{"id":"https://openalex.org/W3210848520","doi":"https://doi.org/10.1109/itsc48978.2021.9564866","title":"Hierarchical Loop Closure Detection for Long-term Visual SLAM with Semantic-Geometric Descriptors","display_name":"Hierarchical Loop Closure Detection for Long-term Visual SLAM with Semantic-Geometric Descriptors","publication_year":2021,"publication_date":"2021-09-19","ids":{"openalex":"https://openalex.org/W3210848520","doi":"https://doi.org/10.1109/itsc48978.2021.9564866","mag":"3210848520"},"language":"en","primary_location":{"id":"doi:10.1109/itsc48978.2021.9564866","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc48978.2021.9564866","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Intelligent Transportation Systems Conference (ITSC)","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/A5066794894","display_name":"Gaurav Singh","orcid":"https://orcid.org/0000-0002-6469-828X"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Gaurav Singh","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038264463","display_name":"Meiqing Wu","orcid":"https://orcid.org/0000-0002-4978-2969"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Meiqing Wu","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002694277","display_name":"Siew-Kei Lam","orcid":"https://orcid.org/0000-0002-8346-2635"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Siew-Kei Lam","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5069857376","display_name":"Do Van Minh","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Do Van Minh","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5066794894"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.4,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.92035664,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"2909","last_page":"2916"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9991999864578247,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9919000267982483,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"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":0.7961758375167847},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7552536129951477},{"id":"https://openalex.org/keywords/vocabulary","display_name":"Vocabulary","score":0.7314615249633789},{"id":"https://openalex.org/keywords/closure","display_name":"Closure (psychology)","score":0.7152355909347534},{"id":"https://openalex.org/keywords/semantics","display_name":"Semantics (computer science)","score":0.7054674625396729},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6250973343849182},{"id":"https://openalex.org/keywords/for-loop","display_name":"For loop","score":0.5972957015037537},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5191875696182251},{"id":"https://openalex.org/keywords/term","display_name":"Term (time)","score":0.4999072551727295},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.4974532425403595},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.48184359073638916},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4757106900215149},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.39351317286491394},{"id":"https://openalex.org/keywords/loop","display_name":"Loop (graph theory)","score":0.3752976655960083},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.27076900005340576},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.15981027483940125},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12071782350540161}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7961758375167847},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7552536129951477},{"id":"https://openalex.org/C2777601683","wikidata":"https://www.wikidata.org/wiki/Q6499736","display_name":"Vocabulary","level":2,"score":0.7314615249633789},{"id":"https://openalex.org/C146834321","wikidata":"https://www.wikidata.org/wiki/Q2979672","display_name":"Closure (psychology)","level":2,"score":0.7152355909347534},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.7054674625396729},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6250973343849182},{"id":"https://openalex.org/C2779624466","wikidata":"https://www.wikidata.org/wiki/Q838119","display_name":"For loop","level":3,"score":0.5972957015037537},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5191875696182251},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.4999072551727295},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.4974532425403595},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.48184359073638916},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4757106900215149},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.39351317286491394},{"id":"https://openalex.org/C184670325","wikidata":"https://www.wikidata.org/wiki/Q512604","display_name":"Loop (graph theory)","level":2,"score":0.3752976655960083},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.27076900005340576},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.15981027483940125},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12071782350540161},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C34447519","wikidata":"https://www.wikidata.org/wiki/Q179522","display_name":"Market economy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/itsc48978.2021.9564866","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc48978.2021.9564866","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Intelligent Transportation Systems Conference (ITSC)","raw_type":"proceedings-article"},{"id":"pmh:oai:dr.ntu.edu.sg:10356/178587","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ITSC48978.2021.9564866","pdf_url":null,"source":{"id":"https://openalex.org/S4306402609","display_name":"DR-NTU (Nanyang Technological University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I172675005","host_organization_name":"Nanyang Technological University","host_organization_lineage":["https://openalex.org/I172675005"],"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":"Conference Paper"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/4","score":0.6299999952316284,"display_name":"Quality Education"}],"awards":[{"id":"https://openalex.org/G5123169507","display_name":null,"funder_award_id":"I1701E0013","funder_id":"https://openalex.org/F4320333856","funder_display_name":"Stanford Artificial Intelligence Lab-Toyota Center For AI Research"}],"funders":[{"id":"https://openalex.org/F4320333856","display_name":"Stanford Artificial Intelligence Lab-Toyota Center For AI Research","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1974093076","https://openalex.org/W1979266466","https://openalex.org/W1989484209","https://openalex.org/W2109197213","https://openalex.org/W2110405746","https://openalex.org/W2150066425","https://openalex.org/W2284029970","https://openalex.org/W2431874326","https://openalex.org/W2533046843","https://openalex.org/W2623510711","https://openalex.org/W2739423245","https://openalex.org/W2785901219","https://openalex.org/W2798194297","https://openalex.org/W2963296245","https://openalex.org/W2963708168","https://openalex.org/W2971297590","https://openalex.org/W3025332570","https://openalex.org/W3102617634"],"related_works":["https://openalex.org/W1841795997","https://openalex.org/W4238322187","https://openalex.org/W2114948246","https://openalex.org/W4388936814","https://openalex.org/W3165205231","https://openalex.org/W1515349094","https://openalex.org/W1988070942","https://openalex.org/W4256122319","https://openalex.org/W1596526459","https://openalex.org/W2133493980"],"abstract_inverted_index":{"Modern":[0],"visual":[1,85,104],"Simultaneous":[2],"Localization":[3],"and":[4,19,114,126,162,171,187,196,204],"Mapping":[5],"(SLAM)":[6],"systems":[7],"rely":[8],"on":[9,121,189],"loop":[10,22,79,173,200],"closure":[11,23,80,174,201],"detection":[12,24,81,202],"methods":[13,25,41,182],"for":[14,34,140],"correcting":[15],"drifts":[16],"in":[17,46],"maps":[18],"poses.":[20],"Existing":[21],"mainly":[26],"employ":[27],"conventional":[28],"feature":[29],"descriptors":[30,113],"to":[31,59,107,168],"create":[32],"vocabulary":[33,117,131,135],"describing":[35],"places":[36],"using":[37],"bag-of-words":[38],"(BOW).":[39],"Such":[40],"do":[42],"not":[43,149],"perform":[44],"well":[45],"long-term":[47,84,141],"SLAM":[48,86,105,142],"applications":[49],"as":[50],"the":[51,60,67,72,78,89,95,122,145,160],"scene":[52],"content":[53],"may":[54],"change":[55],"over":[56],"time":[57],"due":[58],"presence":[61],"of":[62,83,91,97],"dynamic":[63],"objects,":[64],"even":[65],"though":[66],"locations":[68],"are":[69,148],"revisited":[70],"with":[71,198],"same":[73],"viewpoint.":[74],"This":[75],"work":[76],"enhances":[77],"capability":[82],"by":[87,119],"reducing":[88],"number":[90],"false":[92],"matches":[93],"through":[94],"use":[96],"location":[98,112,164],"semantics.":[99,127],"We":[100],"extend":[101],"a":[102],"semantic":[103,116,130],"framework":[106],"build":[108],"compact":[109],"global":[110,161],"semantic-geometric":[111],"local":[115,129,163],"trees,":[118],"leveraging":[120],"already":[123],"available":[124],"features":[125],"The":[128,176],"trees":[132],"support":[133],"incremental":[134],"learning,":[136],"which":[137],"is":[138,166],"well-suited":[139],"scenarios":[143],"where":[144],"scenes":[146],"encountered":[147],"known":[150],"beforehand.":[151],"A":[152],"novel":[153],"hierarchical":[154],"place":[155],"recognition":[156],"method":[157,178],"that":[158],"leverages":[159],"semantics":[165],"proposed":[167,177],"enable":[169],"fast":[170],"accurate":[172],"detection.":[175],"outperforms":[179],"recent":[180],"state-of-the-art":[181],"(i.e.,":[183,193],"FABMAP2,":[184],"SeqSLAM,":[185],"iBOW-LCD,":[186],"HTMap)":[188],"all":[190],"datasets":[191],"considered":[192],"KITTI,":[194],"Synthia,":[195],"CBD),":[197],"highest":[199],"accuracy":[203],"lowest":[205],"query":[206],"time.":[207]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}