{"id":"https://openalex.org/W2963472784","doi":"https://doi.org/10.1109/lra.2019.2929999","title":"Misalignment Recognition Using Markov Random Fields With Fully Connected Latent Variables for Detecting Localization Failures","display_name":"Misalignment Recognition Using Markov Random Fields With Fully Connected Latent Variables for Detecting Localization Failures","publication_year":2019,"publication_date":"2019-07-22","ids":{"openalex":"https://openalex.org/W2963472784","doi":"https://doi.org/10.1109/lra.2019.2929999","mag":"2963472784"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2019.2929999","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2929999","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5049328132","display_name":"Naoki Akai","orcid":"https://orcid.org/0000-0002-4883-080X"},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Naoki Akai","raw_affiliation_strings":["Graduate School of Informatics, Nagoya University, Nagoya, Japan","Graduate School of Informatics, Nagoya University,Nagoya,Japan"],"raw_orcid":"https://orcid.org/0000-0002-4883-080X","affiliations":[{"raw_affiliation_string":"Graduate School of Informatics, Nagoya University, Nagoya, Japan","institution_ids":["https://openalex.org/I60134161"]},{"raw_affiliation_string":"Graduate School of Informatics, Nagoya University,Nagoya,Japan","institution_ids":["https://openalex.org/I60134161"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053862446","display_name":"Luis Yoichi Morales","orcid":"https://orcid.org/0000-0002-3763-1469"},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Luis Yoichi Morales","raw_affiliation_strings":["Institute of Innovation for Future Society, Nagoya University, Nagoya, Japan","Institute of Innovation for Future Society; Nagoya University; Nagoya; Japan"],"raw_orcid":"https://orcid.org/0000-0002-3763-1469","affiliations":[{"raw_affiliation_string":"Institute of Innovation for Future Society, Nagoya University, Nagoya, Japan","institution_ids":["https://openalex.org/I60134161"]},{"raw_affiliation_string":"Institute of Innovation for Future Society; Nagoya University; Nagoya; Japan","institution_ids":["https://openalex.org/I60134161"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036735172","display_name":"Takatsugu Hirayama","orcid":"https://orcid.org/0000-0001-6290-9680"},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takatsugu Hirayama","raw_affiliation_strings":["Institute of Innovation for Future Society, Nagoya University, Nagoya, Japan","Institute of Innovation for Future Society; Nagoya University; Nagoya; Japan"],"raw_orcid":"https://orcid.org/0000-0001-6290-9680","affiliations":[{"raw_affiliation_string":"Institute of Innovation for Future Society, Nagoya University, Nagoya, Japan","institution_ids":["https://openalex.org/I60134161"]},{"raw_affiliation_string":"Institute of Innovation for Future Society; Nagoya University; Nagoya; Japan","institution_ids":["https://openalex.org/I60134161"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085309296","display_name":"Hiroshi Murase","orcid":"https://orcid.org/0000-0002-8103-9294"},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiroshi Murase","raw_affiliation_strings":["Graduate School of Informatics, Nagoya University, Nagoya, Japan","Graduate School of Informatics, Nagoya University,Nagoya,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Informatics, Nagoya University, Nagoya, Japan","institution_ids":["https://openalex.org/I60134161"]},{"raw_affiliation_string":"Graduate School of Informatics, Nagoya University,Nagoya,Japan","institution_ids":["https://openalex.org/I60134161"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I60134161"],"apc_list":null,"apc_paid":null,"fwci":19.5619,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.98643092,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"4","issue":"4","first_page":"3955","last_page":"3962"},"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9980000257492065,"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"}},{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9941999912261963,"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/computer-science","display_name":"Computer science","score":0.64220130443573},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.6211051344871521},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6174094676971436},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.5430587530136108},{"id":"https://openalex.org/keywords/random-field","display_name":"Random field","score":0.5275915265083313},{"id":"https://openalex.org/keywords/relation","display_name":"Relation (database)","score":0.49709799885749817},{"id":"https://openalex.org/keywords/markov-random-field","display_name":"Markov random field","score":0.4756973683834076},{"id":"https://openalex.org/keywords/markov-process","display_name":"Markov process","score":0.45434826612472534},{"id":"https://openalex.org/keywords/latent-variable","display_name":"Latent variable","score":0.4525453746318817},{"id":"https://openalex.org/keywords/hidden-markov-model","display_name":"Hidden Markov model","score":0.4389899969100952},{"id":"https://openalex.org/keywords/markov-chain","display_name":"Markov chain","score":0.4364514946937561},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.37650805711746216},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.28553342819213867},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.25893324613571167},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.2279558777809143},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.18811574578285217},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.14003252983093262},{"id":"https://openalex.org/keywords/image-segmentation","display_name":"Image segmentation","score":0.08309698104858398}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.64220130443573},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.6211051344871521},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6174094676971436},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.5430587530136108},{"id":"https://openalex.org/C130402806","wikidata":"https://www.wikidata.org/wiki/Q5361768","display_name":"Random field","level":2,"score":0.5275915265083313},{"id":"https://openalex.org/C25343380","wikidata":"https://www.wikidata.org/wiki/Q277521","display_name":"Relation (database)","level":2,"score":0.49709799885749817},{"id":"https://openalex.org/C2778045648","wikidata":"https://www.wikidata.org/wiki/Q176827","display_name":"Markov random field","level":4,"score":0.4756973683834076},{"id":"https://openalex.org/C159886148","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov process","level":2,"score":0.45434826612472534},{"id":"https://openalex.org/C51167844","wikidata":"https://www.wikidata.org/wiki/Q4422623","display_name":"Latent variable","level":2,"score":0.4525453746318817},{"id":"https://openalex.org/C23224414","wikidata":"https://www.wikidata.org/wiki/Q176769","display_name":"Hidden Markov model","level":2,"score":0.4389899969100952},{"id":"https://openalex.org/C98763669","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov chain","level":2,"score":0.4364514946937561},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.37650805711746216},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.28553342819213867},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.25893324613571167},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.2279558777809143},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.18811574578285217},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.14003252983093262},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.08309698104858398}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2019.2929999","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2929999","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6613717365","display_name":"Study on the use of machine learning approaches for enabling to guarantee safety of model-based autonomous navigation","funder_award_id":"18K13727","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"},{"id":"https://openalex.org/G876804634","display_name":null,"funder_award_id":"40786092","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"}],"funders":[{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W101785966","https://openalex.org/W1450512659","https://openalex.org/W1532019955","https://openalex.org/W1567242735","https://openalex.org/W1601795611","https://openalex.org/W1663973292","https://openalex.org/W1955055330","https://openalex.org/W1979538570","https://openalex.org/W1986869649","https://openalex.org/W1988790447","https://openalex.org/W2047328415","https://openalex.org/W2049981393","https://openalex.org/W2060522173","https://openalex.org/W2113786136","https://openalex.org/W2119851068","https://openalex.org/W2120712855","https://openalex.org/W2130422193","https://openalex.org/W2131684094","https://openalex.org/W2157364958","https://openalex.org/W2160650656","https://openalex.org/W2200124539","https://openalex.org/W2336416123","https://openalex.org/W2768144440","https://openalex.org/W2772163732","https://openalex.org/W2888874480","https://openalex.org/W2891971467","https://openalex.org/W2892358936","https://openalex.org/W2897459191","https://openalex.org/W2902965877","https://openalex.org/W2905298218","https://openalex.org/W2909671763","https://openalex.org/W2909728968","https://openalex.org/W6628559316","https://openalex.org/W6746480789","https://openalex.org/W6756660404"],"related_works":["https://openalex.org/W987019958","https://openalex.org/W2030382593","https://openalex.org/W1983122994","https://openalex.org/W2078379274","https://openalex.org/W4233015508","https://openalex.org/W2099971354","https://openalex.org/W2133071149","https://openalex.org/W2101965184","https://openalex.org/W2574864235","https://openalex.org/W2166485063"],"abstract_inverted_index":{"Recognizing":[0],"misalignment":[1,52,103],"between":[2],"sensor":[3,29,78,111],"measurements":[4,30,45,112],"and":[5,84,154,175],"objects":[6],"that":[7,27,80,161],"exist":[8],"on":[9,118],"a":[10,51,145],"map":[11],"due":[12],"to":[13,24,94,126],"inaccuracies":[14],"in":[15,40],"localization":[16,37,68,130,156,167],"estimation":[17,121],"is":[18],"challenging.":[19],"This":[20,48],"can":[21,104],"be":[22,105],"attributed":[23],"the":[25,28,36,44,65,74,96,100,119,129,162,166,170,177],"fact":[26],"are":[31,81,124],"individually":[32],"modeled":[33],"for":[34,64],"solving":[35],"problem,":[38],"resulting":[39],"entire":[41,97],"relations":[42],"of":[43,67,76,99,152,165],"being":[46],"ignored.":[47],"letter":[49],"proposes":[50],"recognition":[53],"method":[54,72,137,172],"using":[55,149,169],"Markov":[56],"random":[57],"fields":[58],"with":[59,114,140],"fully":[60],"connected":[61],"latent":[62],"variables":[63],"detection":[66],"failures.":[69],"The":[70,89,135],"proposed":[71,136,171],"estimates":[73],"classes":[75],"each":[77],"measurement":[79],"aligned,":[82],"misaligned,":[83],"obtained":[85],"from":[86],"unknown":[87],"obstacles.":[88],"full":[90],"connection":[91],"allows":[92],"us":[93],"consider":[95],"relation":[98],"measurements.":[101],"A":[102],"exactly":[106],"recognized":[107],"even":[108],"when":[109],"partial":[110],"overlap":[113],"mapped":[115],"objects.":[116],"Based":[117],"class":[120],"results,":[122],"we":[123],"able":[125],"distinguish":[127],"whether":[128],"has":[131],"failed":[132],"or":[133],"not.":[134],"was":[138],"compared":[139],"six":[141],"alternative":[142],"methods,":[143],"including":[144],"convolutional":[146],"neural":[147],"network,":[148],"datasets":[150],"composed":[151],"success":[153],"failure":[155],"samples.":[157],"Experimental":[158],"results":[159],"show":[160],"classification":[163],"accuracy":[164],"samples":[168],"exceeds":[173],"95%":[174],"outperforms":[176],"other":[178],"examined":[179],"methods.":[180]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":1}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}
