{"id":"https://openalex.org/W3044524345","doi":"https://doi.org/10.1109/lra.2020.3010731","title":"Robust Loop Closure Method for Multi-Robot Map Fusion by Integration of Consistency and Data Similarity","display_name":"Robust Loop Closure Method for Multi-Robot Map Fusion by Integration of Consistency and Data Similarity","publication_year":2020,"publication_date":"2020-07-21","ids":{"openalex":"https://openalex.org/W3044524345","doi":"https://doi.org/10.1109/lra.2020.3010731","mag":"3044524345"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.3010731","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.3010731","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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/A5030638259","display_name":"Haggi Do","orcid":"https://orcid.org/0000-0002-8338-2977"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Haggi Do","raw_affiliation_strings":["Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-8338-2977","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050830384","display_name":"Seonghun Hong","orcid":"https://orcid.org/0000-0002-2982-6178"},"institutions":[{"id":"https://openalex.org/I52010207","display_name":"Keimyung University","ror":"https://ror.org/00tjv0s33","country_code":"KR","type":"education","lineage":["https://openalex.org/I52010207"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Seonghun Hong","raw_affiliation_strings":["Department of Mechanical and Automotive Engineering, Keimyung University, Daegu, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-2982-6178","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automotive Engineering, Keimyung University, Daegu, South Korea","institution_ids":["https://openalex.org/I52010207"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054727482","display_name":"Jinwhan Kim","orcid":"https://orcid.org/0000-0001-6886-2449"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jinwhan Kim","raw_affiliation_strings":["Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea"],"raw_orcid":"https://orcid.org/0000-0001-6886-2449","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":26.1043,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":{"value":0.99041725,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"5","issue":"4","first_page":"5701","last_page":"5708"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9991999864578247,"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":0.9991999864578247,"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":0.998199999332428,"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":0.9904999732971191,"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/robot","display_name":"Robot","score":0.6429937481880188},{"id":"https://openalex.org/keywords/similarity","display_name":"Similarity (geometry)","score":0.6057885885238647},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.5816330909729004},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5504742860794067},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.5504353046417236},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5348502397537231},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.4479871094226837},{"id":"https://openalex.org/keywords/closure","display_name":"Closure (psychology)","score":0.4375021755695343},{"id":"https://openalex.org/keywords/loop","display_name":"Loop (graph theory)","score":0.4271199405193329},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4265739917755127},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.3854442536830902},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3729837238788605},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.34914711117744446},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3297341465950012},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3242504596710205},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.21275338530540466},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.2067631185054779},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.16634967923164368}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6429937481880188},{"id":"https://openalex.org/C103278499","wikidata":"https://www.wikidata.org/wiki/Q254465","display_name":"Similarity (geometry)","level":3,"score":0.6057885885238647},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.5816330909729004},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5504742860794067},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.5504353046417236},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5348502397537231},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.4479871094226837},{"id":"https://openalex.org/C146834321","wikidata":"https://www.wikidata.org/wiki/Q2979672","display_name":"Closure (psychology)","level":2,"score":0.4375021755695343},{"id":"https://openalex.org/C184670325","wikidata":"https://www.wikidata.org/wiki/Q512604","display_name":"Loop (graph theory)","level":2,"score":0.4271199405193329},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4265739917755127},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.3854442536830902},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3729837238788605},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.34914711117744446},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3297341465950012},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3242504596710205},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.21275338530540466},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.2067631185054779},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.16634967923164368},{"id":"https://openalex.org/C34447519","wikidata":"https://www.wikidata.org/wiki/Q179522","display_name":"Market economy","level":1,"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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2020.3010731","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.3010731","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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":[{"id":"https://metadata.un.org/sdg/17","score":0.46000000834465027,"display_name":"Partnerships for the goals"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322011","display_name":"Ministry of Oceans and Fisheries","ror":"https://ror.org/00c5s4a53"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W183587305","https://openalex.org/W1541004287","https://openalex.org/W1574773379","https://openalex.org/W1745618468","https://openalex.org/W1990976732","https://openalex.org/W1991172434","https://openalex.org/W1998346999","https://openalex.org/W1999399477","https://openalex.org/W2011767579","https://openalex.org/W2011897632","https://openalex.org/W2109271936","https://openalex.org/W2119605622","https://openalex.org/W2137052305","https://openalex.org/W2148228392","https://openalex.org/W2284029970","https://openalex.org/W2752709290","https://openalex.org/W2891820683","https://openalex.org/W2901954913","https://openalex.org/W2909990137","https://openalex.org/W2964164560","https://openalex.org/W2976722701","https://openalex.org/W3002818939","https://openalex.org/W3026685272","https://openalex.org/W6647918550","https://openalex.org/W6653413292"],"related_works":["https://openalex.org/W315394019","https://openalex.org/W24774503","https://openalex.org/W2923398117","https://openalex.org/W4309585848","https://openalex.org/W2265383332","https://openalex.org/W2014821076","https://openalex.org/W4328130279","https://openalex.org/W2002342158","https://openalex.org/W2105009749","https://openalex.org/W4299387245"],"abstract_inverted_index":{"For":[0],"an":[1,183],"efficient":[2],"collaboration":[3],"of":[4,76,126,132,144,161],"multi-robot":[5],"system":[6,14,37],"during":[7],"missions,":[8],"it":[9,154],"is":[10,180,192],"essential":[11],"for":[12,119,136,186],"the":[13,22,27,36,40,46,65,74,86,107,124,133,142,148,158,162,190],"to":[15,196],"create":[16],"a":[17,113,197],"global":[18,108],"map":[19,120],"and":[20,129,152,189],"localize":[21],"robots":[23,31,63],"in":[24,157,194],"it.":[25],"However,":[26,68],"relative":[28],"poses":[29],"among":[30],"may":[32],"be":[33,50,82,168],"unknown,":[34],"preventing":[35],"from":[38,175],"generating":[39],"reference":[41],"map.":[42,109],"In":[43],"such":[44],"cases,":[45],"necessary":[47],"information":[48,146],"must":[49],"inferred":[51],"through":[52],"inter-robot":[53,115],"loop":[54,101,116,134],"closures,":[55],"which":[56],"are":[57],"mainly":[58],"perception-derived":[59,70],"measurements":[60,71],"obtained":[61],"when":[62],"observe":[64],"same":[66,87],"place.":[67],"as":[69,85,147,155,170],"rely":[72],"on":[73,182],"similarity":[75,131],"sensor":[77],"data,":[78],"different":[79],"places":[80],"could":[81],"wrongly":[83],"identified":[84],"location":[88],"if":[89],"they":[90],"exhibit":[91],"similar":[92],"appearances.":[93],"This":[94,110],"phenomenon,":[95],"called":[96],"perceptual":[97],"aliasing,":[98],"produces":[99],"inaccurate":[100],"closures":[102,135],"that":[103,122,166],"can":[104,167],"severely":[105],"distort":[106],"study":[111],"presents":[112],"robust":[114],"closure":[117],"selection":[118],"fusion":[121],"utilizes":[123],"degrees":[125],"both":[127],"consistency":[128],"data":[130],"accurate":[137],"measurement":[138,149],"determination.":[139],"We":[140],"define":[141],"coalition":[143],"these":[145],"pair":[150],"score":[151],"employ":[153],"weights":[156],"objective":[159],"function":[160],"combinatorial":[163],"optimization":[164],"problem":[165],"solved":[169],"maximum":[171],"edge":[172],"weight":[173],"clique":[174],"graph":[176],"theory.":[177],"The":[178],"algorithm":[179],"tested":[181],"experimental":[184],"dataset":[185],"performance":[187],"evaluation":[188],"result":[191],"discussed":[193],"comparison":[195],"state-of-the-art":[198],"method.":[199]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
