{"id":"https://openalex.org/W4315783864","doi":"https://doi.org/10.1109/lra.2023.3236580","title":"Incremental Cycle Bases for Cycle-Based Pose Graph Optimization","display_name":"Incremental Cycle Bases for Cycle-Based Pose Graph Optimization","publication_year":2023,"publication_date":"2023-01-12","ids":{"openalex":"https://openalex.org/W4315783864","doi":"https://doi.org/10.1109/lra.2023.3236580"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3236580","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/lra.2023.3236580","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/A5034474265","display_name":"Brendon Forsgren","orcid":"https://orcid.org/0000-0003-0440-2608"},"institutions":[{"id":"https://openalex.org/I100005738","display_name":"Brigham Young University","ror":"https://ror.org/047rhhm47","country_code":"US","type":"education","lineage":["https://openalex.org/I100005738"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Brendon Forsgren","raw_affiliation_strings":["Department of Mechanical Engineering, Brigham Young University, Provo, UT, USA"],"raw_orcid":"https://orcid.org/0000-0003-0440-2608","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Brigham Young University, Provo, UT, USA","institution_ids":["https://openalex.org/I100005738"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032881445","display_name":"Kevin Brink","orcid":"https://orcid.org/0000-0001-9717-3693"},"institutions":[{"id":"https://openalex.org/I2801461044","display_name":"Eglin Air Force Base","ror":"https://ror.org/002c7zk35","country_code":"US","type":"government","lineage":["https://openalex.org/I1330347796","https://openalex.org/I2801461044","https://openalex.org/I4210089612","https://openalex.org/I4210102105"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kevin Brink","raw_affiliation_strings":["Air Force Research Laboratory, Eglin Air Force Base, Eglin AFB, FL, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Air Force Research Laboratory, Eglin Air Force Base, Eglin AFB, FL, USA","institution_ids":["https://openalex.org/I2801461044"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081984508","display_name":"Prashant Ganesh","orcid":"https://orcid.org/0000-0002-0744-5614"},"institutions":[{"id":"https://openalex.org/I33213144","display_name":"University of Florida","ror":"https://ror.org/02y3ad647","country_code":"US","type":"education","lineage":["https://openalex.org/I33213144"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Prashant Ganesh","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, University of Florida, Shalimar, FL, USA"],"raw_orcid":"https://orcid.org/0000-0002-0744-5614","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, University of Florida, Shalimar, FL, USA","institution_ids":["https://openalex.org/I33213144"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088112620","display_name":"Timothy W. McLain","orcid":"https://orcid.org/0000-0003-4160-5308"},"institutions":[{"id":"https://openalex.org/I100005738","display_name":"Brigham Young University","ror":"https://ror.org/047rhhm47","country_code":"US","type":"education","lineage":["https://openalex.org/I100005738"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Timothy W. McLain","raw_affiliation_strings":["Department of Mechanical Engineering, Brigham Young University, Provo, UT, USA"],"raw_orcid":"https://orcid.org/0000-0003-4160-5308","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Brigham Young University, Provo, UT, USA","institution_ids":["https://openalex.org/I100005738"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.9052,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.93440493,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"8","issue":"2","first_page":"1021","last_page":"1028"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9993000030517578,"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":0.9993000030517578,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9990000128746033,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9961000084877014,"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/parameterized-complexity","display_name":"Parameterized complexity","score":0.6840486526489258},{"id":"https://openalex.org/keywords/notation","display_name":"Notation","score":0.6503490805625916},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5867966413497925},{"id":"https://openalex.org/keywords/basis","display_name":"Basis (linear algebra)","score":0.5104674100875854},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4706133008003235},{"id":"https://openalex.org/keywords/cycle-basis","display_name":"Cycle basis","score":0.4653967320919037},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.457397997379303},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.44477295875549316},{"id":"https://openalex.org/keywords/vertex","display_name":"Vertex (graph theory)","score":0.43499892950057983},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3822736442089081},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.36646419763565063},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.32572391629219055},{"id":"https://openalex.org/keywords/graph-power","display_name":"Graph power","score":0.10668519139289856},{"id":"https://openalex.org/keywords/line-graph","display_name":"Line graph","score":0.10031723976135254}],"concepts":[{"id":"https://openalex.org/C165464430","wikidata":"https://www.wikidata.org/wiki/Q1570441","display_name":"Parameterized complexity","level":2,"score":0.6840486526489258},{"id":"https://openalex.org/C45357846","wikidata":"https://www.wikidata.org/wiki/Q2001982","display_name":"Notation","level":2,"score":0.6503490805625916},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5867966413497925},{"id":"https://openalex.org/C12426560","wikidata":"https://www.wikidata.org/wiki/Q189569","display_name":"Basis (linear algebra)","level":2,"score":0.5104674100875854},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4706133008003235},{"id":"https://openalex.org/C26752605","wikidata":"https://www.wikidata.org/wiki/Q16766188","display_name":"Cycle basis","level":5,"score":0.4653967320919037},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.457397997379303},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.44477295875549316},{"id":"https://openalex.org/C80899671","wikidata":"https://www.wikidata.org/wiki/Q1304193","display_name":"Vertex (graph theory)","level":3,"score":0.43499892950057983},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3822736442089081},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.36646419763565063},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.32572391629219055},{"id":"https://openalex.org/C149530733","wikidata":"https://www.wikidata.org/wiki/Q5597091","display_name":"Graph power","level":4,"score":0.10668519139289856},{"id":"https://openalex.org/C203776342","wikidata":"https://www.wikidata.org/wiki/Q1378376","display_name":"Line graph","level":3,"score":0.10031723976135254},{"id":"https://openalex.org/C94375191","wikidata":"https://www.wikidata.org/wiki/Q11205","display_name":"Arithmetic","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2023.3236580","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/lra.2023.3236580","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/16","score":0.7099999785423279,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320333620","display_name":"Center for Unmanned Aircraft Systems","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1536617987","https://openalex.org/W1553966841","https://openalex.org/W1563044543","https://openalex.org/W1656165940","https://openalex.org/W1966878439","https://openalex.org/W1970652409","https://openalex.org/W1994292819","https://openalex.org/W2026735029","https://openalex.org/W2092709233","https://openalex.org/W2095422835","https://openalex.org/W2109271936","https://openalex.org/W2125961820","https://openalex.org/W2154459632","https://openalex.org/W2156184190","https://openalex.org/W2182229738","https://openalex.org/W2547811925","https://openalex.org/W2750208238","https://openalex.org/W2767844447","https://openalex.org/W2785808735","https://openalex.org/W2911518785","https://openalex.org/W2967247330","https://openalex.org/W2992488323","https://openalex.org/W3043637096","https://openalex.org/W3099164656","https://openalex.org/W3128403966","https://openalex.org/W3128885578","https://openalex.org/W3200253405","https://openalex.org/W6685664056","https://openalex.org/W6729999887","https://openalex.org/W6779892444","https://openalex.org/W6785033490"],"related_works":["https://openalex.org/W2051058708","https://openalex.org/W154868527","https://openalex.org/W1494268238","https://openalex.org/W1983207144","https://openalex.org/W2490706771","https://openalex.org/W2480116122","https://openalex.org/W1976468483","https://openalex.org/W1516574938","https://openalex.org/W2563912921","https://openalex.org/W2505728881"],"abstract_inverted_index":{"Pose":[0],"graph":[1,36,53,145,186],"optimization":[2,37,54,146,187],"is":[3,134],"a":[4,57,68,84,101,111,172],"special":[5],"case":[6],"of":[7,34,76,83,126,143,179,193],"the":[8,15,25,51,62,74,77,81,93,122,140,166,177,183],"simultaneous":[9],"localization":[10],"and":[11,24,106,201],"mapping":[12],"problem":[13,55],"where":[14],"only":[16,26],"variables":[17,23],"to":[18,72,120,150,174],"be":[19],"estimated":[20],"are":[21,28,39,43,61,130],"pose":[22,35,52,144,185],"measurements":[27,181],"inter-pose":[29],"constraints.":[30],"The":[31],"vast":[32],"majority":[33],"techniques":[38],"vertex":[40],"based":[41],"(variables":[42,60],"robot":[44],"poses),":[45],"but":[46],"recent":[47],"work":[48],"has":[49,147],"parameterized":[50],"in":[56,87,136,182],"relative":[58,141,184],"fashion":[59],"transformations":[63],"between":[64,168],"poses)":[65],"that":[66,99,129],"utilizes":[67],"minimum":[69,112,123],"cycle":[70,85,103,113,124],"basis":[71,86,104,125],"maximize":[73],"sparsity":[75],"problem.":[78,188],"We":[79,95,170,189],"explore":[80],"construction":[82],"an":[88,97,118],"incremental":[89],"manner":[90],"while":[91],"maximizing":[92],"sparsity.":[94],"validate":[96],"algorithm":[98,119],"constructs":[100],"sparse":[102],"incrementally":[105],"compare":[107],"its":[108],"performance":[109],"with":[110],"basis.":[114],"Additionally,":[115],"we":[116],"present":[117],"approximate":[121],"two":[127],"graphs":[128],"sparsely":[131],"connected":[132],"as":[133,165],"common":[135],"multi-agent":[137],"scenarios.":[138],"Lastly,":[139],"parameterization":[142],"been":[148],"limited":[149],"using":[151],"rigid":[152],"body":[153],"transforms":[154],"on":[155,196],"<inline-formula":[156,161],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[157,162],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[158,163],"notation=\"LaTeX\">$SE(2)$</tex-math></inline-formula>":[159],"or":[160],"notation=\"LaTeX\">$SE(3)$</tex-math></inline-formula>":[164],"constraints":[167],"poses.":[169],"introduce":[171],"methodology":[173],"allow":[175],"for":[176],"use":[178],"lower-degree-of-freedom":[180],"provide":[190],"extensive":[191],"validation":[192],"our":[194],"algorithms":[195],"standard":[197],"benchmarks,":[198],"simulated":[199],"datasets,":[200],"custom":[202],"hardware.":[203]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}