{"id":"https://openalex.org/W4317496721","doi":"https://doi.org/10.1109/lra.2023.3238199","title":"Self-Supervised Local Topology Representation for Random Cluster Matching","display_name":"Self-Supervised Local Topology Representation for Random Cluster Matching","publication_year":2023,"publication_date":"2023-01-19","ids":{"openalex":"https://openalex.org/W4317496721","doi":"https://doi.org/10.1109/lra.2023.3238199"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3238199","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3238199","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/A5101903490","display_name":"Wenkai Chang","orcid":"https://orcid.org/0000-0002-1796-4186"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenkai Chang","raw_affiliation_strings":["State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-1796-4186","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210094879"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112298541","display_name":"Peng Li","orcid":"https://orcid.org/0000-0002-4992-1295"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peng Li","raw_affiliation_strings":["State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-4992-1295","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210094879"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001123312","display_name":"Zhengxing Wu","orcid":"https://orcid.org/0000-0003-2338-5217"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhengxing Wu","raw_affiliation_strings":["State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-2338-5217","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210094879"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.00708135,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"8","issue":"3","first_page":"1303","last_page":"1310"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9994000196456909,"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":0.9955999851226807,"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/matching","display_name":"Matching (statistics)","score":0.6746833324432373},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.6719517111778259},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.635238528251648},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.6249187588691711},{"id":"https://openalex.org/keywords/similarity","display_name":"Similarity (geometry)","score":0.5935234427452087},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4729230999946594},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.4695599377155304},{"id":"https://openalex.org/keywords/cluster","display_name":"Cluster (spacecraft)","score":0.4650733470916748},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.4321417808532715},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4056774973869324},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3396396040916443},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33803892135620117},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2885321080684662},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.1590387523174286}],"concepts":[{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.6746833324432373},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.6719517111778259},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.635238528251648},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.6249187588691711},{"id":"https://openalex.org/C103278499","wikidata":"https://www.wikidata.org/wiki/Q254465","display_name":"Similarity (geometry)","level":3,"score":0.5935234427452087},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4729230999946594},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.4695599377155304},{"id":"https://openalex.org/C164866538","wikidata":"https://www.wikidata.org/wiki/Q367351","display_name":"Cluster (spacecraft)","level":2,"score":0.4650733470916748},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.4321417808532715},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4056774973869324},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3396396040916443},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33803892135620117},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2885321080684662},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.1590387523174286},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"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.2023.3238199","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3238199","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/G6637370040","display_name":null,"funder_award_id":"62003342","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8732266741","display_name":"\u5ba4\u5185\u6311\u6218\u6027\u73af\u5883\u4e0b\u673a\u5668\u4eba\u89c6\u89c9\u5b9a\u4f4d\u5bfc\u822a\u7406\u8bba\u53ca\u5e94\u7528","funder_award_id":"61836015","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8748815676","display_name":null,"funder_award_id":"62033013","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W2117228865","https://openalex.org/W2125188427","https://openalex.org/W2141584146","https://openalex.org/W2151103935","https://openalex.org/W2165919662","https://openalex.org/W2320444803","https://openalex.org/W2535547924","https://openalex.org/W2556455135","https://openalex.org/W2749224737","https://openalex.org/W2964094494","https://openalex.org/W2965469031","https://openalex.org/W2979750740","https://openalex.org/W2987672160","https://openalex.org/W3009931536","https://openalex.org/W3011866775","https://openalex.org/W3012816161","https://openalex.org/W3023371261","https://openalex.org/W3023596032","https://openalex.org/W3034275286","https://openalex.org/W3034411221","https://openalex.org/W3035524453","https://openalex.org/W3035559192","https://openalex.org/W3038203542","https://openalex.org/W3043075211","https://openalex.org/W3047057232","https://openalex.org/W3102327032","https://openalex.org/W3106634005","https://openalex.org/W3129312095","https://openalex.org/W3166285241","https://openalex.org/W3171007011","https://openalex.org/W4286695273","https://openalex.org/W4312324589","https://openalex.org/W6752208963","https://openalex.org/W6774747443","https://openalex.org/W6779977557","https://openalex.org/W6784694379","https://openalex.org/W6795754764"],"related_works":["https://openalex.org/W2055243143","https://openalex.org/W1972035260","https://openalex.org/W2375480909","https://openalex.org/W2353314428","https://openalex.org/W4321636575","https://openalex.org/W2357796999","https://openalex.org/W2045526782","https://openalex.org/W2012019886","https://openalex.org/W2741131631","https://openalex.org/W1986418932"],"abstract_inverted_index":{"This":[0],"letter":[1],"aims":[2],"to":[3,46,79,100,126,152],"learn":[4],"a":[5,12],"global":[6,81,155],"representation":[7,59,125],"for":[8,28],"each":[9],"point":[10,65,146],"in":[11,88,119],"random":[13,154],"cluster":[14],"using":[15],"only":[16,51,62],"purely":[17],"local":[18,53,64,145],"geometric":[19],"or":[20],"topological":[21,58],"information.":[22],"Based":[23],"on":[24,160],"this,":[25],"distributed":[26],"tags":[27,35],"indoor":[29],"positioning":[30],"break":[31],"the":[32,71,108,114,124,131,135,139,144,153,166,170,173],"atomicity":[33],"of":[34,110,172],"and":[36,69,76,91,112,130,141,165],"make":[37],"deployment":[38],"more":[39],"arbitrary.":[40],"It":[41],"also":[42,163],"allows":[43],"NP-hard":[44],"matches":[45],"be":[47],"quickly":[48],"estimated":[49],"with":[50],"one":[52],"observation.":[54],"The":[55,83,102,157],"novel":[56],"self-supervised":[57],"learning":[60],"method":[61],"takes":[63],"clusters":[66,147],"as":[67],"input":[68],"utilizes":[70],"proposed":[72,174],"cluster-based":[73],"sampling,":[74],"training,":[75],"loss":[77],"functions":[78],"form":[80],"self-comparison.":[82],"training":[84],"samples":[85],"are":[86,93,148],"generated":[87],"real-time":[89],"virtually,":[90],"there":[92],"few":[94],"matching":[95],"errors":[96],"after":[97],"being":[98],"transferred":[99],"practice.":[101],"compact":[103],"backbone":[104],"network":[105],"directly":[106],"processes":[107],"coordinates":[109],"points":[111],"abandons":[113],"iterative":[115],"optimization":[116],"commonly":[117],"used":[118],"matching.":[120],"Moreover,":[121],"it":[122],"uses":[123],"measure":[127],"similarity":[128],"directly,":[129],"inference":[132],"speed":[133],"reaches":[134],"millisecond":[136],"level.":[137],"In":[138],"actual":[140],"virtual":[142],"experiments,":[143],"surprisingly":[149],"accurately":[150],"matched":[151],"ones.":[156],"localization":[158],"based":[159],"this":[161],"is":[162],"verified,":[164],"relevant":[167],"results":[168],"prove":[169],"effectiveness":[171],"method.":[175]},"counts_by_year":[],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}
