{"id":"https://openalex.org/W4392502282","doi":"https://doi.org/10.1109/lra.2024.3374169","title":"SemanticTopoLoop: Semantic Loop Closure With 3D Topological Graph Based on Quadric-Level Object Map","display_name":"SemanticTopoLoop: Semantic Loop Closure With 3D Topological Graph Based on Quadric-Level Object Map","publication_year":2024,"publication_date":"2024-03-06","ids":{"openalex":"https://openalex.org/W4392502282","doi":"https://doi.org/10.1109/lra.2024.3374169"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3374169","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3374169","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/A5080481476","display_name":"Zhenzhong Cao","orcid":"https://orcid.org/0000-0001-6038-4147"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenzhong Cao","raw_affiliation_strings":["Institute of Robotics and Automatic Information System, Tianjin Key Laboratory of Intelligent Robotics, China","TBI center, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0001-6038-4147","affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, Tianjin Key Laboratory of Intelligent Robotics, China","institution_ids":[]},{"raw_affiliation_string":"TBI center, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024493594","display_name":"Qianyi Zhang","orcid":"https://orcid.org/0000-0003-0973-0037"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qianyi Zhang","raw_affiliation_strings":["Institute of Robotics and Automatic Information System, Tianjin Key Laboratory of Intelligent Robotics, China","TBI center, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0003-0973-0037","affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, Tianjin Key Laboratory of Intelligent Robotics, China","institution_ids":[]},{"raw_affiliation_string":"TBI center, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041507369","display_name":"Jinzheng Guang","orcid":"https://orcid.org/0000-0003-4972-2023"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinzheng Guang","raw_affiliation_strings":["Institute of Robotics and Automatic Information System, Tianjin Key Laboratory of Intelligent Robotics, China","TBI center, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0003-4972-2023","affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, Tianjin Key Laboratory of Intelligent Robotics, China","institution_ids":[]},{"raw_affiliation_string":"TBI center, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101581028","display_name":"Shichao Wu","orcid":"https://orcid.org/0000-0001-5257-7934"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shichao Wu","raw_affiliation_strings":["Institute of Robotics and Automatic Information System, Tianjin Key Laboratory of Intelligent Robotics, China","TBI center, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0001-5257-7934","affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, Tianjin Key Laboratory of Intelligent Robotics, China","institution_ids":[]},{"raw_affiliation_string":"TBI center, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088466234","display_name":"Zhengxi Hu","orcid":"https://orcid.org/0000-0001-6119-4185"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhengxi Hu","raw_affiliation_strings":["Institute of Robotics and Automatic Information System, Tianjin Key Laboratory of Intelligent Robotics, China","TBI center, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0001-6119-4185","affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, Tianjin Key Laboratory of Intelligent Robotics, China","institution_ids":[]},{"raw_affiliation_string":"TBI center, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5030233306","display_name":"Jingtai Liu","orcid":"https://orcid.org/0000-0003-2645-5655"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingtai Liu","raw_affiliation_strings":["Institute of Robotics and Automatic Information System, Tianjin Key Laboratory of Intelligent Robotics, China","TBI center, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0003-2645-5655","affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, Tianjin Key Laboratory of Intelligent Robotics, China","institution_ids":[]},{"raw_affiliation_string":"TBI center, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I205237279"],"apc_list":null,"apc_paid":null,"fwci":1.6428,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.83457591,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"9","issue":"5","first_page":"4257","last_page":"4264"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12292","display_name":"Graph Theory and Algorithms","score":0.9846000075340271,"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"}},"topics":[{"id":"https://openalex.org/T12292","display_name":"Graph Theory and Algorithms","score":0.9846000075340271,"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/T10215","display_name":"Semantic Web and Ontologies","score":0.9843999743461609,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T11106","display_name":"Data Management and Algorithms","score":0.9796000123023987,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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/closure","display_name":"Closure (psychology)","score":0.6785354018211365},{"id":"https://openalex.org/keywords/quadric","display_name":"Quadric","score":0.577112078666687},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.47865092754364014},{"id":"https://openalex.org/keywords/loop","display_name":"Loop (graph theory)","score":0.4748704135417938},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.46502068638801575},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.42577823996543884},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4195929169654846},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34069231152534485},{"id":"https://openalex.org/keywords/pure-mathematics","display_name":"Pure mathematics","score":0.3033737540245056},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.20216801762580872},{"id":"https://openalex.org/keywords/political-science","display_name":"Political science","score":0.05283418297767639}],"concepts":[{"id":"https://openalex.org/C146834321","wikidata":"https://www.wikidata.org/wiki/Q2979672","display_name":"Closure (psychology)","level":2,"score":0.6785354018211365},{"id":"https://openalex.org/C2779219049","wikidata":"https://www.wikidata.org/wiki/Q852117","display_name":"Quadric","level":2,"score":0.577112078666687},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.47865092754364014},{"id":"https://openalex.org/C184670325","wikidata":"https://www.wikidata.org/wiki/Q512604","display_name":"Loop (graph theory)","level":2,"score":0.4748704135417938},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.46502068638801575},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.42577823996543884},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4195929169654846},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34069231152534485},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.3033737540245056},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.20216801762580872},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.05283418297767639},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3374169","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3374169","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":[{"display_name":"Reduced inequalities","score":0.41999998688697815,"id":"https://metadata.un.org/sdg/10"}],"awards":[{"id":"https://openalex.org/G3116307879","display_name":null,"funder_award_id":"62173189","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":22,"referenced_works":["https://openalex.org/W1612997784","https://openalex.org/W1989484209","https://openalex.org/W2021851106","https://openalex.org/W2117228865","https://openalex.org/W2151103935","https://openalex.org/W2222512263","https://openalex.org/W2535547924","https://openalex.org/W2745859992","https://openalex.org/W2887751724","https://openalex.org/W2938672559","https://openalex.org/W2963037989","https://openalex.org/W2963091090","https://openalex.org/W2963150697","https://openalex.org/W3020500358","https://openalex.org/W3043971245","https://openalex.org/W3098467253","https://openalex.org/W3102327032","https://openalex.org/W3183768538","https://openalex.org/W4205889483","https://openalex.org/W4210252310","https://openalex.org/W4285161064","https://openalex.org/W4312961455"],"related_works":["https://openalex.org/W2384882317","https://openalex.org/W2037264771","https://openalex.org/W2950567443","https://openalex.org/W2072899396","https://openalex.org/W2327777938","https://openalex.org/W1660957572","https://openalex.org/W1982642009","https://openalex.org/W2071133048","https://openalex.org/W2383935056","https://openalex.org/W2042243750"],"abstract_inverted_index":{"Loop":[0],"closure,":[1,117],"as":[2,22],"one":[3],"of":[4,35,83,95,135,143,168,190],"the":[5,33,80,101,107,136,144,164,169],"crucial":[6],"components":[7],"in":[8,14,44,55,100,115,188],"SLAM,":[9],"plays":[10],"an":[11,120],"essential":[12],"role":[13],"correcting":[15],"accumulated":[16],"errors.":[17],"Traditional":[18],"appearance-based":[19],"methods,":[20],"such":[21],"bag-of-words":[23],"models,":[24],"are":[25],"often":[26],"limited":[27],"by":[28,97],"local":[29],"2D":[30,132],"features":[31,134],"and":[32,42,86,113,160,166,193],"volume":[34],"training":[36],"data,":[37],"making":[38],"them":[39],"less":[40],"versatile":[41],"robust":[43],"real-world":[45],"scenarios,":[46],"leading":[47],"to":[48,105],"missed":[49],"detections":[50,54],"or":[51],"false":[52],"positive":[53],"loop":[56,67,89,116,181],"closure.":[57],"To":[58],"address":[59],"these":[60,149],"issues,":[61],"we":[62,118,147],"first":[63],"propose":[64,119],"a":[65,92,153],"semantic":[66,133,180],"detection":[68],"method":[69,124,183],"based":[70,125],"on":[71,126],"quadric-level":[72,84],"object":[73,121,141],"map":[74,114],"topology,":[75],"which":[76,129],"represents":[77],"scenes":[78],"through":[79],"topological":[81,102],"graph":[82],"objects":[85],"achieves":[87],"accurate":[88],"closure":[90,182],"at":[91],"wide":[93],"field":[94],"view":[96],"comparing":[98],"differences":[99],"graphs.":[103],"Next,":[104],"solve":[106],"data":[108,122,172],"association":[109,123,173],"problem":[110],"between":[111],"frame":[112,138],"multi-level":[127],"verification,":[128],"can":[130],"associate":[131],"current":[137],"with":[139],"3D":[140],"landmarks":[142],"map.":[145],"Finally,":[146],"integrate":[148],"two":[150],"methods":[151,187],"into":[152],"complete":[154],"object-aware":[155],"SLAM":[156],"system.":[157],"Qualitative":[158],"experiments":[159,176],"ablation":[161],"studies":[162],"demonstrate":[163],"effectiveness":[165],"robustness":[167],"proposed":[170],"object-level":[171],"algorithm.":[174],"Quantitative":[175],"show":[177],"that":[178],"our":[179],"outperforms":[184],"existing":[185],"state-of-the-art":[186],"terms":[189],"precision,":[191],"recall,":[192],"localization":[194],"accuracy":[195],"metrics.":[196]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}
