{"id":"https://openalex.org/W4405022859","doi":"https://doi.org/10.1109/lra.2024.3511397","title":"Robust Loop Closure by Textual Cues in Challenging Environments","display_name":"Robust Loop Closure by Textual Cues in Challenging Environments","publication_year":2024,"publication_date":"2024-12-04","ids":{"openalex":"https://openalex.org/W4405022859","doi":"https://doi.org/10.1109/lra.2024.3511397"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3511397","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3511397","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/A5059998802","display_name":"Tongxing Jin","orcid":"https://orcid.org/0009-0003-6250-1687"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Tongxing Jin","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Thien-Minh Nguyen","orcid":"https://orcid.org/0000-0003-1315-0967"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Thien-Minh Nguyen","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Xinhang Xu","orcid":"https://orcid.org/0009-0000-2957-7389"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Xinhang Xu","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yizhuo Yang","orcid":"https://orcid.org/0009-0000-9139-1542"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Yizhuo Yang","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067798521","display_name":"Shenghai Yuan","orcid":"https://orcid.org/0009-0000-9139-1542"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Shenghai Yuan","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107700806","display_name":"LI Jian-ping","orcid":null},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Jianping Li","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100365448","display_name":"Lihua Xie","orcid":"https://orcid.org/0000-0002-7137-4136"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Lihua Xie","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5059998802"],"corresponding_institution_ids":["https://openalex.org/I172675005"],"apc_list":null,"apc_paid":null,"fwci":2.8095,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.92005297,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"10","issue":"1","first_page":"812","last_page":"819"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12031","display_name":"Speech and dialogue systems","score":0.26809999346733093,"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"}},"topics":[{"id":"https://openalex.org/T12031","display_name":"Speech and dialogue systems","score":0.26809999346733093,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/closure","display_name":"Closure (psychology)","score":0.7556315660476685},{"id":"https://openalex.org/keywords/loop","display_name":"Loop (graph theory)","score":0.528590202331543},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4082965850830078},{"id":"https://openalex.org/keywords/communication","display_name":"Communication","score":0.3705654740333557},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.27710166573524475},{"id":"https://openalex.org/keywords/political-science","display_name":"Political science","score":0.2311193346977234},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11473137140274048},{"id":"https://openalex.org/keywords/law","display_name":"Law","score":0.06672340631484985}],"concepts":[{"id":"https://openalex.org/C146834321","wikidata":"https://www.wikidata.org/wiki/Q2979672","display_name":"Closure (psychology)","level":2,"score":0.7556315660476685},{"id":"https://openalex.org/C184670325","wikidata":"https://www.wikidata.org/wiki/Q512604","display_name":"Loop (graph theory)","level":2,"score":0.528590202331543},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4082965850830078},{"id":"https://openalex.org/C46312422","wikidata":"https://www.wikidata.org/wiki/Q11024","display_name":"Communication","level":1,"score":0.3705654740333557},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.27710166573524475},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.2311193346977234},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11473137140274048},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.06672340631484985},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2024.3511397","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3511397","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"},{"id":"pmh:oai:dr.ntu.edu.sg:10356/182125","is_oa":false,"landing_page_url":"https://hdl.handle.net/10356/182125","pdf_url":null,"source":{"id":"https://openalex.org/S4306402609","display_name":"DR-NTU (Nanyang Technological University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I172675005","host_organization_name":"Nanyang Technological University","host_organization_lineage":["https://openalex.org/I172675005"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Journal Article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.46000000834465027,"id":"https://metadata.un.org/sdg/13","display_name":"Climate action"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1491719799","https://openalex.org/W1989484209","https://openalex.org/W2910489334","https://openalex.org/W2951019013","https://openalex.org/W3011465262","https://openalex.org/W3043971245","https://openalex.org/W3091168324","https://openalex.org/W3110514869","https://openalex.org/W3132401233","https://openalex.org/W3177271542","https://openalex.org/W3199184510","https://openalex.org/W3205253566","https://openalex.org/W3211389689","https://openalex.org/W4210423514","https://openalex.org/W4311463255","https://openalex.org/W4321194448","https://openalex.org/W4383066341","https://openalex.org/W4387623734","https://openalex.org/W4390778110","https://openalex.org/W4402660141","https://openalex.org/W6771513266","https://openalex.org/W6850922908","https://openalex.org/W6862909742"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W315394019","https://openalex.org/W24774503","https://openalex.org/W2390279801","https://openalex.org/W2923398117","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345"],"abstract_inverted_index":{"Loop":[0],"closure":[1,77,121],"is":[2],"an":[3],"important":[4],"task":[5],"in":[6,29,40,61,85],"robot":[7],"navigation.":[8],"However,":[9],"existing":[10,137],"methods":[11,138],"mostly":[12],"rely":[13,140],"on":[14,80,97,113,142],"some":[15],"implicit":[16],"or":[17],"heuristic":[18],"features":[19],"of":[20,109],"the":[21,62,66],"environment,":[22],"which":[23],"can":[24],"still":[25],"fail":[26],"to":[27,72],"work":[28],"common":[30],"environments":[31,47],"such":[32,41],"as":[33],"corridors,":[34],"tunnels,":[35],"and":[36,44,117,144],"warehouses.":[37],"Indeed,":[38],"navigating":[39],"featureless,":[42],"degenerative,":[43],"repetitive":[45],"(FDR)":[46],"would":[48],"also":[49],"pose":[50],"a":[51,74,104,124],"significant":[52],"challenge":[53],"even":[54],"for":[55],"humans,":[56],"but":[57],"explicit":[58,81],"text":[59,94,110],"cues":[60,84,111],"surroundings":[63],"often":[64],"provide":[65],"best":[67],"assistance.":[68],"This":[69],"inspires":[70],"us":[71],"propose":[73],"multi-modal":[75],"loop":[76,120],"method":[78],"based":[79,96,112],"human-readable":[82],"textual":[83],"FDR":[86],"environments.":[87],"Specifically,":[88],"our":[89],"approach":[90,132],"first":[91],"extracts":[92],"scene":[93],"entities":[95],"Optical":[98],"Character":[99],"Recognition":[100],"(OCR),":[101],"then":[102],"creates":[103],"<italic":[105],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[106],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">local</i>":[107],"map":[108],"accurate":[114],"LiDAR":[115,145],"odometry":[116],"finally":[118],"identifies":[119],"events":[122],"by":[123],"graph-theoretic":[125],"scheme.":[126],"Experiment":[127],"results":[128],"demonstrate":[129],"that":[130,139],"this":[131],"has":[133],"superior":[134],"performance":[135],"over":[136],"solely":[141],"visual":[143],"sensors.":[146]},"counts_by_year":[{"year":2025,"cited_by_count":8}],"updated_date":"2026-03-25T23:56:10.502304","created_date":"2025-10-10T00:00:00"}
