{"id":"https://openalex.org/W4295074088","doi":"https://doi.org/10.1109/mmar55195.2022.9874344","title":"Loop-Closure Detection with 3D LiDAR Data for Extreme Viewpoint Changes","display_name":"Loop-Closure Detection with 3D LiDAR Data for Extreme Viewpoint Changes","publication_year":2022,"publication_date":"2022-08-22","ids":{"openalex":"https://openalex.org/W4295074088","doi":"https://doi.org/10.1109/mmar55195.2022.9874344"},"language":"en","primary_location":{"id":"doi:10.1109/mmar55195.2022.9874344","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mmar55195.2022.9874344","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5033026417","display_name":"Dimitrios Alexiou","orcid":null},"institutions":[{"id":"https://openalex.org/I4210093649","display_name":"Information Technologies Institute","ror":"https://ror.org/0069akp70","country_code":"GR","type":"nonprofit","lineage":["https://openalex.org/I4210093649"]},{"id":"https://openalex.org/I4210134249","display_name":"Centre for Research and Technology Hellas","ror":"https://ror.org/03bndpq63","country_code":"GR","type":"facility","lineage":["https://openalex.org/I4210134249"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Dimitrios Alexiou","raw_affiliation_strings":["Centre for Research and Technology Hellas, Information Technologies Institute (CERTH / ITI),Thessaloniki,Greece","Centre for Research and Technology Hellas, Information Technologies Institute (CERTH / ITI), Thessaloniki, Greece"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre for Research and Technology Hellas, Information Technologies Institute (CERTH / ITI),Thessaloniki,Greece","institution_ids":["https://openalex.org/I4210093649","https://openalex.org/I4210134249"]},{"raw_affiliation_string":"Centre for Research and Technology Hellas, Information Technologies Institute (CERTH / ITI), Thessaloniki, Greece","institution_ids":["https://openalex.org/I4210093649","https://openalex.org/I4210134249"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021207548","display_name":"Kosmas Tsiakas","orcid":"https://orcid.org/0000-0003-2580-4446"},"institutions":[{"id":"https://openalex.org/I147962203","display_name":"Democritus University of Thrace","ror":"https://ror.org/03bfqnx40","country_code":"GR","type":"education","lineage":["https://openalex.org/I147962203"]},{"id":"https://openalex.org/I4210093649","display_name":"Information Technologies Institute","ror":"https://ror.org/0069akp70","country_code":"GR","type":"nonprofit","lineage":["https://openalex.org/I4210093649"]},{"id":"https://openalex.org/I4210134249","display_name":"Centre for Research and Technology Hellas","ror":"https://ror.org/03bndpq63","country_code":"GR","type":"facility","lineage":["https://openalex.org/I4210134249"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Kosmas Tsiakas","raw_affiliation_strings":["Centre for Research and Technology Hellas, Information Technologies Institute (CERTH / ITI),Thessaloniki,Greece","Centre for Research and Technology Hellas, Information Technologies Institute (CERTH / ITI), Thessaloniki, Greece","Laboratory of Robotics and Automation, Democritus University of Thrace, Xanthi, Greece"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre for Research and Technology Hellas, Information Technologies Institute (CERTH / ITI),Thessaloniki,Greece","institution_ids":["https://openalex.org/I4210093649","https://openalex.org/I4210134249"]},{"raw_affiliation_string":"Centre for Research and Technology Hellas, Information Technologies Institute (CERTH / ITI), Thessaloniki, Greece","institution_ids":["https://openalex.org/I4210093649","https://openalex.org/I4210134249"]},{"raw_affiliation_string":"Laboratory of Robotics and Automation, Democritus University of Thrace, Xanthi, Greece","institution_ids":["https://openalex.org/I147962203"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076744311","display_name":"Ioannis Kostavelis","orcid":"https://orcid.org/0000-0003-2882-2914"},"institutions":[{"id":"https://openalex.org/I4210093649","display_name":"Information Technologies Institute","ror":"https://ror.org/0069akp70","country_code":"GR","type":"nonprofit","lineage":["https://openalex.org/I4210093649"]},{"id":"https://openalex.org/I4210134249","display_name":"Centre for Research and Technology Hellas","ror":"https://ror.org/03bndpq63","country_code":"GR","type":"facility","lineage":["https://openalex.org/I4210134249"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Ioannis Kostavelis","raw_affiliation_strings":["Centre for Research and Technology Hellas, Information Technologies Institute (CERTH / ITI),Thessaloniki,Greece","Centre for Research and Technology Hellas, Information Technologies Institute (CERTH / ITI), Thessaloniki, Greece"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre for Research and Technology Hellas, Information Technologies Institute (CERTH / ITI),Thessaloniki,Greece","institution_ids":["https://openalex.org/I4210093649","https://openalex.org/I4210134249"]},{"raw_affiliation_string":"Centre for Research and Technology Hellas, Information Technologies Institute (CERTH / ITI), Thessaloniki, Greece","institution_ids":["https://openalex.org/I4210093649","https://openalex.org/I4210134249"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000523843","display_name":"Dimitrios Giakoumis","orcid":"https://orcid.org/0000-0003-1844-186X"},"institutions":[{"id":"https://openalex.org/I4210093649","display_name":"Information Technologies Institute","ror":"https://ror.org/0069akp70","country_code":"GR","type":"nonprofit","lineage":["https://openalex.org/I4210093649"]},{"id":"https://openalex.org/I4210134249","display_name":"Centre for Research and Technology Hellas","ror":"https://ror.org/03bndpq63","country_code":"GR","type":"facility","lineage":["https://openalex.org/I4210134249"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Dimitrios Giakoumis","raw_affiliation_strings":["Centre for Research and Technology Hellas, Information Technologies Institute (CERTH / ITI),Thessaloniki,Greece","Centre for Research and Technology Hellas, Information Technologies Institute (CERTH / ITI), Thessaloniki, Greece"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre for Research and Technology Hellas, Information Technologies Institute (CERTH / ITI),Thessaloniki,Greece","institution_ids":["https://openalex.org/I4210093649","https://openalex.org/I4210134249"]},{"raw_affiliation_string":"Centre for Research and Technology Hellas, Information Technologies Institute (CERTH / ITI), Thessaloniki, Greece","institution_ids":["https://openalex.org/I4210093649","https://openalex.org/I4210134249"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084139328","display_name":"\u0391\u03bd\u03c4\u03ce\u03bd\u03b9\u03bf\u03c2 \u0393\u03b1\u03c3\u03c4\u03b5\u03c1\u03ac\u03c4\u03bf\u03c2","orcid":"https://orcid.org/0000-0002-5421-0332"},"institutions":[{"id":"https://openalex.org/I147962203","display_name":"Democritus University of Thrace","ror":"https://ror.org/03bfqnx40","country_code":"GR","type":"education","lineage":["https://openalex.org/I147962203"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Antonios Gasteratos","raw_affiliation_strings":["Democritus University of Thrace,Laboratory of Robotics and Automation,Xanthi,Greece","Laboratory of Robotics and Automation, Democritus University of Thrace, Xanthi, Greece"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Democritus University of Thrace,Laboratory of Robotics and Automation,Xanthi,Greece","institution_ids":["https://openalex.org/I147962203"]},{"raw_affiliation_string":"Laboratory of Robotics and Automation, Democritus University of Thrace, Xanthi, Greece","institution_ids":["https://openalex.org/I147962203"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087452615","display_name":"Dimitrios Tzovaras","orcid":"https://orcid.org/0000-0001-6915-6722"},"institutions":[{"id":"https://openalex.org/I4210093649","display_name":"Information Technologies Institute","ror":"https://ror.org/0069akp70","country_code":"GR","type":"nonprofit","lineage":["https://openalex.org/I4210093649"]},{"id":"https://openalex.org/I4210134249","display_name":"Centre for Research and Technology Hellas","ror":"https://ror.org/03bndpq63","country_code":"GR","type":"facility","lineage":["https://openalex.org/I4210134249"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Dimitrios Tzovaras","raw_affiliation_strings":["Centre for Research and Technology Hellas, Information Technologies Institute (CERTH / ITI),Thessaloniki,Greece","Centre for Research and Technology Hellas, Information Technologies Institute (CERTH / ITI), Thessaloniki, Greece"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre for Research and Technology Hellas, Information Technologies Institute (CERTH / ITI),Thessaloniki,Greece","institution_ids":["https://openalex.org/I4210093649","https://openalex.org/I4210134249"]},{"raw_affiliation_string":"Centre for Research and Technology Hellas, Information Technologies Institute (CERTH / ITI), Thessaloniki, Greece","institution_ids":["https://openalex.org/I4210093649","https://openalex.org/I4210134249"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"29","last_page":"34"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9969000220298767,"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/point-cloud","display_name":"Point cloud","score":0.7513104677200317},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7032715082168579},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6924309730529785},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5843955278396606},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.533649742603302},{"id":"https://openalex.org/keywords/similarity","display_name":"Similarity (geometry)","score":0.5233839750289917},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4802975356578827},{"id":"https://openalex.org/keywords/histogram","display_name":"Histogram","score":0.47552064061164856},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.4582807421684265},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.4495014250278473},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.4382869303226471},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.42825955152511597},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.4115687906742096},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.32807645201683044},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.23163050413131714},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2045365571975708},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.19355541467666626},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.1150738000869751}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7513104677200317},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7032715082168579},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6924309730529785},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5843955278396606},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.533649742603302},{"id":"https://openalex.org/C103278499","wikidata":"https://www.wikidata.org/wiki/Q254465","display_name":"Similarity (geometry)","level":3,"score":0.5233839750289917},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4802975356578827},{"id":"https://openalex.org/C53533937","wikidata":"https://www.wikidata.org/wiki/Q185020","display_name":"Histogram","level":3,"score":0.47552064061164856},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.4582807421684265},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.4495014250278473},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.4382869303226471},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.42825955152511597},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.4115687906742096},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.32807645201683044},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.23163050413131714},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2045365571975708},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.19355541467666626},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.1150738000869751},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/mmar55195.2022.9874344","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mmar55195.2022.9874344","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7860745245","display_name":null,"funder_award_id":"MIS 5002462","funder_id":"https://openalex.org/F4320335322","funder_display_name":"European Regional Development Fund"},{"id":"https://openalex.org/G8711831979","display_name":null,"funder_award_id":"T1EDK- 04005","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320335322","display_name":"European Regional Development Fund","ror":"https://ror.org/00k4n6c32"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W963660264","https://openalex.org/W2144824356","https://openalex.org/W2160821342","https://openalex.org/W2284029970","https://openalex.org/W2535048900","https://openalex.org/W2558027072","https://openalex.org/W2560609797","https://openalex.org/W2740418457","https://openalex.org/W2891010743","https://openalex.org/W2902610326","https://openalex.org/W2912507201","https://openalex.org/W2951019013","https://openalex.org/W2963708168","https://openalex.org/W2979778243","https://openalex.org/W2981556384","https://openalex.org/W2982524430","https://openalex.org/W2986519585","https://openalex.org/W2994881679","https://openalex.org/W3008897023","https://openalex.org/W3091337047","https://openalex.org/W3097984693","https://openalex.org/W3118961283","https://openalex.org/W3120082156","https://openalex.org/W3132252078","https://openalex.org/W3135588990","https://openalex.org/W3155277185","https://openalex.org/W3163149666","https://openalex.org/W3187923576","https://openalex.org/W3198315345","https://openalex.org/W3200176946","https://openalex.org/W3202756173","https://openalex.org/W3203118522","https://openalex.org/W3207344666","https://openalex.org/W3211389689","https://openalex.org/W6730757611","https://openalex.org/W6763422710","https://openalex.org/W6774308738","https://openalex.org/W6799774860","https://openalex.org/W6801251754","https://openalex.org/W6801926112"],"related_works":["https://openalex.org/W4380763496","https://openalex.org/W2161240633","https://openalex.org/W4386821976","https://openalex.org/W2970345194","https://openalex.org/W4313288997","https://openalex.org/W2807473852","https://openalex.org/W2152464524","https://openalex.org/W2149015029","https://openalex.org/W48401697","https://openalex.org/W2556215627"],"abstract_inverted_index":{"Loop":[0],"closure":[1,64,162],"detection":[2,65],"remains":[3],"a":[4,57,139,165,191,216],"challenging":[5],"task":[6],"for":[7,27,62,147,171],"future":[8],"autonomous":[9,207],"robots":[10],"operating":[11],"in":[12,107,114,190],"outdoor":[13],"scenarios.":[14],"When":[15],"compared":[16],"with":[17,92],"RGB":[18,116],"cameras,":[19],"LiDAR":[20,218],"sensors":[21],"appear":[22],"to":[23,69,80,157],"be":[24],"more":[25,39],"appropriate":[26],"applications":[28],"that":[29,66,209],"involve":[30],"significant":[31],"environmental":[32],"changes":[33],"and":[34,45,96,164],"various":[35],"illumination":[36],"conditions,":[37],"facilitating":[38],"robust":[40],"correlation":[41],"of":[42,47,99,103,110],"sensor":[43],"measurements":[44],"estimation":[46],"the":[48,84,88,101,104,130,144,159,172,183],"robot's":[49],"global":[50],"localization.":[51],"The":[52],"paper":[53],"at":[54],"hand":[55],"presents":[56],"3D":[58,77],"point":[59],"cloud-based":[60],"method":[61,74,177],"loop":[63,161],"is":[67,97,151,155,169],"tolerant":[68],"extreme":[70],"viewpoint":[71],"changes.":[72],"Our":[73,176],"utilizes":[75],"local":[76],"geometrical":[78],"descriptors":[79],"tackle":[81],"scenarios":[82],"where":[83],"robot":[85],"passes":[86],"from":[87,205],"same":[89],"place,":[90],"yet":[91],"completely":[93],"opposite":[94,212],"direction,":[95],"capable":[98],"understanding":[100],"similarity":[102,145],"revisited":[105],"area,":[106],"complete":[108],"absence":[109],"common":[111],"visual":[112],"data":[113],"respective":[115],"images.":[117],"To":[118],"achieve":[119],"this,":[120],"rotation":[121],"invariant":[122],"Fast":[123],"Point":[124,134],"Feature":[125],"Histograms":[126],"(FPFHs)":[127],"calculated":[128],"over":[129],"Unsupervised":[131],"Stable":[132],"Interest":[133],"Detection":[135],"(USIP)":[136],"keypoints":[137],"formulate":[138],"descriptor":[140],"matrix,":[141],"upon":[142],"which":[143],"score":[146],"previously":[148],"re-visited":[149],"scenes":[150],"calculated.":[152],"Probabilistic":[153],"voting":[154],"applied":[156],"extract":[158],"top":[160],"candidates":[163],"geometric":[166],"validation":[167],"step":[168],"used":[170],"final":[173],"matching":[174],"decision.":[175],"has":[178],"been":[179],"extensively":[180],"verified":[181],"on":[182,211],"state-of-art":[184],"MulRan":[185],"dataset":[186,193],"as":[187,189],"well":[188],"custom-built":[192],"<sup":[194,197],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[195,198],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">1</sup>":[196,199],"Publicly":[200],"available":[201],"dataset:":[202],"https://github.com/dalexiou48/cav_pr_dataset":[203],"acquired":[204],"an":[206],"vehicle,":[208],"focuses":[210],"traversing":[213],"routes":[214],"using":[215],"low-resolution":[217],"sensor.":[219]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
