{"id":"https://openalex.org/W2161406180","doi":"https://doi.org/10.1109/robio.2010.5723496","title":"Multi-scale matching for data association in vision-based SLAM","display_name":"Multi-scale matching for data association in vision-based SLAM","publication_year":2010,"publication_date":"2010-12-01","ids":{"openalex":"https://openalex.org/W2161406180","doi":"https://doi.org/10.1109/robio.2010.5723496","mag":"2161406180"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2010.5723496","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2010.5723496","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Biomimetics","raw_type":"proceedings-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/A5101441931","display_name":"Lei Chen","orcid":"https://orcid.org/0000-0003-1912-1454"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Lei Chen","raw_affiliation_strings":["Beijing Laboratory of Intelligent Information Technology, School of Computer Science, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beijing Laboratory of Intelligent Information Technology, School of Computer Science, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076449752","display_name":"Mingtao Pei","orcid":"https://orcid.org/0000-0003-4949-7997"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingtao Pei","raw_affiliation_strings":["Beijing Laboratory of Intelligent Information Technology, School of Computer Science, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beijing Laboratory of Intelligent Information Technology, School of Computer Science, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076804411","display_name":"Jiaolong Yang","orcid":"https://orcid.org/0000-0002-7314-6567"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiaolong Yang","raw_affiliation_strings":["Beijing Laboratory of Intelligent Information Technology, School of Computer Science, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beijing Laboratory of Intelligent Information Technology, School of Computer Science, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5101441931"],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":0.8613,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.81361322,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":93},"biblio":{"volume":null,"issue":null,"first_page":"1183","last_page":"1188"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9997000098228455,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9951000213623047,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.7671639919281006},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7542189359664917},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6612419486045837},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6552973985671997},{"id":"https://openalex.org/keywords/data-association","display_name":"Data association","score":0.5870733857154846},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.5542522668838501},{"id":"https://openalex.org/keywords/entropy","display_name":"Entropy (arrow of time)","score":0.4957045316696167},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.46667516231536865},{"id":"https://openalex.org/keywords/scale-space","display_name":"Scale space","score":0.4624583423137665},{"id":"https://openalex.org/keywords/gabor-filter","display_name":"Gabor filter","score":0.46162039041519165},{"id":"https://openalex.org/keywords/property","display_name":"Property (philosophy)","score":0.4498705267906189},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.44608959555625916},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.42523878812789917},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.41753101348876953},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.3732576370239258},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.26554611325263977},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.19359782338142395},{"id":"https://openalex.org/keywords/image-processing","display_name":"Image processing","score":0.172806054353714},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.1407381296157837},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.12126946449279785}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7671639919281006},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7542189359664917},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6612419486045837},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6552973985671997},{"id":"https://openalex.org/C2983325608","wikidata":"https://www.wikidata.org/wiki/Q17084606","display_name":"Data association","level":3,"score":0.5870733857154846},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.5542522668838501},{"id":"https://openalex.org/C106301342","wikidata":"https://www.wikidata.org/wiki/Q4117933","display_name":"Entropy (arrow of time)","level":2,"score":0.4957045316696167},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.46667516231536865},{"id":"https://openalex.org/C99102927","wikidata":"https://www.wikidata.org/wiki/Q3058184","display_name":"Scale space","level":4,"score":0.4624583423137665},{"id":"https://openalex.org/C2779883129","wikidata":"https://www.wikidata.org/wiki/Q2447890","display_name":"Gabor filter","level":3,"score":0.46162039041519165},{"id":"https://openalex.org/C189950617","wikidata":"https://www.wikidata.org/wiki/Q937228","display_name":"Property (philosophy)","level":2,"score":0.4498705267906189},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.44608959555625916},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.42523878812789917},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.41753101348876953},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.3732576370239258},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.26554611325263977},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.19359782338142395},{"id":"https://openalex.org/C9417928","wikidata":"https://www.wikidata.org/wiki/Q1070689","display_name":"Image processing","level":3,"score":0.172806054353714},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.1407381296157837},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.12126946449279785},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2010.5723496","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2010.5723496","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Biomimetics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.5799999833106995}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1980911747","https://openalex.org/W1999674012","https://openalex.org/W2004608691","https://openalex.org/W2042316011","https://openalex.org/W2065351379","https://openalex.org/W2107402720","https://openalex.org/W2110684306","https://openalex.org/W2111308925","https://openalex.org/W2119605622","https://openalex.org/W2135269154","https://openalex.org/W2142982494","https://openalex.org/W2151103935","https://openalex.org/W2153741545","https://openalex.org/W2165695191","https://openalex.org/W2177274842","https://openalex.org/W2296147781","https://openalex.org/W4205398292","https://openalex.org/W4243425824"],"related_works":["https://openalex.org/W2564786226","https://openalex.org/W2963091090","https://openalex.org/W2141498523","https://openalex.org/W2127578024","https://openalex.org/W2165113654","https://openalex.org/W2975125358","https://openalex.org/W1510326563","https://openalex.org/W1556157276","https://openalex.org/W2005337052","https://openalex.org/W3045922638"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"propose":[4],"a":[5,32,159],"multi-scale":[6],"matching":[7],"approach":[8,116],"to":[9,37,54,119,127],"address":[10],"the":[11,73,77,136,145,169],"data":[12,122],"association":[13,23,123],"problem":[14,35],"in":[15,24,41,66,101,111,129],"vision-based":[16,25],"simultaneous":[17],"localization":[18,61],"and":[19,89,133,163],"mapping":[20],"(SLAM).":[21],"Data":[22],"SLAM":[26],"can":[27],"be":[28],"simply":[29],"represented":[30],"as":[31,105,107,153],"feature":[33,57],"correspondence":[34,83],"related":[36],"two":[38,85],"features":[39,86,152],"observed":[40],"different":[42,45],"positions":[43],"under":[44,76],"imaging":[46],"conditions.":[47],"We":[48],"apply":[49],"an":[50,164],"improved":[51],"Harris":[52],"detector":[53],"automatically":[55],"extract":[56],"points":[58],"with":[59],"high":[60],"accuracy.":[62],"The":[63],"scale":[64],"space":[65],"frequency":[67],"domain":[68],"is":[69,87,117,125,141],"built":[70],"by":[71,94,143],"introducing":[72],"Log-Gabor":[74],"filter":[75],"monogenic":[78,102],"signal":[79,103],"analysis":[80],"framework.":[81],"Reliable":[82],"between":[84],"found":[88],"identified":[90],"over":[91],"all":[92],"scales":[93],"combining":[95],"advantages":[96],"of":[97,149,171],"geometric":[98],"invariant":[99,109],"property":[100,110],"information":[104],"well":[106],"photometric":[108],"color":[112],"entropy":[113],"information.":[114],"Our":[115],"able":[118],"establish":[120],"correct":[121],"which":[124],"robust":[126],"changes":[128],"scale,":[130],"blur,":[131],"viewpoint,":[132],"illumination.":[134],"Moreover,":[135],"cost":[137],"on":[138,158],"map":[139],"management":[140],"reduced":[142],"selecting":[144],"obtained":[146],"small":[147],"number":[148],"reliably":[150],"matched":[151],"visual":[154],"landmarks.":[155],"Experiments":[156],"conducted":[157],"standard":[160],"benchmark":[161],"dataset":[162],"office-like":[165],"indoor":[166],"environment":[167],"demonstrate":[168],"effectiveness":[170],"our":[172],"approach.":[173]},"counts_by_year":[{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}