{"id":"https://openalex.org/W7131095842","doi":"https://doi.org/10.1109/robio66223.2025.11377402","title":"A Backend Optimization Module for Robust Loop Closure Detection in Multi-Agent Neural SLAM","display_name":"A Backend Optimization Module for Robust Loop Closure Detection in Multi-Agent Neural SLAM","publication_year":2025,"publication_date":"2025-12-03","ids":{"openalex":"https://openalex.org/W7131095842","doi":"https://doi.org/10.1109/robio66223.2025.11377402"},"language":null,"primary_location":{"id":"doi:10.1109/robio66223.2025.11377402","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio66223.2025.11377402","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5101508336","display_name":"Yuehua Chen","orcid":"https://orcid.org/0000-0002-4646-4017"},"institutions":[{"id":"https://openalex.org/I14894300","display_name":"Foshan University","ror":"https://ror.org/02xvvvp28","country_code":"CN","type":"education","lineage":["https://openalex.org/I14894300"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunzhao Chen","raw_affiliation_strings":["School of Mechatronic Engineering and Automation, Foshan University,Guangdong Provincial Key Laboratory of Industrial Intelligent Inspection Technology,Foshan,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronic Engineering and Automation, Foshan University,Guangdong Provincial Key Laboratory of Industrial Intelligent Inspection Technology,Foshan,China","institution_ids":["https://openalex.org/I14894300"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5123016413","display_name":"Junjun Wu","orcid":null},"institutions":[{"id":"https://openalex.org/I14894300","display_name":"Foshan University","ror":"https://ror.org/02xvvvp28","country_code":"CN","type":"education","lineage":["https://openalex.org/I14894300"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junjun Wu","raw_affiliation_strings":["School of Mechatronic Engineering and Automation, Foshan University,Guangdong Provincial Key Laboratory of Industrial Intelligent Inspection Technology,Foshan,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronic Engineering and Automation, Foshan University,Guangdong Provincial Key Laboratory of Industrial Intelligent Inspection Technology,Foshan,China","institution_ids":["https://openalex.org/I14894300"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113751012","display_name":"Qinghua Lu","orcid":"https://orcid.org/0000-0002-7861-1472"},"institutions":[{"id":"https://openalex.org/I14894300","display_name":"Foshan University","ror":"https://ror.org/02xvvvp28","country_code":"CN","type":"education","lineage":["https://openalex.org/I14894300"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qinghua Lu","raw_affiliation_strings":["School of Mechatronic Engineering and Automation, Foshan University,Guangdong Provincial Key Laboratory of Industrial Intelligent Inspection Technology,Foshan,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronic Engineering and Automation, Foshan University,Guangdong Provincial Key Laboratory of Industrial Intelligent Inspection Technology,Foshan,China","institution_ids":["https://openalex.org/I14894300"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100327266","display_name":"Qinghua Zhang","orcid":"https://orcid.org/0000-0002-1387-0289"},"institutions":[{"id":"https://openalex.org/I14894300","display_name":"Foshan University","ror":"https://ror.org/02xvvvp28","country_code":"CN","type":"education","lineage":["https://openalex.org/I14894300"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qinghua Zhang","raw_affiliation_strings":["School of Mechatronic Engineering and Automation, Foshan University,Guangdong Provincial Key Laboratory of Industrial Intelligent Inspection Technology,Foshan,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronic Engineering and Automation, Foshan University,Guangdong Provincial Key Laboratory of Industrial Intelligent Inspection Technology,Foshan,China","institution_ids":["https://openalex.org/I14894300"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126610742","display_name":"Yingbo He","orcid":null},"institutions":[{"id":"https://openalex.org/I14894300","display_name":"Foshan University","ror":"https://ror.org/02xvvvp28","country_code":"CN","type":"education","lineage":["https://openalex.org/I14894300"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yingbo He","raw_affiliation_strings":["School of Mechatronic Engineering and Automation, Foshan University,Guangdong Provincial Key Laboratory of Industrial Intelligent Inspection Technology,Foshan,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronic Engineering and Automation, Foshan University,Guangdong Provincial Key Laboratory of Industrial Intelligent Inspection Technology,Foshan,China","institution_ids":["https://openalex.org/I14894300"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100627219","display_name":"Yongqi Liu","orcid":"https://orcid.org/0000-0002-2311-7872"},"institutions":[{"id":"https://openalex.org/I14894300","display_name":"Foshan University","ror":"https://ror.org/02xvvvp28","country_code":"CN","type":"education","lineage":["https://openalex.org/I14894300"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongqi Liu","raw_affiliation_strings":["School of Mechatronic Engineering and Automation, Foshan University,Guangdong Provincial Key Laboratory of Industrial Intelligent Inspection Technology,Foshan,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronic Engineering and Automation, Foshan University,Guangdong Provincial Key Laboratory of Industrial Intelligent Inspection Technology,Foshan,China","institution_ids":["https://openalex.org/I14894300"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012782595","display_name":"S. W. Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I14894300","display_name":"Foshan University","ror":"https://ror.org/02xvvvp28","country_code":"CN","type":"education","lineage":["https://openalex.org/I14894300"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shiyao Wang","raw_affiliation_strings":["School of Mechatronic Engineering and Automation, Foshan University,Guangdong Provincial Key Laboratory of Industrial Intelligent Inspection Technology,Foshan,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronic Engineering and Automation, Foshan University,Guangdong Provincial Key Laboratory of Industrial Intelligent Inspection Technology,Foshan,China","institution_ids":["https://openalex.org/I14894300"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I14894300"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1050","last_page":"1055"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.822700023651123,"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":0.822700023651123,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.04019999876618385,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.018200000748038292,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/odometry","display_name":"Odometry","score":0.666700005531311},{"id":"https://openalex.org/keywords/closure","display_name":"Closure (psychology)","score":0.661300003528595},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5666999816894531},{"id":"https://openalex.org/keywords/loop","display_name":"Loop (graph theory)","score":0.47850000858306885},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.4494999945163727},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.3822999894618988},{"id":"https://openalex.org/keywords/closed-loop","display_name":"Closed loop","score":0.36000001430511475},{"id":"https://openalex.org/keywords/for-loop","display_name":"For loop","score":0.34929999709129333}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7084000110626221},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.666700005531311},{"id":"https://openalex.org/C146834321","wikidata":"https://www.wikidata.org/wiki/Q2979672","display_name":"Closure (psychology)","level":2,"score":0.661300003528595},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5680999755859375},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5666999816894531},{"id":"https://openalex.org/C184670325","wikidata":"https://www.wikidata.org/wiki/Q512604","display_name":"Loop (graph theory)","level":2,"score":0.47850000858306885},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.4494999945163727},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.39730000495910645},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.3822999894618988},{"id":"https://openalex.org/C3019251811","wikidata":"https://www.wikidata.org/wiki/Q5135346","display_name":"Closed loop","level":2,"score":0.36000001430511475},{"id":"https://openalex.org/C2779624466","wikidata":"https://www.wikidata.org/wiki/Q838119","display_name":"For loop","level":3,"score":0.34929999709129333},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.3172000050544739},{"id":"https://openalex.org/C82653869","wikidata":"https://www.wikidata.org/wiki/Q6675821","display_name":"Loop fusion","level":3,"score":0.31279999017715454},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.311599999666214},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.2840999960899353},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2797999978065491},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.2754000127315521},{"id":"https://openalex.org/C186886427","wikidata":"https://www.wikidata.org/wiki/Q5441213","display_name":"Feedback loop","level":2,"score":0.26899999380111694},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.2653999924659729},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.2614000141620636},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.2603999972343445},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.2596000134944916},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.25609999895095825}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio66223.2025.11377402","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio66223.2025.11377402","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G618999649","display_name":null,"funder_award_id":"2025A1515010194,2021B1515120017,2024A1515140133","funder_id":"https://openalex.org/F4320337111","funder_display_name":"Basic and Applied Basic Research Foundation of Guangdong Province"},{"id":"https://openalex.org/G8647244233","display_name":null,"funder_award_id":"62273097","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"},{"id":"https://openalex.org/F4320337111","display_name":"Basic and Applied Basic Research Foundation of Guangdong Province","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1987648924","https://openalex.org/W2108134361","https://openalex.org/W2906636743","https://openalex.org/W3013201721","https://openalex.org/W3043971245","https://openalex.org/W3213733914","https://openalex.org/W4200150166","https://openalex.org/W4214768561","https://openalex.org/W4226481925","https://openalex.org/W4283373333","https://openalex.org/W4307783807","https://openalex.org/W4312878643","https://openalex.org/W4321458293","https://openalex.org/W4385318467","https://openalex.org/W4388755261","https://openalex.org/W4390873101","https://openalex.org/W4392979517","https://openalex.org/W4400111956","https://openalex.org/W4402660141"],"related_works":[],"abstract_inverted_index":{"In":[0],"recent":[1],"years,":[2],"neural":[3,17,72,128],"implicit":[4,16,71,127],"scene":[5],"representations":[6],"have":[7],"achieved":[8],"significant":[9],"progress":[10],"in":[11,32,101,109,130],"visual":[12],"SLAM.":[13],"However,":[14],"existing":[15],"map":[18],"methods":[19],"primarily":[20],"focus":[21],"on":[22],"single-agent":[23],"scenarios,":[24],"struggling":[25],"to":[26,42,48],"address":[27],"loop":[28,53,75,102,123],"closure":[29,54,76,103,124],"detection":[30,77],"challenges":[31],"large-scale":[33],"indoor":[34],"and":[35,84,112],"long-sequence":[36],"scenes.":[37],"Multi-agent":[38],"frameworks":[39],"often":[40],"fail":[41],"mitigate":[43],"odometry":[44],"drift":[45],"errors":[46],"due":[47],"the":[49,97],"lack":[50],"of":[51,126],"robust":[52,82],"detection,":[55,104],"compromising":[56],"global":[57],"consistency.":[58],"To":[59],"tackle":[60],"this,":[61],"we":[62],"propose":[63],"a":[64,85],"backend":[65],"optimization":[66,125],"module":[67,80],"specifically":[68],"designed":[69],"for":[70,122],"maps,":[73],"enhancing":[74],"performance.":[78],"This":[79,116],"introduces":[81],"descriptors":[83],"novel":[86],"submap":[87],"post-processing":[88],"fusion":[89],"strategy.":[90],"Experimental":[91],"validation":[92],"across":[93],"various":[94],"datasets":[95],"demonstrates":[96],"module's":[98],"superior":[99],"accuracy":[100],"significantly":[105],"improving":[106],"closed-loop":[107],"performance":[108],"multi-agent":[110],"scenarios":[111],"confirming":[113],"its":[114],"effectiveness.":[115],"approach":[117],"provides":[118],"an":[119],"innovative":[120],"solution":[121],"maps":[129],"distributed":[131],"environments.":[132]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2026-02-24T00:00:00"}
