{"id":"https://openalex.org/W2031781893","doi":"https://doi.org/10.1109/tro.2012.2189497","title":"Robust Place Recognition With Stereo Sequences","display_name":"Robust Place Recognition With Stereo Sequences","publication_year":2012,"publication_date":"2012-04-11","ids":{"openalex":"https://openalex.org/W2031781893","doi":"https://doi.org/10.1109/tro.2012.2189497","mag":"2031781893"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2012.2189497","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2012.2189497","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Transactions on Robotics","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/A5063529163","display_name":"C\u00e9sar Cadena","orcid":"https://orcid.org/0000-0002-2972-6011"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"C\u00e9sar Cadena","raw_affiliation_strings":["Instituto de Investigaci&#x00F3;n en Ingenier&#x00ED;a de Arag&#x00F3;n, Universidad de Zaragoza, Zaragoza, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Instituto de Investigaci&#x00F3;n en Ingenier&#x00ED;a de Arag&#x00F3;n, Universidad de Zaragoza, Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077842051","display_name":"Dorian G\u00e1lvez\u2010L\u00f3pez","orcid":null},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Dorian Galvez-Lo\u0301pez","raw_affiliation_strings":["Instituto de Investigaci&#x00F3;n en Ingenier&#x00ED;a de Arag&#x00F3;n, Universidad de Zaragoza, Zaragoza, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Instituto de Investigaci&#x00F3;n en Ingenier&#x00ED;a de Arag&#x00F3;n, Universidad de Zaragoza, Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030733231","display_name":"Juan D. Tard\u00f3s","orcid":"https://orcid.org/0000-0002-4518-5876"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Juan D. Tardos","raw_affiliation_strings":["Instituto de Investigaci&#x00F3;n en Ingenier&#x00ED;a de Arag&#x00F3;n, Universidad de Zaragoza, Zaragoza, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Instituto de Investigaci&#x00F3;n en Ingenier&#x00ED;a de Arag&#x00F3;n, Universidad de Zaragoza, Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057914288","display_name":"Jos\u00e9 Neira","orcid":"https://orcid.org/0000-0003-0668-977X"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Jos\u00e9 Neira","raw_affiliation_strings":["Instituto de Investigaci&#x00F3;n en Ingenier&#x00ED;a de Arag&#x00F3;n, Universidad de Zaragoza, Zaragoza, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Instituto de Investigaci&#x00F3;n en Ingenier&#x00ED;a de Arag&#x00F3;n, Universidad de Zaragoza, Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I255234318"],"apc_list":null,"apc_paid":null,"fwci":225.0564,"has_fulltext":false,"cited_by_count":84,"citation_normalized_percentile":{"value":0.99954787,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"28","issue":"4","first_page":"871","last_page":"885"},"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/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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7173652648925781},{"id":"https://openalex.org/keywords/conditional-random-field","display_name":"Conditional random field","score":0.6520086526870728},{"id":"https://openalex.org/keywords/crfs","display_name":"CRFS","score":0.620987057685852},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5708040595054626},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.5526068806648254},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.523974597454071},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.4860130250453949},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4626416265964508},{"id":"https://openalex.org/keywords/similarity","display_name":"Similarity (geometry)","score":0.43297630548477173},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.42614108324050903},{"id":"https://openalex.org/keywords/false-positive-paradox","display_name":"False positive paradox","score":0.4190688133239746},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3539459705352783},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.2335454821586609},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.16142117977142334},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1413232982158661}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7173652648925781},{"id":"https://openalex.org/C152565575","wikidata":"https://www.wikidata.org/wiki/Q1124538","display_name":"Conditional random field","level":2,"score":0.6520086526870728},{"id":"https://openalex.org/C2775953691","wikidata":"https://www.wikidata.org/wiki/Q5013874","display_name":"CRFS","level":3,"score":0.620987057685852},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5708040595054626},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.5526068806648254},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.523974597454071},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.4860130250453949},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4626416265964508},{"id":"https://openalex.org/C103278499","wikidata":"https://www.wikidata.org/wiki/Q254465","display_name":"Similarity (geometry)","level":3,"score":0.43297630548477173},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.42614108324050903},{"id":"https://openalex.org/C64869954","wikidata":"https://www.wikidata.org/wiki/Q1859747","display_name":"False positive paradox","level":2,"score":0.4190688133239746},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3539459705352783},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.2335454821586609},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.16142117977142334},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1413232982158661},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tro.2012.2189497","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2012.2189497","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Transactions on Robotics","raw_type":"journal-article"},{"id":"pmh:oai:digital.library.adelaide.edu.au:2440/86504","is_oa":false,"landing_page_url":"http://hdl.handle.net/2440/86504","pdf_url":null,"source":{"id":"https://openalex.org/S4306401835","display_name":"Adelaide Research & Scholarship (AR&S) (University of Adelaide)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I5681781","host_organization_name":"The University of Adelaide","host_organization_lineage":["https://openalex.org/I5681781"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://dx.doi.org/10.1109/tro.2012.2189497","raw_type":"Journal article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W101785966","https://openalex.org/W1488482743","https://openalex.org/W1511986666","https://openalex.org/W1677409904","https://openalex.org/W1855249552","https://openalex.org/W1974093076","https://openalex.org/W1987120496","https://openalex.org/W1989174032","https://openalex.org/W1989191365","https://openalex.org/W1996093922","https://openalex.org/W1997645979","https://openalex.org/W1998346999","https://openalex.org/W2006368361","https://openalex.org/W2009086942","https://openalex.org/W2019458444","https://openalex.org/W2029449100","https://openalex.org/W2036718463","https://openalex.org/W2038694110","https://openalex.org/W2059012050","https://openalex.org/W2073459066","https://openalex.org/W2083690166","https://openalex.org/W2085261163","https://openalex.org/W2087718299","https://openalex.org/W2095861085","https://openalex.org/W2100398441","https://openalex.org/W2101534792","https://openalex.org/W2102481828","https://openalex.org/W2115703234","https://openalex.org/W2128017662","https://openalex.org/W2131846894","https://openalex.org/W2144824356","https://openalex.org/W2147880316","https://openalex.org/W2159080219","https://openalex.org/W2162536300","https://openalex.org/W4238873208","https://openalex.org/W6629283804","https://openalex.org/W6637400245","https://openalex.org/W6668990524"],"related_works":["https://openalex.org/W2055466819","https://openalex.org/W50079190","https://openalex.org/W2356597680","https://openalex.org/W182104056","https://openalex.org/W2111726165","https://openalex.org/W2011251309","https://openalex.org/W2796133761","https://openalex.org/W3088215229","https://openalex.org/W2511246383","https://openalex.org/W2184553228"],"abstract_inverted_index":{"We":[0,59,126,135,192],"propose":[1,60],"a":[2,49,86,118,149,156,227],"place":[3],"recognition":[4,40],"algorithm":[5],"for":[6,38,226],"simultaneous":[7],"localization":[8],"and":[9,20,32,139,143,181,205,212],"mapping":[10],"(SLAM)":[11],"systems":[12],"using":[13,48,85,117,202],"stereo":[14],"cameras":[15],"that":[16,66,91,163,176,182,214],"considers":[17],"both":[18,137],"appearance":[19],"geometric":[21,141],"information":[22,37],"of":[23,25,97,155,169,186,199],"points":[24,35],"interest":[26],"in":[27,72,78,94,100],"the":[28,39,55,69,95,101,170,173,183,187,197,200],"images.":[29],"Both":[30],"near":[31],"far":[33],"scene":[34],"provide":[36,165],"process.":[41],"Hypotheses":[42],"about":[43],"loop":[44,111],"closings":[45],"are":[46,76,83],"generated":[47],"fast":[50],"appearance-only":[51],"technique":[52],"based":[53,120],"on":[54,121,128,148],"bag-of-words":[56],"(BoW)":[57],"method.":[58],"several":[61],"important":[62],"improvements":[63],"to":[64],"BoWs":[65],"profit":[67],"from":[68,208],"fact":[70],"that,":[71],"this":[73],"problem,":[74,171],"images":[75,99],"provided":[77],"sequence.":[79,102],"Loop":[80],"closing":[81,112],"candidates":[82],"evaluated":[84],"novel":[87],"normalized":[88],"similarity":[89,93,106],"score":[90],"measures":[92],"context":[96],"recent":[98],"In":[103],"cases":[104],"where":[105],"is":[107,114,179,190],"not":[108],"sufficiently":[109],"clear,":[110],"verification":[113],"carried":[115],"out":[116,146],"method":[119],"conditional":[122],"random":[123],"fields":[124],"(CRFs).":[125],"build":[127],"CRF":[129],"matching":[130],"with":[131,172,196],"two":[132],"main":[133],"novelties:":[134],"use":[136],"image":[138],"3-D":[140],"information,":[142],"we":[144],"carry":[145],"inference":[147,178,188],"minimum":[150],"spanning":[151],"tree":[152],"(MST),":[153],"instead":[154],"densely":[157],"connected":[158],"graph.":[159],"Our":[160],"results":[161],"show":[162,213],"MSTs":[164],"an":[166],"adequate":[167],"representation":[168],"additional":[174],"advantages":[175],"exact":[177],"possible":[180],"computational":[184],"cost":[185],"process":[189],"limited.":[191],"compare":[193],"our":[194,215],"system":[195,216],"state":[198],"art":[201],"visual":[203],"indoor":[204],"outdoor":[206],"data":[207],"three":[209],"different":[210],"locations":[211],"can":[217],"attain":[218],"at":[219],"least":[220],"full":[221],"precision":[222],"(no":[223],"false":[224,231],"positives)":[225],"higher":[228],"recall":[229],"(fewer":[230],"negatives).":[232]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":8},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":9},{"year":2014,"cited_by_count":9},{"year":2013,"cited_by_count":9},{"year":2012,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
