{"id":"https://openalex.org/W3217174651","doi":"https://doi.org/10.1109/tro.2021.3120036","title":"Graph-Based Thermal\u2013Inertial SLAM With Probabilistic Neural Networks","display_name":"Graph-Based Thermal\u2013Inertial SLAM With Probabilistic Neural Networks","publication_year":2021,"publication_date":"2021-11-22","ids":{"openalex":"https://openalex.org/W3217174651","doi":"https://doi.org/10.1109/tro.2021.3120036","mag":"3217174651"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2021.3120036","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2021.3120036","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","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/A5030156598","display_name":"Muhamad Risqi U. Saputra","orcid":"https://orcid.org/0000-0001-6067-630X"},"institutions":[{"id":"https://openalex.org/I4210105403","display_name":"Universitas Muhammadiyah Tangerang","ror":"https://ror.org/01gngef73","country_code":"ID","type":"education","lineage":["https://openalex.org/I4210105403"]}],"countries":["ID"],"is_corresponding":true,"raw_author_name":"Muhamad Risqi U. Saputra","raw_affiliation_strings":["Monash University, Tangerang, Indonesia"],"affiliations":[{"raw_affiliation_string":"Monash University, Tangerang, Indonesia","institution_ids":["https://openalex.org/I4210105403"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030505775","display_name":"Chris Xiaoxuan Lu","orcid":"https://orcid.org/0000-0002-3733-4480"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Chris Xiaoxuan Lu","raw_affiliation_strings":["School of Informatics, University of Edinburgh, Edinburgh, U.K"],"affiliations":[{"raw_affiliation_string":"School of Informatics, University of Edinburgh, Edinburgh, U.K","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077645636","display_name":"Pedro Gusmao","orcid":"https://orcid.org/0000-0002-7072-9898"},"institutions":[{"id":"https://openalex.org/I241749","display_name":"University of Cambridge","ror":"https://ror.org/013meh722","country_code":"GB","type":"education","lineage":["https://openalex.org/I241749"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Pedro Porto B. Porto Buarque de Gusmao","raw_affiliation_strings":["Department of Computer Science and Technology, University of Cambridge, Cambridge, U.K"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Technology, University of Cambridge, Cambridge, U.K","institution_ids":["https://openalex.org/I241749"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100382568","display_name":"Bing Wang","orcid":"https://orcid.org/0000-0003-4945-7725"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Bing Wang","raw_affiliation_strings":["Department of Computer Science, University of Oxford, Oxford, U.K"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Oxford, Oxford, U.K","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060183988","display_name":"Andrew Markham","orcid":"https://orcid.org/0000-0001-5716-3941"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Andrew Markham","raw_affiliation_strings":["Department of Computer Science, University of Oxford, Oxford, U.K"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Oxford, Oxford, U.K","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010637110","display_name":"Niki Trigoni","orcid":"https://orcid.org/0000-0001-6236-9645"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Niki Trigoni","raw_affiliation_strings":["Department of Computer Science, University of Oxford, Oxford, U.K"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Oxford, Oxford, U.K","institution_ids":["https://openalex.org/I40120149"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5030156598"],"corresponding_institution_ids":["https://openalex.org/I4210105403"],"apc_list":null,"apc_paid":null,"fwci":31.0584,"has_fulltext":false,"cited_by_count":45,"citation_normalized_percentile":{"value":0.99404386,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"38","issue":"3","first_page":"1875","last_page":"1893"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9947999715805054,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.991599977016449,"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":0.6385903358459473},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.6172817349433899},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5959468483924866},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5847091674804688},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5100861191749573},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4730067849159241},{"id":"https://openalex.org/keywords/probabilistic-neural-network","display_name":"Probabilistic neural network","score":0.4323844909667969},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.4318263530731201},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.36779481172561646},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.35359930992126465},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.33611544966697693},{"id":"https://openalex.org/keywords/time-delay-neural-network","display_name":"Time delay neural network","score":0.16130191087722778},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.12647637724876404},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06101062893867493}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6385903358459473},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.6172817349433899},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5959468483924866},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5847091674804688},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5100861191749573},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4730067849159241},{"id":"https://openalex.org/C134342201","wikidata":"https://www.wikidata.org/wiki/Q7246859","display_name":"Probabilistic neural network","level":4,"score":0.4323844909667969},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.4318263530731201},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.36779481172561646},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.35359930992126465},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.33611544966697693},{"id":"https://openalex.org/C175202392","wikidata":"https://www.wikidata.org/wiki/Q2434543","display_name":"Time delay neural network","level":3,"score":0.16130191087722778},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.12647637724876404},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06101062893867493},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2021.3120036","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2021.3120036","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","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"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.6299999952316284,"id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G4253207184","display_name":null,"funder_award_id":"EP/S030832/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G5667654197","display_name":null,"funder_award_id":"70NANB17H185","funder_id":"https://openalex.org/F4320332178","funder_display_name":"National Institute of Standards and Technology"},{"id":"https://openalex.org/G8632079472","display_name":"ACE-OPS: From Autonomy to Cognitive assistance in Emergency OPerationS","funder_award_id":"EP/S030832/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320332178","display_name":"National Institute of Standards and Technology","ror":"https://ror.org/05xpvk416"},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"},{"id":"https://openalex.org/F4320338295","display_name":"Army Research Laboratory","ror":"https://ror.org/011hc8f90"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":91,"referenced_works":["https://openalex.org/W44782581","https://openalex.org/W49679257","https://openalex.org/W764651262","https://openalex.org/W1530110590","https://openalex.org/W1566135517","https://openalex.org/W1579853615","https://openalex.org/W1612997784","https://openalex.org/W1677409904","https://openalex.org/W1968771169","https://openalex.org/W2012592962","https://openalex.org/W2020890121","https://openalex.org/W2030405894","https://openalex.org/W2069012301","https://openalex.org/W2080823437","https://openalex.org/W2096733369","https://openalex.org/W2109635530","https://openalex.org/W2118428504","https://openalex.org/W2128019145","https://openalex.org/W2128554449","https://openalex.org/W2130960731","https://openalex.org/W2132185185","https://openalex.org/W2144824356","https://openalex.org/W2151103935","https://openalex.org/W2151290401","https://openalex.org/W2152671441","https://openalex.org/W2153054365","https://openalex.org/W2154659010","https://openalex.org/W2162536300","https://openalex.org/W2194775991","https://openalex.org/W2200124539","https://openalex.org/W2296228853","https://openalex.org/W2343383542","https://openalex.org/W2461937780","https://openalex.org/W2527172881","https://openalex.org/W2565886755","https://openalex.org/W2580440899","https://openalex.org/W2598706937","https://openalex.org/W2609883120","https://openalex.org/W2738596250","https://openalex.org/W2745859992","https://openalex.org/W2749379418","https://openalex.org/W2757164179","https://openalex.org/W2765767940","https://openalex.org/W2766144513","https://openalex.org/W2788608285","https://openalex.org/W2890860133","https://openalex.org/W2892865870","https://openalex.org/W2912507201","https://openalex.org/W2919203733","https://openalex.org/W2919409595","https://openalex.org/W2922243907","https://openalex.org/W2922356114","https://openalex.org/W2946400284","https://openalex.org/W2951019013","https://openalex.org/W2951180290","https://openalex.org/W2952348863","https://openalex.org/W2963024893","https://openalex.org/W2963169347","https://openalex.org/W2963588253","https://openalex.org/W2964019655","https://openalex.org/W2964175348","https://openalex.org/W2964314455","https://openalex.org/W2965100203","https://openalex.org/W2969050209","https://openalex.org/W2983104849","https://openalex.org/W2983230029","https://openalex.org/W2997032998","https://openalex.org/W2997532328","https://openalex.org/W3000674297","https://openalex.org/W3001696250","https://openalex.org/W3003604506","https://openalex.org/W3004543888","https://openalex.org/W3013299216","https://openalex.org/W3015235064","https://openalex.org/W3034275286","https://openalex.org/W3034543232","https://openalex.org/W3089445412","https://openalex.org/W3099455272","https://openalex.org/W3100901464","https://openalex.org/W3106302529","https://openalex.org/W3106440972","https://openalex.org/W3109995084","https://openalex.org/W3118687205","https://openalex.org/W3124420883","https://openalex.org/W4229626506","https://openalex.org/W4249736682","https://openalex.org/W4297779075","https://openalex.org/W6604759721","https://openalex.org/W6634817459","https://openalex.org/W6742151855","https://openalex.org/W6755668676"],"related_works":["https://openalex.org/W28570768","https://openalex.org/W2943623134","https://openalex.org/W2494523064","https://openalex.org/W3125070615","https://openalex.org/W2912965286","https://openalex.org/W2215759665","https://openalex.org/W1750372561","https://openalex.org/W1501082329","https://openalex.org/W1991381172","https://openalex.org/W2988849960"],"abstract_inverted_index":{"Simultaneous":[0],"localization":[1],"and":[2,53,134,174,183,190,216],"mapping":[3],"(SLAM)":[4],"system":[5,69,207],"typically":[6],"employs":[7],"vision-based":[8],"sensors":[9,55],"to":[10,111,140,162],"observe":[11],"the":[12,16,24,35,64,75,84,90,94,120,127,135,142],"surrounding":[13],"environment.":[14],"However,":[15],"performance":[17],"of":[18,37,122,129,137,213],"such":[19,46],"systems":[20],"highly":[21],"depends":[22],"on":[23,50],"ambient":[25],"illumination":[26],"conditions.":[27],"In":[28,59],"scenarios":[29],"with":[30,79],"adverse":[31,217],"visibility":[32],"or":[33],"in":[34,74,83,93,187,196,211],"presence":[36],"airborne":[38],"particulates":[39],"(e.g.,":[40],"smoke,":[41],"dust,":[42],"etc.),":[43],"alternative":[44],"modalities":[45],"as":[47],"those":[48],"based":[49],"thermal":[51,117,167],"imaging":[52],"inertial":[54],"are":[56,119],"more":[57],"promising.":[58],"this":[60,114],"article,":[61],"we":[62,151,200],"propose":[63],"first":[65],"complete":[66],"thermal\u2013inertial":[67,205],"SLAM":[68,76,85,149,206],"that":[70,159,202],"combines":[71],"neural":[72],"abstraction":[73,92],"front":[77,95],"end":[78,96],"robust":[80],"pose-graph":[81],"optimization":[82],"back":[86],"end.":[87],"We":[88,170],"model":[89,113],"sensor":[91],"by":[97,103],"employing":[98],"probabilistic":[99],"deep":[100],"learning":[101],"parameterized":[102],"mixture":[104],"density":[105],"networks":[106],"(MDNs).":[107],"Our":[108],"key":[109],"strategies":[110],"successfully":[112],"encoding":[115],"from":[116,166],"imagery":[118],"usage":[121],"normalized":[123],"14-b":[124],"radiometric":[125],"data,":[126],"incorporation":[128],"hallucinated":[130],"visual":[131],"(RGB)":[132],"features,":[133],"inclusion":[136],"feature":[138],"selection":[139],"estimate":[141],"MDN":[143],"parameters.":[144],"To":[145],"enable":[146],"a":[147],"full":[148],"system,":[150],"also":[152],"design":[153],"an":[154,203],"efficient":[155],"global":[156],"image":[157],"descriptor":[158],"is":[160],"able":[161],"detect":[163],"loop":[164],"closures":[165],"embedding":[168],"vectors.":[169],"performed":[171],"extensive":[172],"experiments":[173],"analysis":[175],"using":[176],"three":[177],"datasets,":[178],"namely":[179],"self-collected":[180],"ground":[181],"robot":[182],"hand-held":[184],"data":[185],"taken":[186],"indoor":[188],"environment,":[189],"one":[191],"public":[192],"dataset":[193],"(SubT-tunnel)":[194],"collected":[195],"underground":[197],"tunnel.":[198],"Finally,":[199],"demonstrate":[201],"accurate":[204],"can":[208],"be":[209],"realized":[210],"conditions":[212],"both":[214],"benign":[215],"visibility.":[218]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":13},{"year":2022,"cited_by_count":6}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}