{"id":"https://openalex.org/W2165213665","doi":"https://doi.org/10.1177/0278364911405086","title":"Learning to close loops from range data","display_name":"Learning to close loops from range data","publication_year":2011,"publication_date":"2011-06-22","ids":{"openalex":"https://openalex.org/W2165213665","doi":"https://doi.org/10.1177/0278364911405086","mag":"2165213665"},"language":"en","primary_location":{"id":"doi:10.1177/0278364911405086","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364911405086","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-74163","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5027594680","display_name":"Karl Granstr\u00f6m","orcid":"https://orcid.org/0000-0002-3450-988X"},"institutions":[{"id":"https://openalex.org/I102134673","display_name":"Link\u00f6ping University","ror":"https://ror.org/05ynxx418","country_code":"SE","type":"education","lineage":["https://openalex.org/I102134673"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Karl Granstr\u00f6m","raw_affiliation_strings":["Division of Automatic Control, Department of Electrical Engineering, Link\u00f6ping University, Link\u00f6ping, Sweden"],"affiliations":[{"raw_affiliation_string":"Division of Automatic Control, Department of Electrical Engineering, Link\u00f6ping University, Link\u00f6ping, Sweden","institution_ids":["https://openalex.org/I102134673"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083090794","display_name":"Thomas B. Sch\u00f6n","orcid":"https://orcid.org/0000-0001-5183-234X"},"institutions":[{"id":"https://openalex.org/I102134673","display_name":"Link\u00f6ping University","ror":"https://ror.org/05ynxx418","country_code":"SE","type":"education","lineage":["https://openalex.org/I102134673"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Thomas B Sch\u00f6n","raw_affiliation_strings":["Division of Automatic Control, Department of Electrical Engineering, Link\u00f6ping University, Link\u00f6ping, Sweden"],"affiliations":[{"raw_affiliation_string":"Division of Automatic Control, Department of Electrical Engineering, Link\u00f6ping University, Link\u00f6ping, Sweden","institution_ids":["https://openalex.org/I102134673"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059792297","display_name":"Juan Nieto","orcid":"https://orcid.org/0000-0003-4808-0831"},"institutions":[{"id":"https://openalex.org/I129604602","display_name":"University of Sydney","ror":"https://ror.org/0384j8v12","country_code":"AU","type":"education","lineage":["https://openalex.org/I129604602"]},{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Juan I Nieto","raw_affiliation_strings":["Australian Centre for Field Robotics, University of Sydney, Sydney, Australia"],"affiliations":[{"raw_affiliation_string":"Australian Centre for Field Robotics, University of Sydney, Sydney, Australia","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I129604602"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5062619542","display_name":"F\u00e1bio Ramos","orcid":"https://orcid.org/0000-0002-2996-2188"},"institutions":[{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]},{"id":"https://openalex.org/I129604602","display_name":"University of Sydney","ror":"https://ror.org/0384j8v12","country_code":"AU","type":"education","lineage":["https://openalex.org/I129604602"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Fabio T Ramos","raw_affiliation_strings":["School of Information Technologies, Australian Centre for Field Robotics, University of Sydney, Sydney, Australia"],"affiliations":[{"raw_affiliation_string":"School of Information Technologies, Australian Centre for Field Robotics, University of Sydney, Sydney, Australia","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I129604602"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5027594680"],"corresponding_institution_ids":["https://openalex.org/I102134673"],"apc_list":null,"apc_paid":null,"fwci":121.0704,"has_fulltext":false,"cited_by_count":66,"citation_normalized_percentile":{"value":0.99856457,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"30","issue":"14","first_page":"1728","last_page":"1754"},"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9990000128746033,"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"}},{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9972000122070312,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.8226081132888794},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6592016220092773},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6418229937553406},{"id":"https://openalex.org/keywords/pairwise-comparison","display_name":"Pairwise comparison","score":0.6053375005722046},{"id":"https://openalex.org/keywords/classifier","display_name":"Classifier (UML)","score":0.5094066262245178},{"id":"https://openalex.org/keywords/for-loop","display_name":"For loop","score":0.4905056357383728},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.481052428483963},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.44176849722862244},{"id":"https://openalex.org/keywords/adaboost","display_name":"AdaBoost","score":0.4410865604877472},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4379598796367645},{"id":"https://openalex.org/keywords/constant-false-alarm-rate","display_name":"Constant false alarm rate","score":0.4360570013523102},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.406322181224823},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3760870397090912},{"id":"https://openalex.org/keywords/loop","display_name":"Loop (graph theory)","score":0.33898067474365234},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2527581453323364},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2025507092475891},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.10146042704582214}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.8226081132888794},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6592016220092773},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6418229937553406},{"id":"https://openalex.org/C184898388","wikidata":"https://www.wikidata.org/wiki/Q1435712","display_name":"Pairwise comparison","level":2,"score":0.6053375005722046},{"id":"https://openalex.org/C95623464","wikidata":"https://www.wikidata.org/wiki/Q1096149","display_name":"Classifier (UML)","level":2,"score":0.5094066262245178},{"id":"https://openalex.org/C2779624466","wikidata":"https://www.wikidata.org/wiki/Q838119","display_name":"For loop","level":3,"score":0.4905056357383728},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.481052428483963},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.44176849722862244},{"id":"https://openalex.org/C141404830","wikidata":"https://www.wikidata.org/wiki/Q2823869","display_name":"AdaBoost","level":3,"score":0.4410865604877472},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4379598796367645},{"id":"https://openalex.org/C77052588","wikidata":"https://www.wikidata.org/wiki/Q644307","display_name":"Constant false alarm rate","level":2,"score":0.4360570013523102},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.406322181224823},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3760870397090912},{"id":"https://openalex.org/C184670325","wikidata":"https://www.wikidata.org/wiki/Q512604","display_name":"Loop (graph theory)","level":2,"score":0.33898067474365234},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2527581453323364},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2025507092475891},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.10146042704582214},{"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/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1177/0278364911405086","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364911405086","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.221.5932","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.221.5932","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.control.isy.liu.se/%7Eschon/Publications/GranstromSNR2011.pdf","raw_type":"text"},{"id":"pmh:oai:DiVA.org:liu-74163","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-74163","pdf_url":null,"source":{"id":"https://openalex.org/S4306401559","display_name":"KTH Publication Database DiVA (KTH Royal Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article in journal"}],"best_oa_location":{"id":"pmh:oai:DiVA.org:liu-74163","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-74163","pdf_url":null,"source":{"id":"https://openalex.org/S4306401559","display_name":"KTH Publication Database DiVA (KTH Royal Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article in journal"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":55,"referenced_works":["https://openalex.org/W101785966","https://openalex.org/W113592635","https://openalex.org/W250466150","https://openalex.org/W1506806321","https://openalex.org/W1549613529","https://openalex.org/W1564871316","https://openalex.org/W1567242735","https://openalex.org/W1582253704","https://openalex.org/W1596086302","https://openalex.org/W1604146846","https://openalex.org/W1752024295","https://openalex.org/W1891947214","https://openalex.org/W1894548024","https://openalex.org/W1929473504","https://openalex.org/W1976809435","https://openalex.org/W1977464512","https://openalex.org/W1982452847","https://openalex.org/W1986298071","https://openalex.org/W1988790447","https://openalex.org/W1997645979","https://openalex.org/W2006548260","https://openalex.org/W2029449100","https://openalex.org/W2038694110","https://openalex.org/W2043488348","https://openalex.org/W2049981393","https://openalex.org/W2052014837","https://openalex.org/W2057175746","https://openalex.org/W2063549868","https://openalex.org/W2099606917","https://openalex.org/W2101345862","https://openalex.org/W2101992557","https://openalex.org/W2108833445","https://openalex.org/W2111957821","https://openalex.org/W2112669647","https://openalex.org/W2115990511","https://openalex.org/W2117892041","https://openalex.org/W2118104180","https://openalex.org/W2126836596","https://openalex.org/W2129078811","https://openalex.org/W2131439959","https://openalex.org/W2131546647","https://openalex.org/W2131821152","https://openalex.org/W2132631693","https://openalex.org/W2133759223","https://openalex.org/W2134556823","https://openalex.org/W2144824356","https://openalex.org/W2148228392","https://openalex.org/W2162161345","https://openalex.org/W2162536300","https://openalex.org/W2167353731","https://openalex.org/W2173782939","https://openalex.org/W2293047233","https://openalex.org/W3083656528","https://openalex.org/W3097096317","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W1535005230","https://openalex.org/W4292862563","https://openalex.org/W2074515009","https://openalex.org/W2970243024","https://openalex.org/W4324290685","https://openalex.org/W2979718872","https://openalex.org/W2003125512","https://openalex.org/W3209959857","https://openalex.org/W4286889050","https://openalex.org/W2165213665"],"abstract_inverted_index":{"In":[0,150],"this":[1],"paper":[2],"we":[3],"address":[4],"the":[5,24,60,87,165],"loop":[6,76,99],"closure":[7,77,100],"detection":[8,88],"problem":[9,25],"in":[10,32,86],"simultaneous":[11],"localization":[12],"and":[13,18,35,50,116,129,145,153],"mapping":[14],"(":[15],"slam":[16],"),":[17],"present":[19],"a":[20,70],"method":[21],"for":[22,131,138],"solving":[23],"using":[26,44,94,112,159],"pairwise":[27],"comparison":[28],"of":[29,74,80,126],"point":[30,39,81,84],"clouds":[31,40],"both":[33,151],"two":[34,152],"three":[36,154],"dimensions.":[37],"The":[38,53,108],"are":[41,55,136,157],"mathematically":[42],"described":[43],"features":[45,54],"that":[46,164],"capture":[47],"important":[48],"geometric":[49],"statistical":[51],"properties.":[52],"used":[56,67],"as":[57],"input":[58],"to":[59,68,119],"machine":[61],"learning":[62],"algorithm":[63,167],"AdaBoost,":[64],"which":[65],"is":[66,90,110,117],"build":[69],"non-linear":[71],"classifier":[72,109],"capable":[73],"detecting":[75],"from":[78,104],"pairs":[79],"clouds.":[82],"Vantage":[83],"dependency":[85],"process":[89],"eliminated":[91],"by":[92],"only":[93],"rotation":[95],"invariant":[96],"features,":[97],"thus":[98],"can":[101],"be":[102],"detected":[103],"an":[105],"arbitrary":[106],"direction.":[107],"evaluated":[111],"publicly":[113,160],"available":[114,161],"data,":[115,141,148,162],"shown":[118],"generalize":[120],"well":[121],"between":[122],"environments.":[123],"Detection":[124],"rates":[125],"66%,":[127],"63%":[128],"53%":[130],"0%":[132],"false":[133],"alarm":[134],"rate":[135],"achieved":[137],"2D":[139],"outdoor":[140,143],"3D":[142,146],"data":[144],"indoor":[147],"respectively.":[149],"dimensions,":[155],"experiments":[156],"performed":[158],"showing":[163],"proposed":[166],"compares":[168],"favourably":[169],"with":[170],"related":[171],"work.":[172]},"counts_by_year":[{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":8},{"year":2016,"cited_by_count":8},{"year":2015,"cited_by_count":8},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":10},{"year":2012,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}