{"id":"https://openalex.org/W2124271771","doi":"https://doi.org/10.1177/0278364914548708","title":"Place recognition based on matching of planar surfaces and line segments","display_name":"Place recognition based on matching of planar surfaces and line segments","publication_year":2015,"publication_date":"2015-01-21","ids":{"openalex":"https://openalex.org/W2124271771","doi":"https://doi.org/10.1177/0278364914548708","mag":"2124271771"},"language":"en","primary_location":{"id":"doi:10.1177/0278364914548708","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364914548708","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5010267033","display_name":"Robert Cupec","orcid":"https://orcid.org/0000-0003-4451-7952"},"institutions":[{"id":"https://openalex.org/I51314090","display_name":"University of Osijek","ror":"https://ror.org/05sw4wc49","country_code":"HR","type":"education","lineage":["https://openalex.org/I51314090"]}],"countries":["HR"],"is_corresponding":true,"raw_author_name":"Robert Cupec","raw_affiliation_strings":["Faculty of Electrical Engineering, J. J. Strossmayer University of Osijek, Osijek, Croatia","Faculty of Electrical Engineering, J. J. Strossmayer University of Osijek, Osijek, Croatia#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering, J. J. Strossmayer University of Osijek, Osijek, Croatia","institution_ids":["https://openalex.org/I51314090"]},{"raw_affiliation_string":"Faculty of Electrical Engineering, J. J. Strossmayer University of Osijek, Osijek, Croatia#TAB#","institution_ids":["https://openalex.org/I51314090"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083392033","display_name":"Emmanuel Karlo Nyarko","orcid":"https://orcid.org/0000-0001-8041-3646"},"institutions":[{"id":"https://openalex.org/I51314090","display_name":"University of Osijek","ror":"https://ror.org/05sw4wc49","country_code":"HR","type":"education","lineage":["https://openalex.org/I51314090"]}],"countries":["HR"],"is_corresponding":false,"raw_author_name":"Emmanuel Karlo Nyarko","raw_affiliation_strings":["Faculty of Electrical Engineering, J. J. Strossmayer University of Osijek, Osijek, Croatia","Faculty of Electrical Engineering, J. J. Strossmayer University of Osijek, Osijek, Croatia#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering, J. J. Strossmayer University of Osijek, Osijek, Croatia","institution_ids":["https://openalex.org/I51314090"]},{"raw_affiliation_string":"Faculty of Electrical Engineering, J. J. Strossmayer University of Osijek, Osijek, Croatia#TAB#","institution_ids":["https://openalex.org/I51314090"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017016650","display_name":"Damir Filko","orcid":null},"institutions":[{"id":"https://openalex.org/I51314090","display_name":"University of Osijek","ror":"https://ror.org/05sw4wc49","country_code":"HR","type":"education","lineage":["https://openalex.org/I51314090"]}],"countries":["HR"],"is_corresponding":false,"raw_author_name":"Damir Filko","raw_affiliation_strings":["Faculty of Electrical Engineering, J. J. Strossmayer University of Osijek, Osijek, Croatia","Faculty of Electrical Engineering, J. J. Strossmayer University of Osijek, Osijek, Croatia#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering, J. J. Strossmayer University of Osijek, Osijek, Croatia","institution_ids":["https://openalex.org/I51314090"]},{"raw_affiliation_string":"Faculty of Electrical Engineering, J. J. Strossmayer University of Osijek, Osijek, Croatia#TAB#","institution_ids":["https://openalex.org/I51314090"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087987221","display_name":"Andrej Kitanov","orcid":"https://orcid.org/0000-0002-4183-2896"},"institutions":[{"id":"https://openalex.org/I181343428","display_name":"University of Zagreb","ror":"https://ror.org/00mv6sv71","country_code":"HR","type":"education","lineage":["https://openalex.org/I181343428"]}],"countries":["HR"],"is_corresponding":false,"raw_author_name":"Andrej Kitanov","raw_affiliation_strings":["Faculty of Electrical Engineering and Computing, University of Zagreb, Zagreb, Croatia","Faculty of Electrical Engineering and Computing, University of Zagreb , Zagreb, Croatia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering and Computing, University of Zagreb, Zagreb, Croatia","institution_ids":["https://openalex.org/I181343428"]},{"raw_affiliation_string":"Faculty of Electrical Engineering and Computing, University of Zagreb , Zagreb, Croatia","institution_ids":["https://openalex.org/I181343428"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001473761","display_name":"Ivan Petrovi\u0107","orcid":"https://orcid.org/0000-0001-9961-5627"},"institutions":[{"id":"https://openalex.org/I181343428","display_name":"University of Zagreb","ror":"https://ror.org/00mv6sv71","country_code":"HR","type":"education","lineage":["https://openalex.org/I181343428"]}],"countries":["HR"],"is_corresponding":false,"raw_author_name":"Ivan Petrovi\u0107","raw_affiliation_strings":["Faculty of Electrical Engineering and Computing, University of Zagreb, Zagreb, Croatia","Faculty of Electrical Engineering and Computing, University of Zagreb , Zagreb, Croatia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering and Computing, University of Zagreb, Zagreb, Croatia","institution_ids":["https://openalex.org/I181343428"]},{"raw_affiliation_string":"Faculty of Electrical Engineering and Computing, University of Zagreb , Zagreb, Croatia","institution_ids":["https://openalex.org/I181343428"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5010267033"],"corresponding_institution_ids":["https://openalex.org/I51314090"],"apc_list":null,"apc_paid":null,"fwci":64.1753,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":{"value":0.99606132,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"34","issue":"4-5","first_page":"674","last_page":"704"},"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":0.9988999962806702,"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":0.9983999729156494,"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":0.7350509166717529},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.6746266484260559},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6626077890396118},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.6582417488098145},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6459170579910278},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.6413953900337219},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.6056740283966064},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.5803873538970947},{"id":"https://openalex.org/keywords/line","display_name":"Line (geometry)","score":0.5563769936561584},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.5548454523086548},{"id":"https://openalex.org/keywords/line-segment","display_name":"Line segment","score":0.5534588694572449},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5476294755935669},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.5368343591690063},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5344730019569397},{"id":"https://openalex.org/keywords/vanishing-point","display_name":"Vanishing point","score":0.4798238277435303},{"id":"https://openalex.org/keywords/surface","display_name":"Surface (topology)","score":0.4438125193119049},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.23907598853111267},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20038986206054688},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.17311283946037292},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.13243970274925232}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7350509166717529},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.6746266484260559},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6626077890396118},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.6582417488098145},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6459170579910278},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.6413953900337219},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.6056740283966064},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.5803873538970947},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.5563769936561584},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.5548454523086548},{"id":"https://openalex.org/C182124507","wikidata":"https://www.wikidata.org/wiki/Q166154","display_name":"Line segment","level":2,"score":0.5534588694572449},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5476294755935669},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.5368343591690063},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5344730019569397},{"id":"https://openalex.org/C99404194","wikidata":"https://www.wikidata.org/wiki/Q163362","display_name":"Vanishing point","level":3,"score":0.4798238277435303},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.4438125193119049},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.23907598853111267},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20038986206054688},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.17311283946037292},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.13243970274925232},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/0278364914548708","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364914548708","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"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8399999737739563,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W1677409904","https://openalex.org/W1831201595","https://openalex.org/W1965851203","https://openalex.org/W1977387474","https://openalex.org/W1980549145","https://openalex.org/W1981934656","https://openalex.org/W1981962374","https://openalex.org/W1989484209","https://openalex.org/W1989976536","https://openalex.org/W2015349799","https://openalex.org/W2016637067","https://openalex.org/W2028310195","https://openalex.org/W2030987944","https://openalex.org/W2038694110","https://openalex.org/W2051859908","https://openalex.org/W2055289854","https://openalex.org/W2073660060","https://openalex.org/W2078576466","https://openalex.org/W2085261163","https://openalex.org/W2086504823","https://openalex.org/W2095761085","https://openalex.org/W2096362853","https://openalex.org/W2106199912","https://openalex.org/W2110405746","https://openalex.org/W2113560487","https://openalex.org/W2116191958","https://openalex.org/W2117354270","https://openalex.org/W2119605622","https://openalex.org/W2132512702","https://openalex.org/W2142567689","https://openalex.org/W2151103935","https://openalex.org/W2165213665","https://openalex.org/W2177031017","https://openalex.org/W2293047233","https://openalex.org/W2328737820","https://openalex.org/W2329985799","https://openalex.org/W2336416123","https://openalex.org/W2509493982","https://openalex.org/W2597507805","https://openalex.org/W2613501150","https://openalex.org/W4400518895"],"related_works":["https://openalex.org/W4320086129","https://openalex.org/W4386085495","https://openalex.org/W2601467812","https://openalex.org/W2506376595","https://openalex.org/W2800988540","https://openalex.org/W2164847519","https://openalex.org/W2434409560","https://openalex.org/W1575787272","https://openalex.org/W1990238906","https://openalex.org/W2284162084"],"abstract_inverted_index":{"This":[0],"paper":[1],"considers":[2],"the":[3,50,75,90,95,118,126,131,146,178,187,195],"potential":[4,123],"of":[5,33,49,65,68,82,92,155,189,194],"using":[6],"three-dimensional":[7],"(3D)":[8],"planar":[9,83],"surfaces":[10],"and":[11,35,86,104,186,200],"line":[12,36,87],"segments":[13,85,88],"detected":[14],"in":[15,54,74,94,177,183],"depth":[16,40,174],"images":[17,41,175],"for":[18,102,134,144],"place":[19,22],"recognition.":[20],"A":[21,107,192],"recognition":[23],"method":[24,99,143,197],"is":[25,28,100,114,150,166,202],"presented":[26,98],"that":[27,116,152],"based":[29],"on":[30,169],"matching":[31,154],"sets":[32],"surface":[34,84],"features":[37,48,119],"extracted":[38],"from":[39],"provided":[42],"by":[43],"a":[44,55,66,140,170],"3D":[45],"camera":[46],"to":[47,121,125,198],"same":[51],"type":[52],"contained":[53],"previously":[56],"created":[57],"environment":[58,62,180],"model.":[59],"The":[60,97,163],"considered":[61],"model":[63,80],"consists":[64,81],"set":[67],"local":[69,79],"models":[70],"representing":[71,89],"particular":[72],"locations":[73],"modeled":[76],"environment.":[77,96],"Each":[78],"edges":[91],"objects":[93],"designed":[101],"indoor":[103,179],"urban":[105],"environments.":[106],"computationally":[108],"efficient":[109],"pose":[110,127,137,148],"hypothesis":[111,149],"generation":[112],"approach":[113,165],"proposed":[115,151,164,196],"ranks":[117],"according":[120],"their":[122],"contribution":[124],"information,":[128],"thereby":[129],"reducing":[130],"time":[132],"needed":[133],"obtaining":[135],"accurate":[136],"estimation.":[138],"Furthermore,":[139],"robust":[141],"probabilistic":[142],"selecting":[145],"best":[147],"allows":[153],"partially":[156],"overlapping":[157],"point":[158],"clouds":[159],"with":[160,181],"gross":[161],"outliers.":[162],"experimentally":[167],"tested":[168],"benchmark":[171],"dataset":[172],"containing":[173],"acquired":[176],"changes":[182],"lighting":[184],"conditions":[185],"presence":[188],"moving":[190],"objects.":[191],"comparison":[193],"FAB-MAP":[199],"DLoopDetector":[201],"reported.":[203]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":1}],"updated_date":"2026-05-03T06:03:33.228499","created_date":"2025-10-10T00:00:00"}
