{"id":"https://openalex.org/W2276148615","doi":"https://doi.org/10.1177/0278364915619238","title":"A constant-time SLAM back-end in the continuum between global mapping and submapping: application to visual stereo SLAM","display_name":"A constant-time SLAM back-end in the continuum between global mapping and submapping: application to visual stereo SLAM","publication_year":2015,"publication_date":"2015-12-30","ids":{"openalex":"https://openalex.org/W2276148615","doi":"https://doi.org/10.1177/0278364915619238","mag":"2276148615"},"language":"en","primary_location":{"id":"doi:10.1177/0278364915619238","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364915619238","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":"https://hdl.handle.net/10630/29781","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5045175396","display_name":"Francisco-\u00c1ngel Moreno","orcid":"https://orcid.org/0000-0003-2997-7571"},"institutions":[{"id":"https://openalex.org/I82767444","display_name":"Universidad de M\u00e1laga","ror":"https://ror.org/036b2ww28","country_code":"ES","type":"education","lineage":["https://openalex.org/I82767444"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Francisco-Angel Moreno","raw_affiliation_strings":["MAPIR-UMA Group, Departamento Ingenier\u00eda de Sistemas y Autom\u00e1tica, Universidad de M\u00e1laga, M\u00e1laga, Spain"],"affiliations":[{"raw_affiliation_string":"MAPIR-UMA Group, Departamento Ingenier\u00eda de Sistemas y Autom\u00e1tica, Universidad de M\u00e1laga, M\u00e1laga, Spain","institution_ids":["https://openalex.org/I82767444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100772672","display_name":"Jose\u2010Luis Blanco","orcid":"https://orcid.org/0000-0002-9745-285X"},"institutions":[{"id":"https://openalex.org/I52354020","display_name":"University of Almer\u00eda","ror":"https://ror.org/003d3xx08","country_code":"ES","type":"education","lineage":["https://openalex.org/I52354020"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Jose-Luis Blanco","raw_affiliation_strings":["Engineering Department, University of Almer\u00eda, Spain"],"affiliations":[{"raw_affiliation_string":"Engineering Department, University of Almer\u00eda, Spain","institution_ids":["https://openalex.org/I52354020"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070626607","display_name":"Javier Gonz\u00e1lez-Jim\u00e9nez","orcid":"https://orcid.org/0000-0003-3845-3497"},"institutions":[{"id":"https://openalex.org/I82767444","display_name":"Universidad de M\u00e1laga","ror":"https://ror.org/036b2ww28","country_code":"ES","type":"education","lineage":["https://openalex.org/I82767444"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Javier Gonzalez-Jimenez","raw_affiliation_strings":["MAPIR-UMA Group, Departamento Ingenier\u00eda de Sistemas y Autom\u00e1tica, Universidad de M\u00e1laga, M\u00e1laga, Spain"],"affiliations":[{"raw_affiliation_string":"MAPIR-UMA Group, Departamento Ingenier\u00eda de Sistemas y Autom\u00e1tica, Universidad de M\u00e1laga, M\u00e1laga, Spain","institution_ids":["https://openalex.org/I82767444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5045175396"],"corresponding_institution_ids":["https://openalex.org/I82767444"],"apc_list":null,"apc_paid":null,"fwci":4.8647,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.94529739,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"35","issue":"9","first_page":"1036","last_page":"1056"},"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":0.9993000030517578,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9991999864578247,"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/bundle-adjustment","display_name":"Bundle adjustment","score":0.7676498889923096},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.6069198846817017},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5967360734939575},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5635029673576355},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.49818921089172363},{"id":"https://openalex.org/keywords/bundle","display_name":"Bundle","score":0.4925409257411957},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.4197740852832794},{"id":"https://openalex.org/keywords/time-complexity","display_name":"Time complexity","score":0.4139205813407898},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.40931326150894165},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3762085437774658},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3578492999076843},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.3312392830848694},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.26538655161857605},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.21278375387191772},{"id":"https://openalex.org/keywords/photogrammetry","display_name":"Photogrammetry","score":0.1008821427822113},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.09408256411552429}],"concepts":[{"id":"https://openalex.org/C179458375","wikidata":"https://www.wikidata.org/wiki/Q1020763","display_name":"Bundle adjustment","level":3,"score":0.7676498889923096},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.6069198846817017},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5967360734939575},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5635029673576355},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.49818921089172363},{"id":"https://openalex.org/C2778134712","wikidata":"https://www.wikidata.org/wiki/Q1047307","display_name":"Bundle","level":2,"score":0.4925409257411957},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.4197740852832794},{"id":"https://openalex.org/C311688","wikidata":"https://www.wikidata.org/wiki/Q2393193","display_name":"Time complexity","level":2,"score":0.4139205813407898},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.40931326150894165},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3762085437774658},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3578492999076843},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.3312392830848694},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.26538655161857605},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.21278375387191772},{"id":"https://openalex.org/C117455697","wikidata":"https://www.wikidata.org/wiki/Q190149","display_name":"Photogrammetry","level":2,"score":0.1008821427822113},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.09408256411552429},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1177/0278364915619238","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364915619238","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:riuma.uma.es:10630/29781","is_oa":true,"landing_page_url":"https://hdl.handle.net/10630/29781","pdf_url":null,"source":{"id":"https://openalex.org/S4306401385","display_name":"Repositorio Institucional de la Universidad de M\u00e1laga (University of M\u00e1laga)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I82767444","host_organization_name":"Universidad de M\u00e1laga","host_organization_lineage":["https://openalex.org/I82767444"],"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":null,"raw_type":"AM"}],"best_oa_location":{"id":"pmh:oai:riuma.uma.es:10630/29781","is_oa":true,"landing_page_url":"https://hdl.handle.net/10630/29781","pdf_url":null,"source":{"id":"https://openalex.org/S4306401385","display_name":"Repositorio Institucional de la Universidad de M\u00e1laga (University of M\u00e1laga)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I82767444","host_organization_name":"Universidad de M\u00e1laga","host_organization_lineage":["https://openalex.org/I82767444"],"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":null,"raw_type":"AM"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W49679257","https://openalex.org/W88434223","https://openalex.org/W1484371059","https://openalex.org/W1491719799","https://openalex.org/W1520511539","https://openalex.org/W1532362218","https://openalex.org/W1612997784","https://openalex.org/W1670818045","https://openalex.org/W1764434803","https://openalex.org/W1795768933","https://openalex.org/W1968315983","https://openalex.org/W1980073965","https://openalex.org/W1989484209","https://openalex.org/W1989880412","https://openalex.org/W1991793962","https://openalex.org/W1992830068","https://openalex.org/W2006368361","https://openalex.org/W2013175505","https://openalex.org/W2029780423","https://openalex.org/W2039638466","https://openalex.org/W2052972204","https://openalex.org/W2068057901","https://openalex.org/W2097771816","https://openalex.org/W2107772635","https://openalex.org/W2113685147","https://openalex.org/W2117228865","https://openalex.org/W2121013842","https://openalex.org/W2124313187","https://openalex.org/W2137052305","https://openalex.org/W2143821808","https://openalex.org/W2150066425","https://openalex.org/W2151290401","https://openalex.org/W2155695215","https://openalex.org/W2162161345","https://openalex.org/W2162693888","https://openalex.org/W2167222293","https://openalex.org/W2246690291","https://openalex.org/W2295583866","https://openalex.org/W2336416123","https://openalex.org/W2342204193","https://openalex.org/W2489822048","https://openalex.org/W3103648783","https://openalex.org/W3138807513","https://openalex.org/W3157685993","https://openalex.org/W4246483956"],"related_works":["https://openalex.org/W17155033","https://openalex.org/W3207760230","https://openalex.org/W1496222301","https://openalex.org/W159468655","https://openalex.org/W2371097030","https://openalex.org/W2110862966","https://openalex.org/W2887696904","https://openalex.org/W2020684218","https://openalex.org/W3033220023","https://openalex.org/W2963200201"],"abstract_inverted_index":{"This":[0,60],"work":[1,160],"addresses":[2],"the":[3,19,23,78,86,102,108,122,139,158,162,168,176,196,261,269,273],"development":[4],"and":[5,203,227,237,254,272],"application":[6],"of":[7,22,33,77,124,157,198,249,263,268],"a":[8,31,56,98,183,208,213,231,238,247],"novel":[9],"approach,":[10],"called":[11],"sparser":[12],"relative":[13,24,90],"bundle":[14,25,43],"adjustment":[15,26,44],"(SRBA),":[16],"which":[17,89],"exploits":[18],"inherent":[20],"flexibility":[21],"(RBA)":[27],"framework":[28],"to":[29,41,63,149,259],"devise":[30],"continuum":[32],"strategies,":[34],"ranging":[35],"from":[36],"RBA":[37],"with":[38,51,143,230],"linear":[39],"graphs":[40,64],"classic":[42],"(BA)":[45],"in":[46,69,88,118,138,175,251],"global":[47],"coordinates,":[48],"where":[49],"submapping":[50],"local":[52,126],"maps":[53,127],"emerges":[54],"as":[55,224,243],"natural":[57],"intermediate":[58],"solution.":[59],"method":[61],"leads":[62],"that":[65,85,211,215,241],"can":[66,112,178],"be":[67,113,179],"optimized":[68],"bounded":[70],"time":[71],"even":[72,186],"at":[73],"loop":[74,79],"closures,":[75],"regardless":[76],"length.":[80],"Furthermore,":[81],"it":[82],"is":[83,161,257],"shown":[84],"pattern":[87],"coordinate":[91],"variables":[92],"are":[93,147],"defined":[94],"among":[95],"keyframes":[96],"has":[97],"significant":[99],"impact":[100],"on":[101],"graph":[103,140,189,244],"optimization":[104,111,123],"problem.":[105],"By":[106],"using":[107],"proposed":[109],"scheme,":[110],"done":[114],"more":[115],"efficiently":[116],"than":[117],"standard":[119],"RBA,":[120],"allowing":[121],"larger":[125],"for":[128,171,187,234],"any":[129],"given":[130],"maximum":[131],"computational":[132],"cost.":[133],"The":[134],"main":[135],"algorithms":[136],"involved":[137],"management,":[141],"along":[142,229],"their":[144,151],"complexity":[145],"analyses,":[146],"presented":[148,258],"prove":[150],"bounded-time":[152],"nature.":[153],"One":[154],"key":[155],"advance":[156],"present":[159],"demonstration":[163],"that,":[164],"under":[165],"mild":[166],"assumptions,":[167],"spanning":[169],"trees":[170],"every":[172],"single":[173],"keyframe":[174,235],"map":[177],"incrementally":[180],"built":[181],"by":[182,206],"constant-time":[184],"algorithm,":[185],"arbitrary":[188],"topologies.":[190],"We":[191],"validate":[192],"our":[193],"proposal":[194],"within":[195],"scope":[197],"visual":[199],"stereo":[200,274],"simultaneous":[201],"localization":[202],"mapping":[204],"(SLAM)":[205],"developing":[207],"complete":[209],"system":[210],"includes":[212],"front-end":[214,275],"seamlessly":[216],"integrates":[217],"several":[218],"state-of-the-art":[219],"computer":[220],"vision":[221],"techniques":[222],"such":[223],"ORB":[225],"features":[226],"bag-of-words,":[228],"decision":[232],"scheme":[233],"insertion":[236],"SRBA-based":[239],"back-end":[240,271],"operates":[242],"optimizer.":[245],"Finally,":[246],"set":[248],"experiments":[250],"both":[252],"indoor":[253],"outdoor":[255],"conditions":[256],"test":[260],"capabilities":[262],"this":[264],"approach.":[265],"Open-source":[266],"implementations":[267],"SRBA":[270],"have":[276],"been":[277],"released":[278],"online.":[279]},"counts_by_year":[{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2016-06-24T00:00:00"}
