{"id":"https://openalex.org/W2957348723","doi":"https://doi.org/10.1177/0278364919863090","title":"SegMap: Segment-based mapping and localization using data-driven descriptors","display_name":"SegMap: Segment-based mapping and localization using data-driven descriptors","publication_year":2019,"publication_date":"2019-07-10","ids":{"openalex":"https://openalex.org/W2957348723","doi":"https://doi.org/10.1177/0278364919863090","mag":"2957348723"},"language":"en","primary_location":{"id":"doi:10.1177/0278364919863090","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364919863090","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":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1909.12837","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Renaud Dub\u00e9","orcid":null},"institutions":[{"id":"https://openalex.org/I131328143","display_name":"Union Bank of Switzerland","ror":"https://ror.org/01ekk8h85","country_code":"CH","type":"funder","lineage":["https://openalex.org/I131328143"]},{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Renaud Dub\u00e9","raw_affiliation_strings":["Autonomous Systems Lab (ASL), ETH Zurich, Switzerland","Sevensense Robotics AG, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab (ASL), ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Sevensense Robotics AG, Zurich, Switzerland","institution_ids":["https://openalex.org/I131328143"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Andrei Cramariuc","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Andrei Cramariuc","raw_affiliation_strings":["Autonomous Systems Lab (ASL), ETH Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab (ASL), ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Daniel Dugas","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Daniel Dugas","raw_affiliation_strings":["Autonomous Systems Lab (ASL), ETH Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab (ASL), ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Hannes Sommer","orcid":null},"institutions":[{"id":"https://openalex.org/I131328143","display_name":"Union Bank of Switzerland","ror":"https://ror.org/01ekk8h85","country_code":"CH","type":"funder","lineage":["https://openalex.org/I131328143"]},{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Hannes Sommer","raw_affiliation_strings":["Autonomous Systems Lab (ASL), ETH Zurich, Switzerland","Sevensense Robotics AG, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab (ASL), ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Sevensense Robotics AG, Zurich, Switzerland","institution_ids":["https://openalex.org/I131328143"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Marcin Dymczyk","orcid":null},"institutions":[{"id":"https://openalex.org/I131328143","display_name":"Union Bank of Switzerland","ror":"https://ror.org/01ekk8h85","country_code":"CH","type":"funder","lineage":["https://openalex.org/I131328143"]},{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Marcin Dymczyk","raw_affiliation_strings":["Autonomous Systems Lab (ASL), ETH Zurich, Switzerland","Sevensense Robotics AG, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab (ASL), ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Sevensense Robotics AG, Zurich, Switzerland","institution_ids":["https://openalex.org/I131328143"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Juan Nieto","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Juan Nieto","raw_affiliation_strings":["Autonomous Systems Lab (ASL), ETH Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab (ASL), ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Roland Siegwart","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Roland Siegwart","raw_affiliation_strings":["Autonomous Systems Lab (ASL), ETH Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab (ASL), ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":null,"display_name":"Cesar Cadena","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Cesar Cadena","raw_affiliation_strings":["Autonomous Systems Lab (ASL), ETH Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab (ASL), ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I131328143","https://openalex.org/I35440088"],"apc_list":null,"apc_paid":null,"fwci":152.5496,"has_fulltext":false,"cited_by_count":195,"citation_normalized_percentile":{"value":0.9995556,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"39","issue":"2-3","first_page":"339","last_page":"355"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9904000163078308,"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":0.9904000163078308,"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":0.003000000026077032,"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":0.0019000000320374966,"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/discriminative-model","display_name":"Discriminative model","score":0.7088000178337097},{"id":"https://openalex.org/keywords/semantic-mapping","display_name":"Semantic mapping","score":0.5422999858856201},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.5393000245094299},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5130000114440918},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.4690999984741211},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4650999903678894},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.42149999737739563},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.41620001196861267},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4156999886035919}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7775999903678894},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.739799976348877},{"id":"https://openalex.org/C97931131","wikidata":"https://www.wikidata.org/wiki/Q5282087","display_name":"Discriminative model","level":2,"score":0.7088000178337097},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.619700014591217},{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.5422999858856201},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.5393000245094299},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5130000114440918},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.4690999984741211},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4650999903678894},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.42149999737739563},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.41620001196861267},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4156999886035919},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.38760000467300415},{"id":"https://openalex.org/C2779188883","wikidata":"https://www.wikidata.org/wiki/Q82446","display_name":"Global Map","level":3,"score":0.3659000098705292},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.3596999943256378},{"id":"https://openalex.org/C87833898","wikidata":"https://www.wikidata.org/wiki/Q1060280","display_name":"Advanced driver assistance systems","level":2,"score":0.35530000925064087},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.3452000021934509},{"id":"https://openalex.org/C2775935494","wikidata":"https://www.wikidata.org/wiki/Q741964","display_name":"Search and rescue","level":3,"score":0.3440999984741211},{"id":"https://openalex.org/C81669768","wikidata":"https://www.wikidata.org/wiki/Q2359161","display_name":"Precision and recall","level":2,"score":0.3418999910354614},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.33329999446868896},{"id":"https://openalex.org/C66746571","wikidata":"https://www.wikidata.org/wiki/Q1134833","display_name":"ENCODE","level":3,"score":0.29600000381469727},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.29100000858306885},{"id":"https://openalex.org/C159620131","wikidata":"https://www.wikidata.org/wiki/Q1938983","display_name":"Spatial analysis","level":2,"score":0.287200003862381},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.2745000123977661},{"id":"https://openalex.org/C2779679900","wikidata":"https://www.wikidata.org/wiki/Q25304431","display_name":"Saliency map","level":3,"score":0.2646999955177307},{"id":"https://openalex.org/C27511587","wikidata":"https://www.wikidata.org/wiki/Q2178623","display_name":"Spatial relation","level":2,"score":0.2630000114440918},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.26170000433921814},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2590000033378601},{"id":"https://openalex.org/C1667742","wikidata":"https://www.wikidata.org/wiki/Q10927554","display_name":"Image retrieval","level":3,"score":0.2567000091075897}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1177/0278364919863090","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364919863090","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:arXiv.org:1909.12837","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1909.12837","pdf_url":"https://arxiv.org/pdf/1909.12837","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:infoscience.epfl.ch:271832","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/271832","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"research article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1909.12837","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1909.12837","pdf_url":"https://arxiv.org/pdf/1909.12837","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3744043568","display_name":null,"funder_award_id":"National Center of Competence in Research Robotics","funder_id":"https://openalex.org/F4320320924","funder_display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung"}],"funders":[{"id":"https://openalex.org/F4320320924","display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung","ror":"https://ror.org/00yjd3n13"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":49,"referenced_works":["https://openalex.org/W1909903157","https://openalex.org/W1955462214","https://openalex.org/W1968315983","https://openalex.org/W1972485825","https://openalex.org/W1988322066","https://openalex.org/W2028000700","https://openalex.org/W2029449100","https://openalex.org/W2096733369","https://openalex.org/W2099346911","https://openalex.org/W2105977269","https://openalex.org/W2150066425","https://openalex.org/W2157315715","https://openalex.org/W2160821342","https://openalex.org/W2165213665","https://openalex.org/W2187295369","https://openalex.org/W2211722331","https://openalex.org/W2213518912","https://openalex.org/W2229412420","https://openalex.org/W2284029970","https://openalex.org/W2296228853","https://openalex.org/W2325939864","https://openalex.org/W2411093439","https://openalex.org/W2461937780","https://openalex.org/W2524140598","https://openalex.org/W2527172881","https://openalex.org/W2556802233","https://openalex.org/W2559882727","https://openalex.org/W2566265240","https://openalex.org/W2566688177","https://openalex.org/W2734911050","https://openalex.org/W2739423245","https://openalex.org/W2742069755","https://openalex.org/W2774206966","https://openalex.org/W2794149315","https://openalex.org/W2798278946","https://openalex.org/W2876324142","https://openalex.org/W2892028890","https://openalex.org/W2962912109","https://openalex.org/W2963083779","https://openalex.org/W2963182550","https://openalex.org/W2963226018","https://openalex.org/W2963324085","https://openalex.org/W2963721253","https://openalex.org/W2963912970","https://openalex.org/W2963995491","https://openalex.org/W2964002455","https://openalex.org/W3083656528","https://openalex.org/W3100795400","https://openalex.org/W6600710366"],"related_works":[],"abstract_inverted_index":{"Precisely":[0],"estimating":[1],"a":[2,6,11,53,96,148,152,157],"robot\u2019s":[3],"pose":[4],"in":[5,22,30,67,121,160],"prior,":[7],"global":[8,42,105],"map":[9,54,109],"is":[10,119,182],"fundamental":[12],"capability":[13],"for":[14,57,101],"mobile":[15],"robotics,":[16],"e.g.,":[17],"autonomous":[18],"driving":[19,124],"or":[20],"exploration":[21],"disaster":[23],"zones.":[24],"This":[25],"task,":[26],"however,":[27],"remains":[28],"challenging":[29],"unstructured,":[31],"dynamic":[32],"environments,":[33],"where":[34],"local":[35,83],"features":[36],"are":[37],"not":[38],"discriminative":[39],"enough":[40],"and":[41,59,82,86,111,125,127,156],"scene":[43],"descriptors":[44],"only":[45],"provide":[46],"coarse":[47],"information.":[48],"We":[49,130],"therefore":[50],"present":[51],"SegMap:":[52],"representation":[55],"solution":[56],"localization":[58,154],"mapping":[60],"based":[61],"on":[62],"the":[63,73,133,173],"extraction":[64],"of":[65,75,90,117],"segments":[66,76],"3D":[68,92,107],"point":[69],"clouds.":[70],"Working":[71],"at":[72],"level":[74],"offers":[77],"increased":[78],"invariance":[79],"to":[80,171,179,188],"view-point":[81],"structural":[84],"changes,":[85],"facilitates":[87],"real-time":[88],"processing":[89],"large-scale":[91],"data.":[93],"SegMap":[94,118,135,181],"exploits":[95],"single":[97],"compact":[98],"data-driven":[99],"descriptor":[100,136],"performing":[102],"multiple":[103,122],"tasks:":[104],"localization,":[106],"dense":[108],"reconstruction,":[110],"semantic":[112],"information":[113],"extraction.":[114],"The":[115],"performance":[116],"evaluated":[120],"urban":[123],"search":[126],"rescue":[128],"experiments.":[129],"show":[131],"that":[132],"learned":[134],"has":[137],"superior":[138],"segment":[139],"retrieval":[140],"capabilities,":[141],"compared":[142],"with":[143,186],"state-of-the-art":[144,163],"handcrafted":[145,164],"descriptors.":[146,165],"As":[147],"consequence,":[149],"we":[150],"achieve":[151],"higher":[153],"accuracy":[155],"6%":[158],"increase":[159],"recall":[161],"over":[162],"These":[166],"segment-based":[167],"localizations":[168],"allow":[169],"us":[170],"reduce":[172],"open-loop":[174],"odometry":[175],"drift":[176],"by":[177],"up":[178],"50%.":[180],"open-source":[183],"available":[184],"along":[185],"easy":[187],"run":[189],"demonstrations.":[190]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":31},{"year":2024,"cited_by_count":38},{"year":2023,"cited_by_count":39},{"year":2022,"cited_by_count":31},{"year":2021,"cited_by_count":34},{"year":2020,"cited_by_count":18}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2019-07-23T00:00:00"}
