{"id":"https://openalex.org/W2943656987","doi":"https://doi.org/10.3390/robotics8020037","title":"Multifeature Image Indexing for Robot Localization in Textureless Environments","display_name":"Multifeature Image Indexing for Robot Localization in Textureless Environments","publication_year":2019,"publication_date":"2019-05-03","ids":{"openalex":"https://openalex.org/W2943656987","doi":"https://doi.org/10.3390/robotics8020037","mag":"2943656987"},"language":"en","primary_location":{"id":"doi:10.3390/robotics8020037","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics8020037","pdf_url":"https://www.mdpi.com/2218-6581/8/2/37/pdf?version=1559115687","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2218-6581/8/2/37/pdf?version=1559115687","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Tran Duc Dung","orcid":null},"institutions":[{"id":"https://openalex.org/I204291657","display_name":"Hosei University","ror":"https://ror.org/00bx6dj65","country_code":"JP","type":"education","lineage":["https://openalex.org/I204291657"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tran Duc Dung","raw_affiliation_strings":["Graduate School of Science and Engineering, Hosei University, 3-7-2 Kajinocho, Koganei, Tokyo 184-8584, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Science and Engineering, Hosei University, 3-7-2 Kajinocho, Koganei, Tokyo 184-8584, Japan","institution_ids":["https://openalex.org/I204291657"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054935175","display_name":"Delowar Hossain","orcid":"https://orcid.org/0000-0002-0059-9215"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Delowar Hossain","raw_affiliation_strings":["Fairy Devices Inc, Tokyo 113-0034, Japan"],"raw_orcid":"https://orcid.org/0000-0002-0059-9215","affiliations":[{"raw_affiliation_string":"Fairy Devices Inc, Tokyo 113-0034, Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112237590","display_name":"Shin-ichiro Kaneko","orcid":null},"institutions":[{"id":"https://openalex.org/I10520737","display_name":"National Institute of Technology, Toyama College","ror":"https://ror.org/04jvka613","country_code":"JP","type":"education","lineage":["https://openalex.org/I10520737","https://openalex.org/I4210120810"]},{"id":"https://openalex.org/I2802083021","display_name":"Toyama College","ror":"https://ror.org/01w6k3w63","country_code":"JP","type":"education","lineage":["https://openalex.org/I2802083021"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shin-ichiro Kaneko","raw_affiliation_strings":["Department of Electrical and Control Systems Engineering, National Institute of Technology, Toyama College, Toyama 939-8046, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Control Systems Engineering, National Institute of Technology, Toyama College, Toyama 939-8046, Japan","institution_ids":["https://openalex.org/I2802083021","https://openalex.org/I10520737"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002360849","display_name":"Genci Capi","orcid":"https://orcid.org/0000-0003-2079-9959"},"institutions":[{"id":"https://openalex.org/I204291657","display_name":"Hosei University","ror":"https://ror.org/00bx6dj65","country_code":"JP","type":"education","lineage":["https://openalex.org/I204291657"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Genci Capi","raw_affiliation_strings":["Graduate School of Science and Engineering, Hosei University, 3-7-2 Kajinocho, Koganei, Tokyo 184-8584, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Science and Engineering, Hosei University, 3-7-2 Kajinocho, Koganei, Tokyo 184-8584, Japan","institution_ids":["https://openalex.org/I204291657"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5002360849"],"corresponding_institution_ids":["https://openalex.org/I204291657"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":0.2041,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.52407512,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":"8","issue":"2","first_page":"37","last_page":"37"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":1.0,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994999766349792,"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/T10824","display_name":"Image Retrieval and Classification Techniques","score":0.9959999918937683,"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":0.7347612380981445},{"id":"https://openalex.org/keywords/histogram","display_name":"Histogram","score":0.697687566280365},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6839066743850708},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6796119809150696},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6575658917427063},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5879241228103638},{"id":"https://openalex.org/keywords/vocabulary","display_name":"Vocabulary","score":0.5574279427528381},{"id":"https://openalex.org/keywords/partition","display_name":"Partition (number theory)","score":0.5566973090171814},{"id":"https://openalex.org/keywords/cluster-analysis","display_name":"Cluster analysis","score":0.513766884803772},{"id":"https://openalex.org/keywords/search-engine-indexing","display_name":"Search engine indexing","score":0.5083927512168884},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5015532970428467},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.4976060688495636},{"id":"https://openalex.org/keywords/histogram-of-oriented-gradients","display_name":"Histogram of oriented gradients","score":0.4962380528450012},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.49307891726493835},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.44538867473602295},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3787611126899719},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1564406156539917},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11585348844528198}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7347612380981445},{"id":"https://openalex.org/C53533937","wikidata":"https://www.wikidata.org/wiki/Q185020","display_name":"Histogram","level":3,"score":0.697687566280365},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6839066743850708},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6796119809150696},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6575658917427063},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5879241228103638},{"id":"https://openalex.org/C2777601683","wikidata":"https://www.wikidata.org/wiki/Q6499736","display_name":"Vocabulary","level":2,"score":0.5574279427528381},{"id":"https://openalex.org/C42812","wikidata":"https://www.wikidata.org/wiki/Q1082910","display_name":"Partition (number theory)","level":2,"score":0.5566973090171814},{"id":"https://openalex.org/C73555534","wikidata":"https://www.wikidata.org/wiki/Q622825","display_name":"Cluster analysis","level":2,"score":0.513766884803772},{"id":"https://openalex.org/C75165309","wikidata":"https://www.wikidata.org/wiki/Q2258979","display_name":"Search engine indexing","level":2,"score":0.5083927512168884},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5015532970428467},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.4976060688495636},{"id":"https://openalex.org/C17426736","wikidata":"https://www.wikidata.org/wiki/Q419918","display_name":"Histogram of oriented gradients","level":4,"score":0.4962380528450012},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.49307891726493835},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.44538867473602295},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3787611126899719},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1564406156539917},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11585348844528198},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/robotics8020037","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics8020037","pdf_url":"https://www.mdpi.com/2218-6581/8/2/37/pdf?version=1559115687","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:7aa1a4d8edab4713b5d96847abf6b1ff","is_oa":true,"landing_page_url":"https://doaj.org/article/7aa1a4d8edab4713b5d96847abf6b1ff","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","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":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, Vol 8, Iss 2, p 37 (2019)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2218-6581/8/2/37/","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3390/robotics8020037","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/robotics8020037","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics8020037","pdf_url":"https://www.mdpi.com/2218-6581/8/2/37/pdf?version=1559115687","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2943656987.pdf","grobid_xml":"https://content.openalex.org/works/W2943656987.grobid-xml"},"referenced_works_count":23,"referenced_works":["https://openalex.org/W1488482743","https://openalex.org/W1677409904","https://openalex.org/W1969925156","https://openalex.org/W2007079389","https://openalex.org/W2008360005","https://openalex.org/W2010360724","https://openalex.org/W2023991624","https://openalex.org/W2031658480","https://openalex.org/W2032539790","https://openalex.org/W2061095565","https://openalex.org/W2109749443","https://openalex.org/W2127157498","https://openalex.org/W2142631141","https://openalex.org/W2143384455","https://openalex.org/W2155392943","https://openalex.org/W2217363128","https://openalex.org/W2296335312","https://openalex.org/W2595247435","https://openalex.org/W2888810484","https://openalex.org/W6678731175","https://openalex.org/W6682962193","https://openalex.org/W6688314807","https://openalex.org/W6881360941"],"related_works":["https://openalex.org/W2071599417","https://openalex.org/W2048716406","https://openalex.org/W1870444468","https://openalex.org/W2979608518","https://openalex.org/W1964725559","https://openalex.org/W2767833206","https://openalex.org/W3109748140","https://openalex.org/W2045053268","https://openalex.org/W2433492094","https://openalex.org/W1556327589"],"abstract_inverted_index":{"Robot":[0],"localization":[1,29],"is":[2,33,39,92,100],"an":[3],"important":[4],"task":[5],"for":[6,95],"mobile":[7],"robot":[8,28],"navigation.":[9],"There":[10],"are":[11,20,110,121],"many":[12],"methods":[13,19],"focused":[14],"on":[15],"this":[16,54],"issue.":[17],"Some":[18],"implemented":[21],"in":[22,30,41,49,64,118],"indoor":[23],"and":[24,74],"outdoor":[25],"environments.":[26,66],"However,":[27],"textureless":[31,65],"environments":[32],"still":[34],"a":[35,58,87,130],"challenging":[36],"task.":[37],"This":[38],"because":[40],"these":[42],"environments,":[43],"the":[44,47,104,116,119,124,134],"scene":[45],"appears":[46],"same":[48],"almost":[50],"every":[51],"position.":[52],"In":[53],"work,":[55],"we":[56],"propose":[57],"method":[59],"that":[60,109],"can":[61],"localize":[62],"robots":[63],"We":[67],"use":[68],"Histogram":[69],"of":[70,133],"Oriented":[71],"Gradients":[72],"(HOG)":[73],"Speeded":[75],"Up":[76],"Robust":[77],"Feature":[78],"(SURF)":[79],"descriptors":[80],"together":[81],"with":[82],"Depth":[83],"information":[84],"to":[85,102],"form":[86],"Depth-HOG-SURF":[88],"multifeature":[89],"descriptor,":[90],"which":[91],"later":[93],"used":[94],"image":[96],"matching.":[97],"K-means":[98],"clustering":[99],"applied":[101],"partition":[103],"whole":[105],"feature":[106],"into":[107],"groups":[108],"collectively":[111],"called":[112],"visual":[113],"vocabulary.":[114,125],"All":[115],"images":[117],"database":[120],"encoded":[122],"using":[123],"The":[126],"experimental":[127],"results":[128],"show":[129],"good":[131],"performance":[132],"proposed":[135],"method.":[136]},"counts_by_year":[{"year":2022,"cited_by_count":2}],"updated_date":"2026-05-21T09:19:25.381259","created_date":"2019-05-09T00:00:00"}