{"id":"https://openalex.org/W2906152054","doi":"https://doi.org/10.3390/s19010023","title":"Have I Seen This Place Before? A Fast and Robust Loop Detection and Correction Method for 3D Lidar SLAM","display_name":"Have I Seen This Place Before? A Fast and Robust Loop Detection and Correction Method for 3D Lidar SLAM","publication_year":2018,"publication_date":"2018-12-21","ids":{"openalex":"https://openalex.org/W2906152054","doi":"https://doi.org/10.3390/s19010023","mag":"2906152054","pmid":"https://pubmed.ncbi.nlm.nih.gov/30577652"},"language":"en","primary_location":{"id":"doi:10.3390/s19010023","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19010023","pdf_url":"https://www.mdpi.com/1424-8220/19/1/23/pdf?version=1547518502","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/19/1/23/pdf?version=1547518502","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5058066622","display_name":"Michiel Vlaminck","orcid":"https://orcid.org/0000-0003-3986-823X"},"institutions":[{"id":"https://openalex.org/I32597200","display_name":"Ghent University","ror":"https://ror.org/00cv9y106","country_code":"BE","type":"education","lineage":["https://openalex.org/I32597200"]}],"countries":["BE"],"is_corresponding":true,"raw_author_name":"Michiel Vlaminck","raw_affiliation_strings":["Image Processing and Interpretation (IPI), imec research group at Ghent University, Department of Telecommunications and Information Processing (TELIN), Ghent University, Sint-Pietersnieuwstraat 41, 9000 Gent, Belgium"],"raw_orcid":"https://orcid.org/0000-0003-3986-823X","affiliations":[{"raw_affiliation_string":"Image Processing and Interpretation (IPI), imec research group at Ghent University, Department of Telecommunications and Information Processing (TELIN), Ghent University, Sint-Pietersnieuwstraat 41, 9000 Gent, Belgium","institution_ids":["https://openalex.org/I32597200"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076302373","display_name":"Hi\u00eap Luong","orcid":"https://orcid.org/0000-0002-6246-5538"},"institutions":[{"id":"https://openalex.org/I32597200","display_name":"Ghent University","ror":"https://ror.org/00cv9y106","country_code":"BE","type":"education","lineage":["https://openalex.org/I32597200"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Hiep Luong","raw_affiliation_strings":["Image Processing and Interpretation (IPI), imec research group at Ghent University, Department of Telecommunications and Information Processing (TELIN), Ghent University, Sint-Pietersnieuwstraat 41, 9000 Gent, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Image Processing and Interpretation (IPI), imec research group at Ghent University, Department of Telecommunications and Information Processing (TELIN), Ghent University, Sint-Pietersnieuwstraat 41, 9000 Gent, Belgium","institution_ids":["https://openalex.org/I32597200"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071483672","display_name":"Wilfried Philips","orcid":"https://orcid.org/0000-0003-4456-4353"},"institutions":[{"id":"https://openalex.org/I32597200","display_name":"Ghent University","ror":"https://ror.org/00cv9y106","country_code":"BE","type":"education","lineage":["https://openalex.org/I32597200"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Wilfried Philips","raw_affiliation_strings":["Image Processing and Interpretation (IPI), imec research group at Ghent University, Department of Telecommunications and Information Processing (TELIN), Ghent University, Sint-Pietersnieuwstraat 41, 9000 Gent, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Image Processing and Interpretation (IPI), imec research group at Ghent University, Department of Telecommunications and Information Processing (TELIN), Ghent University, Sint-Pietersnieuwstraat 41, 9000 Gent, Belgium","institution_ids":["https://openalex.org/I32597200"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5058066622"],"corresponding_institution_ids":["https://openalex.org/I32597200"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2673},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2673},"fwci":41.137,"has_fulltext":true,"cited_by_count":25,"citation_normalized_percentile":{"value":0.9943251,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"19","issue":"1","first_page":"23","last_page":"23"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9988999962806702,"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/lidar","display_name":"Lidar","score":0.7808040380477905},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.774477481842041},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7318094372749329},{"id":"https://openalex.org/keywords/precision-and-recall","display_name":"Precision and recall","score":0.678500235080719},{"id":"https://openalex.org/keywords/loop","display_name":"Loop (graph theory)","score":0.6388572454452515},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.6053637266159058},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.47943609952926636},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4669647514820099},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.46611884236335754},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.43897801637649536},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4301300644874573},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.4209247827529907},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.36655962467193604},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14369279146194458},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.0731041431427002},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.0657263696193695}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7808040380477905},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.774477481842041},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7318094372749329},{"id":"https://openalex.org/C81669768","wikidata":"https://www.wikidata.org/wiki/Q2359161","display_name":"Precision and recall","level":2,"score":0.678500235080719},{"id":"https://openalex.org/C184670325","wikidata":"https://www.wikidata.org/wiki/Q512604","display_name":"Loop (graph theory)","level":2,"score":0.6388572454452515},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.6053637266159058},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.47943609952926636},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4669647514820099},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46611884236335754},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.43897801637649536},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4301300644874573},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.4209247827529907},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.36655962467193604},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14369279146194458},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0731041431427002},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.0657263696193695},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"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":7,"locations":[{"id":"doi:10.3390/s19010023","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19010023","pdf_url":"https://www.mdpi.com/1424-8220/19/1/23/pdf?version=1547518502","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},{"id":"pmid:30577652","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/30577652","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:archive.ugent.be:8586574","is_oa":true,"landing_page_url":"https://biblio.ugent.be/publication/8586574","pdf_url":null,"source":{"id":"https://openalex.org/S4306400478","display_name":"Ghent University Academic Bibliography (Ghent University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I32597200","host_organization_name":"Ghent University","host_organization_lineage":["https://openalex.org/I32597200"],"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":"ISSN: 1424-8220","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:doaj.org/article:46714da99fd54f9ab6920b05e65f686d","is_oa":true,"landing_page_url":"https://doaj.org/article/46714da99fd54f9ab6920b05e65f686d","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":"Sensors, Vol 19, Iss 1, p 23 (2018)","raw_type":"article"},{"id":"pmh:oai:europepmc.org:5322843","is_oa":true,"landing_page_url":"http://europepmc.org/pmc/articles/PMC6339070","pdf_url":null,"source":{"id":"https://openalex.org/S4306400806","display_name":"Europe PMC (PubMed Central)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1303153112","host_organization_name":"European Bioinformatics Institute","host_organization_lineage":["https://openalex.org/I1303153112"],"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":"Text"},{"id":"pmh:oai:mdpi.com:/1424-8220/19/1/23/","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3390/s19010023","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":"Sensors","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:6339070","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/6339070","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"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":"Sensors (Basel)","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s19010023","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19010023","pdf_url":"https://www.mdpi.com/1424-8220/19/1/23/pdf?version=1547518502","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2906152054.pdf","grobid_xml":"https://content.openalex.org/works/W2906152054.grobid-xml"},"referenced_works_count":30,"referenced_works":["https://openalex.org/W1656165940","https://openalex.org/W1846206068","https://openalex.org/W1972485825","https://openalex.org/W1973235970","https://openalex.org/W1989625560","https://openalex.org/W2033574012","https://openalex.org/W2034950486","https://openalex.org/W2041469568","https://openalex.org/W2105977269","https://openalex.org/W2108333036","https://openalex.org/W2119538218","https://openalex.org/W2147774191","https://openalex.org/W2150066425","https://openalex.org/W2157315715","https://openalex.org/W2160821342","https://openalex.org/W2411093439","https://openalex.org/W2527172881","https://openalex.org/W2554671998","https://openalex.org/W2565998037","https://openalex.org/W2566265240","https://openalex.org/W2754172419","https://openalex.org/W2791709149","https://openalex.org/W2804638980","https://openalex.org/W2876324142","https://openalex.org/W2890354344","https://openalex.org/W2963912970","https://openalex.org/W3099455272","https://openalex.org/W3102369338","https://openalex.org/W4237162356","https://openalex.org/W4250286833"],"related_works":["https://openalex.org/W4311429433","https://openalex.org/W1557295345","https://openalex.org/W2979718872","https://openalex.org/W2909955272","https://openalex.org/W125675508","https://openalex.org/W2991938346","https://openalex.org/W2972393937","https://openalex.org/W2111347602","https://openalex.org/W2138234839","https://openalex.org/W2906152054"],"abstract_inverted_index":{"In":[0,66],"this":[1],"paper,":[2],"we":[3,21,68,119,127],"present":[4,128],"a":[5,23,26,32,41,79,129,140,158],"complete":[6],"loop":[7,38,131],"detection":[8],"and":[9,147],"correction":[10,132],"system":[11],"developed":[12],"for":[13,115],"data":[14,101],"originating":[15],"from":[16],"lidar":[17,100],"scanners.":[18],"Regarding":[19],"detection,":[20],"propose":[22],"combination":[24],"of":[25,72,81,142,160],"global":[27,74],"point":[28,51,75,105],"cloud":[29,76,106],"matcher":[30,77],"with":[31,50],"novel":[33,130],"registration":[34,46],"algorithm":[35,133],"to":[36,86,103,111,122,136,162],"determine":[37],"candidates":[39],"in":[40,57,99,124],"highly":[42],"effective":[43],"way.":[44],"The":[45],"method":[47],"can":[48],"deal":[49],"clouds":[52],"that":[53,91,134],"are":[54],"largely":[55],"deviating":[56],"orientation":[58],"while":[59,151],"improving":[60],"the":[61,70,73,84,145,153],"efficiency":[62],"over":[63],"existing":[64],"techniques.":[65],"addition,":[67],"accelerated":[69],"computation":[71],"by":[78,139],"factor":[80,141],"2\u207b4,":[82],"exploiting":[83],"GPU":[85],"its":[87],"maximum.":[88],"Experiments":[89],"demonstrated":[90],"our":[92],"combined":[93],"approach":[94],"more":[95],"reliably":[96],"detects":[97],"loops":[98],"compared":[102],"other":[104],"matchers":[107],"as":[108],"it":[109],"leads":[110,135],"better":[112],"precision\u207brecall":[113],"trade-offs:":[114],"nearly":[116],"100%":[117],"recall,":[118],"gain":[120],"up":[121],"7%":[123],"precision.":[125],"Finally,":[126],"an":[137],"improvement":[138],"2":[143],"on":[144],"average":[146],"median":[148],"pose":[149],"error,":[150],"at":[152],"same":[154],"time":[155],"only":[156],"requires":[157],"handful":[159],"seconds":[161],"complete.":[163]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":4}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}