乐胖代购免代理版

{"id":"https://openalex.org/W2410733220","doi":"https://doi.org/10.1109/icra.2016.7487416","title":"Cluster-based loop closing detection for underwater slam in feature-poor regions","display_name":"Cluster-based loop closing detection for underwater slam in feature-poor regions","publication_year":2016,"publication_date":"2016-05-01","ids":{"openalex":"https://openalex.org/W2410733220","doi":"https://doi.org/10.1109/icra.2016.7487416","mag":"2410733220"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487416","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"proceedings-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/A5034435238","display_name":"Pep Llu\u00eds Negre","orcid":"https://orcid.org/0000-0002-6481-6338"},"institutions":[{"id":"https://openalex.org/I50441567","display_name":"Universitat de les Illes Balears","ror":"https://ror.org/03e10x626","country_code":"ES","type":"education","lineage":["https://openalex.org/I50441567"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Pep Lluis Negre","raw_affiliation_strings":["Systems Robotics and Vision group, University of the Balearic Islands (UIB), Palma de Mallorca, Spain"],"affiliations":[{"raw_affiliation_string":"Systems Robotics and Vision group, University of the Balearic Islands (UIB), Palma de Mallorca, Spain","institution_ids":["https://openalex.org/I50441567"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011783532","display_name":"Francisco Bonin\u2010Font","orcid":"https://orcid.org/0000-0003-1425-6907"},"institutions":[{"id":"https://openalex.org/I50441567","display_name":"Universitat de les Illes Balears","ror":"https://ror.org/03e10x626","country_code":"ES","type":"education","lineage":["https://openalex.org/I50441567"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Francisco Bonin-Font","raw_affiliation_strings":["Systems Robotics and Vision group, University of the Balearic Islands (UIB), Palma de Mallorca, Spain"],"affiliations":[{"raw_affiliation_string":"Systems Robotics and Vision group, University of the Balearic Islands (UIB), Palma de Mallorca, Spain","institution_ids":["https://openalex.org/I50441567"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005962857","display_name":"Gabriel Oliver","orcid":"https://orcid.org/0000-0001-6910-1940"},"institutions":[{"id":"https://openalex.org/I50441567","display_name":"Universitat de les Illes Balears","ror":"https://ror.org/03e10x626","country_code":"ES","type":"education","lineage":["https://openalex.org/I50441567"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Gabriel Oliver","raw_affiliation_strings":["Systems Robotics and Vision group, University of the Balearic Islands (UIB), Palma de Mallorca, Spain"],"affiliations":[{"raw_affiliation_string":"Systems Robotics and Vision group, University of the Balearic Islands (UIB), Palma de Mallorca, Spain","institution_ids":["https://openalex.org/I50441567"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":9.021,"has_fulltext":true,"fulltext_origin":"ngrams","cited_by_count":43,"citation_normalized_percentile":{"value":0.999634,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Acoustic Sensor Networks and Communication","score":0.9997,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11192","display_name":"Underwater Acoustic Sensor Networks and Communication","score":0.9997,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T10191","display_name":"Simultaneous Localization and Mapping","score":0.9993,"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/T12697","display_name":"Real-time Water Quality Monitoring and Aquaculture Management","score":0.988,"subfield":{"id":"https://openalex.org/subfields/2312","display_name":"Water Science and Technology"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.59362584},{"id":"https://openalex.org/keywords/localization","display_name":"Localization","score":0.556755},{"id":"https://openalex.org/keywords/localization-techniques","display_name":"Localization Techniques","score":0.546149},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual Odometry","score":0.506653}],"concepts":[{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.7768981},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7226599},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6893344},{"id":"https://openalex.org/C2778775528","wikidata":"https://www.wikidata.org/wiki/Q5135432","display_name":"Closing (real estate)","level":2,"score":0.6776178},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.63016427},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.59362584},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5812729},{"id":"https://openalex.org/C73555534","wikidata":"https://www.wikidata.org/wiki/Q622825","display_name":"Cluster analysis","level":2,"score":0.57010347},{"id":"https://openalex.org/C184670325","wikidata":"https://www.wikidata.org/wiki/Q512604","display_name":"Loop (graph theory)","level":2,"score":0.47013363},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.44528502},{"id":"https://openalex.org/C2777400808","wikidata":"https://www.wikidata.org/wiki/Q646660","display_name":"Seagrass","level":3,"score":0.4268353},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.23913863},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.23718607},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.21247926},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10290724},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","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},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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/C110872660","wikidata":"https://www.wikidata.org/wiki/Q37813","display_name":"Ecosystem","level":2,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487416","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.85,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"grants":[],"datasets":[],"versions":[],"referenced_works_count":23,"referenced_works":["https://openalex.org/W1529188373","https://openalex.org/W1558780770","https://openalex.org/W1612997784","https://openalex.org/W1645243482","https://openalex.org/W1673310716","https://openalex.org/W1882440334","https://openalex.org/W1989967481","https://openalex.org/W2006808347","https://openalex.org/W2013117623","https://openalex.org/W2017063796","https://openalex.org/W2020950478","https://openalex.org/W2022111683","https://openalex.org/W207116529","https://openalex.org/W2117228865","https://openalex.org/W2139037949","https://openalex.org/W2153054365","https://openalex.org/W2154280780","https://openalex.org/W2168676389","https://openalex.org/W2280180294","https://openalex.org/W2292998978","https://openalex.org/W2472556136","https://openalex.org/W2544712219","https://openalex.org/W3103648783"],"related_works":["https://openalex.org/W4388203848","https://openalex.org/W4367184167","https://openalex.org/W4245729730","https://openalex.org/W3192941986","https://openalex.org/W3142168399","https://openalex.org/W2981297165","https://openalex.org/W2792892385","https://openalex.org/W2369068860","https://openalex.org/W2364626585","https://openalex.org/W2205096935"],"abstract_inverted_index":{"This":[0,129],"paper":[1],"reports":[2],"on":[3,134,163],"a":[4,168],"novel":[5,101],"technique":[6,131],"to":[7,18,67,104,119],"visually":[8],"detect":[9],"loop":[10,87,107],"closings":[11],"in":[12,16,50,69,93,115,145,159,173],"feature-poor":[13],"underwater":[14,39,61],"environments":[15,147],"order":[17],"increase":[19],"the":[20,30,42,64,85,97,106,135,153,164,174],"accuracy":[21],"of":[22,29,44,56,79,122,125,127,138,155,171,177],"vision-based":[23],"localization":[24],"systems.":[25],"The":[26,54],"main":[27],"problem":[28],"classical":[31,86],"visual":[32,65,80,112,175],"Simultaneous":[33],"Localization":[34],"and":[35,47,118],"Mapping":[36],"(SLAM)":[37],"for":[38,96],"vehicles":[40],"is":[41,132],"lack":[43],"robust,":[45],"stable":[46],"matchable":[48],"features":[49,66,121,126],"certain":[51],"aquatic":[52],"environments.":[53],"presence":[55,154],"sandbanks,":[57],"seagrass":[58,150],"or":[59,151],"other":[60],"phenomena":[62],"cause":[63],"concentrate":[68],"regions":[70],"heavily":[71],"textured,":[72],"leaving":[73],"great":[74],"image":[75],"areas":[76],"completely":[77],"free":[78],"information.":[81],"In":[82],"this":[83],"situation,":[84],"closing":[88,108],"detection":[89,109],"algorithms":[90],"fail,":[91],"resulting":[92],"no":[94],"corrections":[95],"SLAM":[98],"system.":[99],"Our":[100],"method":[102],"proposes":[103],"reinforce":[105],"by":[110],"clustering":[111],"keypoints":[113],"present":[114],"multiple":[116],"keyframes":[117],"match":[120],"clusters":[123],"instead":[124],"keyframes.":[128],"new":[130],"assessed":[133],"particular":[136],"application":[137],"navigating":[139],"an":[140],"Autonomous":[141],"Underwater":[142],"Vehicle":[143],"(AUV)":[144],"marine":[146],"colonized":[148],"with":[149,152],"sandbanks.":[156],"Experiments":[157],"conducted":[158],"several":[160],"coastal":[161],"zones":[162],"Balearic":[165],"Islands":[166],"show":[167],"high":[169],"degree":[170],"success":[172],"registration":[176],"overlapping":[178],"areas.":[179]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W2410733220","counts_by_year":[{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":1}],"updated_date":"2024-12-03T09:25:36.476890","created_date":"2016-06-24"}