{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,6]],"date-time":"2026-01-06T02:07:18Z","timestamp":1767665238529},"reference-count":59,"publisher":"Springer Science and Business Media LLC","issue":"3","license":[{"start":{"date-parts":[[2013,7,3]],"date-time":"2013-07-03T00:00:00Z","timestamp":1372809600000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Auton Robot"],"published-print":{"date-parts":[[2014,3]]},"DOI":"10.1007\/s10514-013-9352-1","type":"journal-article","created":{"date-parts":[[2013,7,2]],"date-time":"2013-07-02T07:54:12Z","timestamp":1372751652000},"page":"241-256","source":"Crossref","is-referenced-by-count":13,"title":["Anytime merging of appearance-based maps"],"prefix":"10.1007","volume":"36","author":[{"given":"Gorkem","family":"Erinc","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Stefano","family":"Carpin","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2013,7,3]]},"reference":[{"key":"9352_CR1","doi-asserted-by":"crossref","unstructured":"Angeli, A., Doncieux, S., Meyer, J.-A., & Filliat, D. (2008). Real-time visual loop-closure detection. In Proceedings of the IEEE international conference on robotics and automation (pp. 1842\u20131847).","DOI":"10.1109\/ROBOT.2008.4543475"},{"key":"9352_CR2","doi-asserted-by":"crossref","unstructured":"Angeli, A., Doncieux, S., Meyer, J.-A., & Filliat, D. (2009). Visual topological slam and global localization. In Proceedings of the IEEE international conference on robotics and automation (pp. 4300\u20134305).","DOI":"10.1109\/ROBOT.2009.5152501"},{"issue":"5","key":"9352_CR3","doi-asserted-by":"crossref","first-page":"1027","DOI":"10.1109\/TRO.2008.2004514","volume":"24","author":"A Angeli","year":"2008","unstructured":"Angeli, A., Filliat, D., Doncieux, S., & Meyer, J.-A. (2008). Fast and incremental method for loop-closure detection using bags of visual words. IEEE Transactions on Robotics, 24(5), 1027\u20131037.","journal-title":"IEEE Transactions on Robotics"},{"issue":"3\u20134","key":"9352_CR4","doi-asserted-by":"crossref","first-page":"163","DOI":"10.1016\/j.robot.2011.01.002","volume":"59","author":"R Arag\u00fc\u00e9s","year":"2011","unstructured":"Arag\u00fc\u00e9s, R., Cort\u00e9s, J., & Sag\u00fc\u00e9s, C. (2011). Distributed consensus algorithms for merging feature-based maps with limited communication. Robotics and Autonomous Systems, 59(3\u20134), 163\u2013180.","journal-title":"Robotics and Autonomous Systems"},{"issue":"4","key":"9352_CR5","doi-asserted-by":"crossref","first-page":"840","DOI":"10.1109\/TRO.2012.2192012","volume":"28","author":"R Arag\u00fc\u00e9s","year":"2012","unstructured":"Arag\u00fc\u00e9s, R., Cort\u00e9s, J., & Sag\u00fc\u00e9s, C. (2012). Distributed consensus on robot networks for dynamically merging feature-based maps. IEEE Transactions on Robotics, 28(4), 840\u2013854.","journal-title":"IEEE Transactions on Robotics"},{"issue":"7","key":"9352_CR6","doi-asserted-by":"crossref","first-page":"1384","DOI":"10.1109\/JPROC.2006.876965","volume":"94","author":"A Birk","year":"2006","unstructured":"Birk, A., & Carpin, S. (2006). Merging occupancy grids from multiple robots. Proceedings of the IEEE, 94(7), 1384\u20131397.","journal-title":"Proceedings of the IEEE"},{"key":"9352_CR7","doi-asserted-by":"crossref","unstructured":"Booij, O., Terwijn, B., Zivkovic, Z., & Krose, B. (2007). Navigation using an appearance based topological map. In Proceedings of the IEEE international conference on robotics and automation (pp. 3927\u20133932).","DOI":"10.1109\/ROBOT.2007.364081"},{"issue":"3","key":"9352_CR8","doi-asserted-by":"crossref","first-page":"305","DOI":"10.1007\/s10514-008-9097-4","volume":"25","author":"S Carpin","year":"2008","unstructured":"Carpin, S. (2008a). Fast and accurate map merging for multi-robot systems. Autonomous Robots, 25(3), 305\u2013316.","journal-title":"Autonomous Robots"},{"key":"9352_CR9","doi-asserted-by":"crossref","unstructured":"Carpin, S. (2008b). Merging maps via Hough transform. In Proceedings of the IEEE\/RSJ international conference on intelligent robots and systems (pp. 1878\u20131883).","DOI":"10.1109\/IROS.2008.4650616"},{"key":"9352_CR10","unstructured":"Cummins, M., & Newman, P. (2005). Highly scalable appearance-only slam fab-map 2.0. In Robotics science and systems."},{"key":"9352_CR11","unstructured":"Danesi, A., Fontanelli, D., & Bicchi, A. (2006). Visual servoing on image maps. In Proceedings of the IEEE international symposium on experimental, robotics (pp. 277\u2013286)."},{"key":"9352_CR12","unstructured":"Dedeoglu, G., & Sukhatme, G. S. (2000). Landmark-based matching algorithm for cooperative mapping by autonomous robots. In Distributed autonomous robotic systems (Vol. 4, pp. 251\u2013260). Tokyo: Springer."},{"key":"9352_CR13","unstructured":"Erinc, G., & Carpin, S. (2009). Image-based mapping and navigation with heterogeneous robots. In Proceedings of the IEEE\/RSJ international conference on intelligent robots and systems (pp. 5807\u20135814)."},{"key":"9352_CR14","doi-asserted-by":"crossref","unstructured":"Erinc, G., & Carpin, S. (2010). Evaluation criteria for appearance-based maps. In Proceedings of performance metrics for intelligent systems.","DOI":"10.1145\/2377576.2377637"},{"key":"9352_CR15","doi-asserted-by":"crossref","unstructured":"Erinc, G., & Carpin, S. (2012). Anytime merging of appearance based maps. In Proceedings of the IEEE international conference on robotics and automation (pp. 1656\u20131662).","DOI":"10.1109\/ICRA.2012.6225131"},{"key":"9352_CR16","doi-asserted-by":"crossref","unstructured":"Ferreira, F., Dias, J., & Santos, V. (2008). Merging topological maps for localisation in large environments. In Proceedings of the international conference on climbing and walking robots and the support technologies for mobile machines.","DOI":"10.1142\/9789812835772_0015"},{"key":"9352_CR17","doi-asserted-by":"crossref","unstructured":"Fiedler, M. (1973). Algebraic connectivity of graphs. Czechoslovak Mathematical Journal, 23(98), 298\u2013305.","DOI":"10.21136\/CMJ.1973.101168"},{"key":"9352_CR18","doi-asserted-by":"crossref","unstructured":"Filliat, D. (2008). Interactive learning of visual topological navigation. In Proceedings of the IEEE\/RSJ international conference on intelligent robots and systems (pp. 248\u2013254).","DOI":"10.1109\/IROS.2008.4650681"},{"key":"9352_CR19","doi-asserted-by":"crossref","unstructured":"Fraundorfer, F., Engels, C., & Nister, D. (2007). Topological mapping, localization and navigation using image collections. In Proceedings of the IEEE\/RSJ international conference on intelligent robots and systems (pp. 3872\u20133877).","DOI":"10.1109\/IROS.2007.4399123"},{"key":"9352_CR20","doi-asserted-by":"crossref","unstructured":"Hajjdiab, H., & Laganiere, R. (2004). Vision-based multi-robot simultaneous localization and mapping. In Proceedings of Canadian conference on computer and robot vision (pp. 155\u2013162).","DOI":"10.1109\/CCCRV.2004.1301439"},{"key":"9352_CR21","doi-asserted-by":"crossref","unstructured":"Hedau, V., Hoiem, D., & Forsyth, D. (2009). Recovering the spatial layout of cluttered rooms. In Proceedings of the IEEE international conference on computer vision (pp. 1849\u20131856).","DOI":"10.1109\/ICCV.2009.5459411"},{"key":"9352_CR22","unstructured":"Ho, K. L., & Newman, P. (2005). Multiple map intersection detection using visual appearance. In International conference on computational intelligence, robotics and autonomous systems."},{"issue":"8","key":"9352_CR23","doi-asserted-by":"crossref","first-page":"601","DOI":"10.1177\/0278364905056348","volume":"24","author":"WH Huang","year":"2005","unstructured":"Huang, W. H., & Beevers, K. R. (2005). Topological map merging. International Journal of Robotics Research, 24(8), 601\u2013613.","journal-title":"International Journal of Robotics Research"},{"key":"9352_CR24","unstructured":"Kang, H., Efros, A. A., Hebert, M., & Kanade, T. (2009). Image matching in large scale indoor environment. In IEEE computer society conference on computer vision and pattern recognition workshop on egocentric vision."},{"issue":"4","key":"9352_CR25","doi-asserted-by":"crossref","first-page":"911","DOI":"10.1016\/j.disc.2009.10.011","volume":"310","author":"S Kirkland","year":"2010","unstructured":"Kirkland, S. (2010). Algebraic connectivity for vertex-deleted subgraphs, and a notion of vertex centrality. Discrete Mathematics, 310(4), 911\u2013921.","journal-title":"Discrete Mathematics"},{"key":"9352_CR26","doi-asserted-by":"crossref","unstructured":"Konolige, K., Fox, D., Limketkai, B., Ko, J., & Steward B. (2003). Map merging for distributed robot navigation. In Proceedings of the IEEE\/RSJ international conference on intelligent robots and systems (pp. 212\u2013217).","DOI":"10.1109\/IROS.2003.1250630"},{"key":"9352_CR27","unstructured":"Kosnar, K., Krajnik, T., & Preucil, L. (2008). Visual topological mapping. In Proceedings of European robotics symposium (Vol. 44, pp. 333\u2013342)."},{"issue":"13\u201314","key":"9352_CR28","doi-asserted-by":"crossref","first-page":"1675","DOI":"10.1163\/016918611X584631","volume":"25","author":"H-C Lee","year":"2011","unstructured":"Lee, H.-C., & Lee, B.-H. (2011). Improved feature map merging using virtual supporting lines for multi-robot systems. Advanced Robotics, 25(13\u201314), 1675\u20131696.","journal-title":"Advanced Robotics"},{"key":"9352_CR29","unstructured":"Lin, Z., Kim, S., & I. Kweon, S. (2005). Recognition-based indoor topological navigation using robust invariant features. In Proceedings of the IEEE\/RSJ international conference on intelligent robots and systems (pp. 2309\u20132314)."},{"issue":"2","key":"9352_CR30","doi-asserted-by":"crossref","first-page":"91","DOI":"10.1023\/B:VISI.0000029664.99615.94","volume":"60","author":"DG Lowe","year":"2004","unstructured":"Lowe, D. G. (2004). Distinctive image features from scale-invariant keypoints. International Journal of Computer Vision, 60(2), 91\u2013110.","journal-title":"International Journal of Computer Vision"},{"key":"9352_CR31","unstructured":"Luo, J., Pronobis, A., Caputo, B., & Jensfelt, P. (2006). The KTH-IDOL2 database. Technical report. KTH Royal Institute of Technology, CVAP\/CAS."},{"key":"9352_CR32","volume-title":"An invitation to 3-D vision: From images to geometric models","author":"Y Ma","year":"2003","unstructured":"Ma, Y., Soatto, S., Kosecka, J., & Sastry, S. S. (2003). An invitation to 3-D vision: From images to geometric models. Berlin: Springer."},{"key":"9352_CR33","doi-asserted-by":"crossref","unstructured":"Madhavan, R., Scrapper, C., & Kleiner, A. (2009). Special issue on \u201ccharacterizing mobile robot localization and mapping\u201d. Autonomous Robots, 27, 309\u2013481.","DOI":"10.1007\/s10514-009-9146-7"},{"key":"9352_CR34","doi-asserted-by":"crossref","unstructured":"Maohai, L., Bingrong, H., & Ronghua, L. (2006). Novel method for monocular vision based mobile robot localization. In Proceedings of international conference on computational intelligence and security (Vol. 2, pp. 949\u2013954).","DOI":"10.1109\/ICCIAS.2006.295401"},{"issue":"1","key":"9352_CR35","doi-asserted-by":"crossref","first-page":"87","DOI":"10.1109\/TRO.2006.886842","volume":"23","author":"GL Mariottini","year":"2007","unstructured":"Mariottini, G. L., Oriolo, G., & Prattichizzo, D. (2007). Image-based visual servoing for nonholonomic mobile robots using epipolar geometry. IEEE Transactions on Robotics, 23(1), 87\u2013 100.","journal-title":"IEEE Transactions on Robotics"},{"issue":"6","key":"9352_CR36","doi-asserted-by":"crossref","first-page":"677","DOI":"10.1016\/j.orl.2008.09.001","volume":"36","author":"D Mosk-Aoyama","year":"2008","unstructured":"Mosk-Aoyama, D. (2008). Maximum algebraic connectivity augmentation is np-hard. Operations Research Letters, 36(6), 677\u2013679.","journal-title":"Operations Research Letters"},{"key":"9352_CR37","unstructured":"Muja, M., & Lowe, D. G. (2009). Fast approximate nearest neighbors with automatic algorithm configuration. In International conference on computer vision theory and applications (pp. 331\u2013340)."},{"key":"9352_CR38","doi-asserted-by":"crossref","unstructured":"Nicosevici, T., & Garca, R. (2009). On-line visual vocabularies for robot navigation and mapping. In Proceedings of the IEEE\/RSJ international conference on intelligent robots and systems (pp. 205\u2013212).","DOI":"10.1109\/IROS.2009.5354392"},{"key":"9352_CR39","doi-asserted-by":"crossref","unstructured":"Nister, D., & Stewenius, H. (2006). Scalable recognition with a vocabulary tree. In IEEE conference on computer vision and pattern recognition (pp. 2161\u20132168).","DOI":"10.1109\/CVPR.2006.264"},{"key":"9352_CR40","unstructured":"\u00d6zkucur, N., & Akin, H. L. (2010). Cooperative multi-robot map merging using fast-SLAM. In J. Baltes et al. (Eds.), Robocup 2009: Robot Soccer World Cup XIII (pp. 449\u2013460). Berlin: Springer."},{"key":"9352_CR41","doi-asserted-by":"crossref","unstructured":"Philbin, J., & Zisserman, A. (2008). Object mining using a matching graph on very large image collections. In Proceedings of Indian conference on computer vision, graphics & image processing (pp. 738\u2013745).","DOI":"10.1109\/ICVGIP.2008.103"},{"key":"9352_CR42","unstructured":"Pronobis, A., & Caputo, B. (2005). The KTH-INDECS database. Technical report. KTH Royal Institute of Technology, CVAP\/CAS."},{"key":"9352_CR43","doi-asserted-by":"crossref","unstructured":"Quattoni, A., & Torralba, A. (2009). Recognizing indoor scenes. In IEEE conference on computer vision and pattern recognition (pp. 413\u2013420).","DOI":"10.1109\/CVPR.2009.5206537"},{"key":"9352_CR44","doi-asserted-by":"crossref","first-page":"229","DOI":"10.1007\/s10514-007-9067-2","volume":"24","author":"PE Rybski","year":"2008","unstructured":"Rybski, P. E., Roumeliotis, S. J., Gini, M., & Papanikolopoulos, N. (2008). Appearance-based mapping using minimalistic sensor models. Autonomous Robots, 24, 229\u2013246.","journal-title":"Autonomous Robots"},{"key":"9352_CR45","doi-asserted-by":"crossref","unstructured":"Saeedi Gharahbolagh, S., Paull, L., Trentini, M., Seto, M., & Li, H. (2012a). Efficient map merging using a probabilistic generalized voronoi diagram. In Proceedings of the IEEE\/RJS international conference on intelligent robots and systems (pp. 4419\u20134424).","DOI":"10.1109\/IROS.2012.6386001"},{"key":"9352_CR46","doi-asserted-by":"crossref","unstructured":"Saeedi Gharahbolagh, S., Paull, L., Trentini, M., Seto, M., & Li, H. (2012b). Map merging using Hough peak matching. In Proceedings of the IEEE\/RSJ international conference on intelliegent robots and systems (pp. 4683\u20134688).","DOI":"10.1109\/IROS.2012.6386114"},{"key":"9352_CR47","doi-asserted-by":"crossref","unstructured":"Santos-Victor, J., Vassallo, R., & Schneebeli, H. (1999). Topological maps for visual navigation. In Proceedings of international conference on computer vision systems (pp. 21\u201336).","DOI":"10.1007\/3-540-49256-9_2"},{"key":"9352_CR48","unstructured":"Se, S., Lowe, D., & Little, J. (2001a). Local and global localization for mobile robots using visual landmarks. In Proceedings of the IEEE international conference on intelligent robots and systems (Vol. 1, pp. 414\u2013420)."},{"key":"9352_CR49","unstructured":"Se, S., Lowe, D., & Little, J. (2001b). Vision-based mobile robot localization and mapping using scale-invariant features. In Proceedings of the IEEE international conference on robotics and automation (Vol. 2, pp. 2051\u20132058)."},{"issue":"8","key":"9352_CR50","doi-asserted-by":"crossref","first-page":"735","DOI":"10.1177\/027836402761412467","volume":"21","author":"S Se","year":"2002","unstructured":"Se, S., Lowe, D., & Little, J. (2002). Mobile robot localization and mapping with uncertainty using scale-invariantvisual landmarks. International Journal of Robotics Research, 21(8), 735\u2013758.","journal-title":"International Journal of Robotics Research"},{"key":"9352_CR51","doi-asserted-by":"crossref","unstructured":"Sivic, J., & Zisserman, A. (2003). Video google: A text retrieval approach to object matching in videos. In Proceedings of the international conference on computer vision (Vol. 2, pp. 1470\u20131477).","DOI":"10.1109\/ICCV.2003.1238663"},{"issue":"1","key":"9352_CR52","doi-asserted-by":"crossref","first-page":"195","DOI":"10.1016\/0022-2836(81)90087-5","volume":"147","author":"TF Smith","year":"1981","unstructured":"Smith, T. F., & Waterman, M. S. (1981). Identification of common molecular subsequences. Journal of Molecular Biology, 147(1), 195\u2013197.","journal-title":"Journal of Molecular Biology"},{"key":"9352_CR53","doi-asserted-by":"crossref","unstructured":"Tran, T. T. H., & Marchand, E. (2007). Real-time keypoints matching: Application to visual servoing. In Proceedings of the IEEE international conference on robotics and automation (pp. 3787\u20133792).","DOI":"10.1109\/ROBOT.2007.364059"},{"key":"9352_CR54","doi-asserted-by":"crossref","unstructured":"Valgren, C., Lilienthal, A., & Duckett, T. (2006). Incremental topological mapping using omnidirectional vision. In Proceedings of the IEEE international conference on intelligent robots and systems (pp. 3441\u20133447).","DOI":"10.1109\/IROS.2006.282583"},{"key":"9352_CR55","doi-asserted-by":"crossref","unstructured":"Zhou, X. S., & Roumeliotis, S. I. (2006). Multi-robot SLAM with unknown initial correspondence: The robot rendezvous case. In Proceedings of the IEEE\/RSJ international conference on intelliegent robots and systems (pp. 1785\u20131792).","DOI":"10.1109\/IROS.2006.282219"},{"key":"9352_CR56","doi-asserted-by":"crossref","unstructured":"Zivkovic, Z., Bakker, B., & Krose, B. (2005). Hierarchical map building using visual landmarks and geometric constraints. In Proceedings of the IEEE\/RSJ international conference on intelligent robots and systems (pp. 2480\u20132485).","DOI":"10.1109\/IROS.2005.1544951"},{"key":"9352_CR57","doi-asserted-by":"crossref","unstructured":"Zivkovic, Z., Bakker, B., & Krose, B. (2006). Hierarchical map building and planning based on graph partitioning. In Proceedings of the IEEE international conference on robotics and automation (pp. 803\u2013809).","DOI":"10.1109\/ROBOT.2006.1641808"},{"issue":"5","key":"9352_CR58","doi-asserted-by":"crossref","first-page":"411","DOI":"10.1016\/j.robot.2006.12.005","volume":"55","author":"Z Zivkovic","year":"2007","unstructured":"Zivkovic, Z., Booij, O., & Krose, B. (2007). From images to rooms. Robotics and Autonomous Systems, 55(5), 411\u2013418.","journal-title":"Robotics and Autonomous Systems"},{"issue":"2","key":"9352_CR59","doi-asserted-by":"crossref","first-page":"501","DOI":"10.1109\/TRO.2008.918046","volume":"24","author":"Z Zivkovic","year":"2008","unstructured":"Zivkovic, Z., Booij, O., Krose, B., Topp, E. A., & Christensen, H. I. (2008). From sensors to human spatial concepts: An annotated data set. IEEE Transactions on Robotics, 24(2), 501\u2013505.","journal-title":"IEEE Transactions on Robotics"}],"container-title":["Autonomous Robots"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10514-013-9352-1.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10514-013-9352-1\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10514-013-9352-1","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,2,27]],"date-time":"2022-02-27T00:45:11Z","timestamp":1645922711000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10514-013-9352-1"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2013,7,3]]},"references-count":59,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2014,3]]}},"alternative-id":["9352"],"URL":"https:\/\/doi.org\/10.1007\/s10514-013-9352-1","relation":{},"ISSN":["0929-5593","1573-7527"],"issn-type":[{"value":"0929-5593","type":"print"},{"value":"1573-7527","type":"electronic"}],"subject":[],"published":{"date-parts":[[2013,7,3]]}}}