{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,6,28]],"date-time":"2025-06-28T14:10:07Z","timestamp":1751119807958,"version":"3.41.0"},"reference-count":43,"publisher":"Springer Science and Business Media LLC","issue":"3-4","license":[{"start":{"date-parts":[[2017,12,11]],"date-time":"2017-12-11T00:00:00Z","timestamp":1512950400000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2018,12]]},"DOI":"10.1007\/s10846-017-0755-7","type":"journal-article","created":{"date-parts":[[2017,12,11]],"date-time":"2017-12-11T16:08:07Z","timestamp":1513008487000},"page":"565-585","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":5,"title":["Combining Multiple Image Descriptions for Loop Closure Detection"],"prefix":"10.1007","volume":"92","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1201-3530","authenticated-orcid":false,"given":"Xiaolong","family":"Wang","sequence":"first","affiliation":[]},{"given":"Guohua","family":"Peng","sequence":"additional","affiliation":[]},{"given":"Hong","family":"Zhang","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2017,12,11]]},"reference":[{"issue":"3","key":"755_CR1","doi-asserted-by":"crossref","first-page":"346","DOI":"10.1016\/j.cviu.2007.09.014","volume":"110","author":"H Bay","year":"2008","unstructured":"Bay, H, Ess, A, Tuytelaars, T, Van Gool, L: Speeded-up robust features (surf). Comput. Vis. Image Underst. 110(3), 346\u2013359 (2008)","journal-title":"Comput. Vis. Image Underst."},{"issue":"2","key":"755_CR2","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: Distinctive image features from scale-invariant keypoints. Int. J Comput. Vis. 60(2), 91\u2013110 (2004)","journal-title":"Int. J Comput. Vis."},{"key":"755_CR3","first-page":"1470","volume":"2","author":"J Sivic","year":"2003","unstructured":"Sivic, J, Zisserman, A, et al.: Video google: A text retrieval approach to object matching in videos. Iccv 2, 1470\u20131477 (2003)","journal-title":"Iccv"},{"key":"755_CR4","doi-asserted-by":"crossref","unstructured":"Datar, M, Immorlica, N, Indyk, P, Mirrokni, VS: Locality-sensitive hashing scheme based on p-stable distributions. In: Proceedings of the Twentieth Annual Symposium on Computational Geometry, pp. 253\u2013262. ACM (2004)","DOI":"10.1145\/997817.997857"},{"issue":"5","key":"755_CR5","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.: Fast and incremental method for loop-closure detection using bags of visual words. IEEE Trans. Robot. 24(5), 1027\u20131037 (2008)","journal-title":"IEEE Trans. Robot."},{"key":"755_CR6","doi-asserted-by":"crossref","unstructured":"Shahbazi, H., Zhang, H: Application of locality sensitive hashing to realtime loop closure detection. In: IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1228\u20131233. IEEE (2011)","DOI":"10.1109\/IROS.2011.6095099"},{"issue":"6","key":"755_CR7","doi-asserted-by":"crossref","first-page":"647","DOI":"10.1177\/0278364908090961","volume":"27","author":"M Cummins","year":"2008","unstructured":"Cummins, M, Newman, P : Fab-map: Probabilistic localization and mapping in the space of appearance. Int. J. Robot. Res. 27(6), 647\u2013665 (2008)","journal-title":"Int. J. Robot. Res."},{"key":"755_CR8","doi-asserted-by":"crossref","unstructured":"Milford, M.J, Wyeth, G.F: Seqslam: Visual route-based navigation for sunny summer days and stormy winter nights. In: 2012 IEEE International Conference on Robotics and Automation (ICRA), pp. 1643\u20131649. IEEE (2012)","DOI":"10.1109\/ICRA.2012.6224623"},{"key":"755_CR9","doi-asserted-by":"crossref","unstructured":"Engel, J, Sch\u00f6ps, T, Cremers, D: Lsd-slam: Large-scale direct monocular slam. In: European Conference on Computer Vision, pp. 834\u2013849. Springer (2014)","DOI":"10.1007\/978-3-319-10605-2_54"},{"issue":"5","key":"755_CR10","doi-asserted-by":"crossref","first-page":"1147","DOI":"10.1109\/TRO.2015.2463671","volume":"31","author":"R Mur-Artal","year":"2015","unstructured":"Mur-Artal, R, Montiel, J M M, Tardos, J D: Orb-slam: A versatile and accurate monocular slam system. IEEE Trans. Robot. 31(5), 1147\u20131163 (2015)","journal-title":"IEEE Trans. Robot."},{"key":"755_CR11","unstructured":"Valgren, C, Lilienthal, A J: Sift, surf and seasons: Long-term outdoor localization using local features. In: European Conference on Mobile Robots (ECMR), pp. 253\u2013258 (2007)"},{"issue":"3","key":"755_CR12","doi-asserted-by":"crossref","first-page":"145","DOI":"10.1023\/A:1011139631724","volume":"42","author":"A Oliva","year":"2001","unstructured":"Oliva, A, Torralba, A.: Modeling the shape of the scene: A holistic representation of the spatial envelope. Int. J. Comput. Vis. 42(3), 145\u2013175 (2001)","journal-title":"Int. J. Comput. Vis."},{"issue":"7","key":"755_CR13","doi-asserted-by":"crossref","first-page":"1281","DOI":"10.1109\/TPAMI.2011.222","volume":"34","author":"M Calonder","year":"2012","unstructured":"Calonder, M, Lepetit, V, Ozuysal, M, Trzcinski, T, Strecha, C, Fua, P: Brief: Computing a local binary descriptor very fast. IEEE Trans. Pattern Anal. Mach. Intell. 34(7), 1281\u20131298 (2012)","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"issue":"7","key":"755_CR14","doi-asserted-by":"crossref","first-page":"971","DOI":"10.1109\/TPAMI.2002.1017623","volume":"24","author":"T Ojala","year":"2002","unstructured":"Ojala, T, Pietikainen, M, Maenpaa, T: Multiresolution gray-scale and rotation invariant texture classification with local binary patterns. IEEE Trans. Pattern Anal. Mach. Intell. 24(7), 971\u2013987 (2002)","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"key":"755_CR15","doi-asserted-by":"crossref","unstructured":"Rublee, E, Rabaud, V, Konolige, K, Bradski, G: Orb: An efficient alternative to sift or surf. In: 2011 IEEE International conference on computer vision (ICCV), pp. 2564\u20132571. IEEE (2011)","DOI":"10.1109\/ICCV.2011.6126544"},{"key":"755_CR16","doi-asserted-by":"crossref","unstructured":"Liu, Y, Zhang, H: Visual loop closure detection with a compact image descriptor. In: 2012 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1051\u20131056. IEEE (2012)","DOI":"10.1109\/IROS.2012.6386145"},{"key":"755_CR17","doi-asserted-by":"crossref","unstructured":"S\u00fcnderhauf, N, Protzel, P: Brief-gist: Closing the loop by simple means. In: 2011 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1234\u20131241. IEEE (2011)","DOI":"10.1109\/IROS.2011.6094921"},{"key":"755_CR18","doi-asserted-by":"crossref","unstructured":"Campos, F.M., Correia, L, Calado, J.M.F: Loop closure detection with a holistic image feature. In: Portuguese Conference on Artificial Intelligence, pp. 247\u2013258. Springer (2013)","DOI":"10.1007\/978-3-642-40669-0_22"},{"key":"755_CR19","doi-asserted-by":"crossref","unstructured":"Arroyo, R, Alcantarilla, P F, Bergasa, L M, Javier Yebes, J, G\u00e1mez, S: Bidirectional loop closure detection on panoramas for visual navigation. In: 2014 Intelligent Vehicles Symposium Proceedings IEEE, pp. 1378\u20131383. IEEE (2014)","DOI":"10.1109\/IVS.2014.6856457"},{"key":"755_CR20","doi-asserted-by":"crossref","unstructured":"Perronnin, F, Dance, C R: Fisher kernels on visual vocabularies for image categorization. Comput Vis. Pattern Recogn. 1\u20138 (2007)","DOI":"10.1109\/CVPR.2007.383266"},{"key":"755_CR21","doi-asserted-by":"crossref","unstructured":"Jegou, H, Douze, M, Schmid, C, Perez, P: Aggregating local descriptors into a compact image representation. Comput. Vis. Pattern Recog.,3304\u20133311 (2010)","DOI":"10.1109\/CVPR.2010.5540039"},{"key":"755_CR22","doi-asserted-by":"crossref","unstructured":"Arandjelovic, R, Zisserman, A: All about vlad. Comput. Vis. Pattern Recog., 1578\u20131585 (2013)","DOI":"10.1109\/CVPR.2013.207"},{"key":"755_CR23","doi-asserted-by":"crossref","unstructured":"Yi, H, Zhang, H, Zhou, S: Convolutional neural network-based image representation for visual loop closure detection. In: 2015 IEEE International Conference on Information and Automation, pp. 2238\u20132245. IEEE (2015)","DOI":"10.1109\/ICInfA.2015.7279659"},{"key":"755_CR24","doi-asserted-by":"crossref","unstructured":"S\u00fcnderhauf, N, Shirazi, S, Dayoub, F, Upcroft, B, Milford, M: On the performance of convnet features for place recognition. In: 2015 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4297\u20134304. IEEE (2015)","DOI":"10.1109\/IROS.2015.7353986"},{"issue":"3","key":"755_CR25","doi-asserted-by":"crossref","first-page":"226","DOI":"10.1109\/34.667881","volume":"20","author":"J Kittler","year":"1998","unstructured":"Kittler, J, Hatef, M, Duin, R PW, Matas, J: On combining classifiers. IEEE Trans. Pattern Anal. Mach. Intell. 20(3), 226\u2013239 (1998)","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"issue":"2","key":"755_CR26","doi-asserted-by":"crossref","first-page":"377","DOI":"10.1007\/s10846-013-0016-3","volume":"77","author":"FM Campos","year":"2015","unstructured":"Campos, F M, Correia, L, Calado, J.M.F: Robot visual localization through local feature fusion: An evaluation of multiple classifiers combination approaches. J. Intell. Robot. Syst. 77(2), 377\u2013390 (2015)","journal-title":"J. Intell. Robot. Syst."},{"issue":"8","key":"755_CR27","doi-asserted-by":"crossref","first-page":"1226","DOI":"10.1109\/TPAMI.2005.159","volume":"27","author":"H Peng","year":"2005","unstructured":"Peng, H, Long, F, Ding, C: Feature selection based on mutual information criteria of max-dependency, max-relevance, and min-redundancy. IEEE Trans. Pattern Anal. Mach. Intell. 27(8), 1226\u20131238 (2005)","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"issue":"5","key":"755_CR28","doi-asserted-by":"crossref","first-page":"1437","DOI":"10.1109\/TIP.2007.894239","volume":"16","author":"I Levner","year":"2007","unstructured":"Levner, I, Zhang, H: Classification-driven watershed segmentation. IEEE Trans. Image Process. 16(5), 1437\u20131445 (2007)","journal-title":"IEEE Trans. Image Process."},{"key":"755_CR29","doi-asserted-by":"crossref","unstructured":"Li, W, Mao, K, Zhang, H, Chai, T: Selection of gabor filters for improved texture feature extraction. In: 2010 17th IEEE International conference on Image Processing (ICIP), pp. 361\u2013364. IEEE (2010)","DOI":"10.1109\/ICIP.2010.5653278"},{"key":"755_CR30","first-page":"1157","volume":"3","author":"I Guyon","year":"2003","unstructured":"Guyon, I, Elisseeff, A: An introduction to variable and feature selection. J. Mach. Learn. Res. 3, 1157\u20131182 (2003)","journal-title":"J. Mach. Learn. Res."},{"key":"755_CR31","unstructured":"Quanquan, G, Li, Z, Han, J: Generalized fisher score for feature selection. arXiv: 1202.3725 (2012)"},{"issue":"2","key":"755_CR32","doi-asserted-by":"crossref","first-page":"179","DOI":"10.1111\/j.1469-1809.1936.tb02137.x","volume":"7","author":"RA Fisher","year":"1936","unstructured":"Fisher, R A: The use of multiple measurements in taxonomic problems. Ann. Eugenics 7(2), 179\u2013188 (1936)","journal-title":"Ann. Eugenics"},{"key":"755_CR33","unstructured":"Duda, R O, Hart, P E, Stork, D G: Pattern Classification. Wiley (2012)"},{"key":"755_CR34","doi-asserted-by":"crossref","first-page":"114","DOI":"10.1016\/j.neucom.2016.03.029","volume":"199","author":"Q Li","year":"2016","unstructured":"Li, Q, Ke, L, You, X, Shuhui, B, Liu, Z: Place recognition based on deep feature and adaptive weighting of similarity matrix. Neurocomputing 199, 114\u2013127 (2016)","journal-title":"Neurocomputing"},{"issue":"5","key":"755_CR35","doi-asserted-by":"crossref","first-page":"815","DOI":"10.1109\/TPAMI.2009.77","volume":"32","author":"E Tola","year":"2010","unstructured":"Tola, E, Lepetit, V, Fua, P: Daisy: An efficient dense descriptor applied to wide-baseline stereo. IEEE Trans. Pattern Anal. Mach. Intell. 32(5), 815\u2013830 (2010)","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"key":"755_CR36","doi-asserted-by":"crossref","unstructured":"Lazebnik, S, Schmid, C, Ponce, J: Beyond bags of features: Spatial pyramid matching for recognizing natural scene categories. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, vol. 2, pp. 2169\u20132178. IEEE (2006)","DOI":"10.1109\/CVPR.2006.68"},{"key":"755_CR37","unstructured":"The Norwegian Broadcasting Corporation: The Nordlandsbanen Dataset. http:\/\/nrkbeta.no\/2013\/01\/15\/nordlandsbanen-minute-by-minute-season-by-season\/ (2013)"},{"key":"755_CR38","doi-asserted-by":"crossref","unstructured":"Glover, AJ, Maddern, WP, Milford, MJ, Wyeth, GF: Fab-map+ ratslam: Appearance-based slam for multiple times of day. In: 2010 IEEE International Conference on Robotics and Automation (ICRA), pp. 3507\u20133512. IEEE (2010)","DOI":"10.1109\/ROBOT.2010.5509547"},{"key":"755_CR39","doi-asserted-by":"crossref","unstructured":"Davis, J, Goadrich, M: The relationship between precision-recall and roc curves. In: Proceedings of the 23rd International Conference on Machine Learning, pp. 233\u2013240. ACM (2006)","DOI":"10.1145\/1143844.1143874"},{"key":"755_CR40","doi-asserted-by":"crossref","first-page":"129","DOI":"10.1016\/j.jvcir.2017.09.005","volume":"49","author":"X Wang","year":"2017","unstructured":"Wang, X, Zhang, H, Peng, G: A chordiogram image descriptor using local edgels. J. Vis. Commun. Represent. 49, 129\u2013140 (2017)","journal-title":"J. Vis. Commun. Represent."},{"issue":"2","key":"755_CR41","doi-asserted-by":"crossref","first-page":"123","DOI":"10.1007\/s11263-012-0521-z","volume":"99","author":"A Toshev","year":"2012","unstructured":"Toshev, A, Taskar, B, Daniilidis, K: Shape-based object detection via boundary structure segmentation. Int. J. Comput. Vis. 99(2), 123\u2013146 (2012)","journal-title":"Int. J. Comput. Vis."},{"issue":"5","key":"755_CR42","doi-asserted-by":"crossref","first-page":"978","DOI":"10.1109\/TPAMI.2010.147","volume":"33","author":"L Ce","year":"2011","unstructured":"Ce, L, Yuen, J, Torralba, A: Sift flow: Dense correspondence across scenes and its applications. IEEE Trans. Pattern Anal. Mach. Intell. 33(5), 978\u2013994 (2011)","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"key":"755_CR43","doi-asserted-by":"crossref","unstructured":"Boyd, S, Vandenberghe, L: Convex Optimization. Cambridge University Press (2004)","DOI":"10.1017\/CBO9780511804441"}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10846-017-0755-7\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-017-0755-7.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-017-0755-7.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,28]],"date-time":"2025-06-28T13:44:18Z","timestamp":1751118258000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10846-017-0755-7"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2017,12,11]]},"references-count":43,"journal-issue":{"issue":"3-4","published-print":{"date-parts":[[2018,12]]}},"alternative-id":["755"],"URL":"https:\/\/doi.org\/10.1007\/s10846-017-0755-7","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"type":"print","value":"0921-0296"},{"type":"electronic","value":"1573-0409"}],"subject":[],"published":{"date-parts":[[2017,12,11]]}}}