{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,4,15]],"date-time":"2025-04-15T06:13:45Z","timestamp":1744697625091,"version":"3.37.3"},"reference-count":37,"publisher":"Springer Science and Business Media LLC","issue":"4","license":[{"start":{"date-parts":[[2019,8,2]],"date-time":"2019-08-02T00:00:00Z","timestamp":1564704000000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2019,8,2]],"date-time":"2019-08-02T00:00:00Z","timestamp":1564704000000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Intel Serv Robotics"],"published-print":{"date-parts":[[2019,10]]},"DOI":"10.1007\/s11370-019-00284-9","type":"journal-article","created":{"date-parts":[[2019,8,2]],"date-time":"2019-08-02T23:02:34Z","timestamp":1564786954000},"page":"303-318","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":14,"title":["Loop closure detection using CNN words"],"prefix":"10.1007","volume":"12","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-1028-0582","authenticated-orcid":false,"given":"Qiang","family":"Liu","sequence":"first","affiliation":[]},{"given":"Fuhai","family":"Duan","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2019,8,2]]},"reference":[{"issue":"6","key":"284_CR1","doi-asserted-by":"publisher","first-page":"647","DOI":"10.1177\/0278364908090961","volume":"27","author":"M Cummins","year":"2008","unstructured":"Cummins M, Newman P (2008) FAB-MAP: probabilistic localization and mapping in the space of appearance. Int J Robot Res 27(6):647\u2013665","journal-title":"Int J Robot Res"},{"doi-asserted-by":"crossref","unstructured":"Falliat D (2007) A visual bag of words method for interactive qualitative localization and mapping. In: Proceedings of 2007 IEEE international conference on robotics and automation, pp 3921\u20133926","key":"284_CR2","DOI":"10.1109\/ROBOT.2007.364080"},{"doi-asserted-by":"crossref","unstructured":"Naseer T, Spinello L, Burgard W, Stachniss C (2014) Robust visual robot localization across seasons using network flows. In: Twenty-eighth AAAI conference on artificial intelligence, pp 2564\u20132570","key":"284_CR3","DOI":"10.1609\/aaai.v28i1.9057"},{"doi-asserted-by":"crossref","unstructured":"Glover AJ, Maddern WP, Wyeth MJ, Milford GF (2010) FAB-MAP\u2009+\u2009RatSLAM: appearance-based SLAM for multiple times of day. In: IEEE international conference on robotics and automation, pp 3507\u20133512","key":"284_CR4","DOI":"10.1109\/ROBOT.2010.5509547"},{"unstructured":"Chen Z, Lam O, Jacobson A, Milford M (2014) Convolutional neural network-based place recognition. arXiv preprint arXiv:1411.509","key":"284_CR5"},{"doi-asserted-by":"crossref","unstructured":"S\u00fcnderhauf N, Shirazi S, Dayoub F, Upcroft B, Milford M (2015) On the performance of ConvNet features for place recognition. In: 2015 IEEE\/RSJ international conference on intelligent robots and systems (IROS), pp 4297\u20134304","key":"284_CR6","DOI":"10.1109\/IROS.2015.7353986"},{"doi-asserted-by":"crossref","unstructured":"S\u00fcnderhauf N, Shirazi S, Jacobson A, Dayoub F, Pepperell E, Upcroft B, Milford M (2015) Place recognition with ConvNet landmarks: viewpoint-robust, condition-robust, training-free. In: Proceedings of robotics: science and systems XII","key":"284_CR7","DOI":"10.15607\/RSS.2015.XI.022"},{"issue":"1","key":"284_CR8","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1109\/TRO.2015.2496823","volume":"32","author":"S Lowry","year":"2016","unstructured":"Lowry S, Newman P, Leonard J, Cox D, Corke P, Milford M (2016) Visual place recognition: a survey. IEEE Trans Robot 32(1):1\u201319","journal-title":"IEEE Trans Robot"},{"issue":"9","key":"284_CR9","doi-asserted-by":"publisher","first-page":"1100","DOI":"10.1177\/0278364910385483","volume":"30","author":"M Cummins","year":"2011","unstructured":"Cummins M, Newman P (2011) Appearance-only SLAM at large scale with FAB-MAP\u00a02.0. Int J Robot Res 30(9):1100\u20131123","journal-title":"Int J Robot Res"},{"issue":"1","key":"284_CR10","doi-asserted-by":"publisher","first-page":"62","DOI":"10.1177\/0278364917740639","volume":"37","author":"B Loukas","year":"2018","unstructured":"Loukas B, Amanatiadis A, Gasteratos A (2018) Fast loop-closure detection using visual-word-vectors from image sequences. Int J Robot Res 37(1):62\u201382","journal-title":"Int J Robot Res"},{"issue":"4","key":"284_CR11","doi-asserted-by":"publisher","first-page":"886","DOI":"10.1109\/TRO.2012.2192013","volume":"28","author":"T Nicosevici","year":"2012","unstructured":"Nicosevici T, Garcia R (2012) Automatic visual bag-of-words for online robot navigation and mapping. IEEE Trans Robot 28(4):886\u2013898","journal-title":"IEEE Trans Robot"},{"doi-asserted-by":"crossref","unstructured":"Johns E, Yang GZ (2013) Feature co-occurrence maps: appearance-based localisation throughout the day. In: IEEE international conference on robotics and automation, pp 3212\u20133218","key":"284_CR12","DOI":"10.1109\/ICRA.2013.6631024"},{"issue":"C","key":"284_CR13","doi-asserted-by":"publisher","first-page":"55","DOI":"10.1016\/j.robot.2015.12.003","volume":"77","author":"N Kejriwal","year":"2016","unstructured":"Kejriwal N, Kumar S, Shibata T (2016) High performance loop closure detection using bag of word pairs. Robot Auton Syst 77(C):55\u201365","journal-title":"Robot Auton Syst"},{"issue":"8","key":"284_CR14","doi-asserted-by":"publisher","first-page":"941","DOI":"10.1177\/0278364910370376","volume":"29","author":"K Konolige","year":"2010","unstructured":"Konolige K, Bowman J, Chen J, Mihelich P, Calonder M, Lepetit V, Fua P (2010) View-based maps. Int J Robot Res 29(8):941\u2013957","journal-title":"Int J Robot Res"},{"doi-asserted-by":"crossref","unstructured":"Loquercio A, Dymczyk M, Zeisl B, Lynen S, Gilitschenski I, Siegwart R (2017) Efficient descriptor learning for large scale localization. In: IEEE international conference on robotics and automation (ICRA), pp 3170\u20133177","key":"284_CR15","DOI":"10.1109\/ICRA.2017.7989359"},{"issue":"1","key":"284_CR16","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1007\/s10514-015-9516-2","volume":"41","author":"X Gao","year":"2017","unstructured":"Gao X, Zhang T (2017) Unsupervised learning to detect loops using deep neural networks for visual SLAM system. Auton. Robot 41(1):1\u201318","journal-title":"Auton. Robot"},{"doi-asserted-by":"crossref","unstructured":"Arandjelovic R, Gronat P, Torii A, Pajdla T, Sivic J (2016) NetVLAD: CNN Architecture for weakly supervised place recognition. In: IEEE conference on computer vision and pattern recognition (CVPR), pp 5297\u20135307","key":"284_CR17","DOI":"10.1109\/CVPR.2016.572"},{"doi-asserted-by":"crossref","unstructured":"Chen Z, Jacobson A, S\u00fcnderhauf N, Upcroft B, Liu L, Shen C (2017) Deep learning features at scale for visual place recognition. In: IEEE international conference on robotics and automation (ICRA), pp 3223\u20133230","key":"284_CR18","DOI":"10.1109\/ICRA.2017.7989366"},{"doi-asserted-by":"crossref","unstructured":"Naseer T, Oliveira GL, Brox T, Burgard W (2017) Semantics-aware visual localization under challenging perceptual conditions. In: IEEE international conference on robotics and automation, pp 2614\u20132620","key":"284_CR19","DOI":"10.1109\/ICRA.2017.7989305"},{"issue":"4","key":"284_CR20","doi-asserted-by":"publisher","first-page":"505","DOI":"10.1007\/s10846-017-0735-y","volume":"92","author":"Y Hou","year":"2018","unstructured":"Hou Y, Zhang H, Zhou S (2018) Evaluation of object proposals and ConvNet features for landmark-based visual place recognition. J Intell Rob Syst 92(4):505\u2013520","journal-title":"J Intell Rob Syst"},{"key":"284_CR21","doi-asserted-by":"publisher","first-page":"53","DOI":"10.1016\/j.robot.2017.03.004","volume":"92","author":"S Cascianelli","year":"2017","unstructured":"Cascianelli S, Costante G, Bellocchio E, Valigi P, Fravolini M, Ciarfuglia T (2017) Robust visual semi-semantic loop closure detection by a covisibility graph and CNN features. Robot Auton Syst 92:53\u201365","journal-title":"Robot Auton Syst"},{"unstructured":"Milford MJ, Wyeth GF (2012) 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","key":"284_CR22"},{"doi-asserted-by":"crossref","unstructured":"Hansen, Peter, rowning B (2014) Visual place recognition using HMM sequence matching. In: IEEE international conference on intelligent robots and systems, pp 4549\u20134555","key":"284_CR23","DOI":"10.1109\/IROS.2014.6943207"},{"doi-asserted-by":"crossref","unstructured":"Bampis L, Amanatiadis A, Gasteratos A (2016) Encoding the description of image sequences: A two-layered pipeline for loop closure detection. In: IEEE international conference on intelligent robots and systems, pp 4530\u20134536","key":"284_CR24","DOI":"10.1109\/IROS.2016.7759667"},{"issue":"5","key":"284_CR25","doi-asserted-by":"publisher","first-page":"1027","DOI":"10.1109\/TRO.2008.2004514","volume":"24","author":"A Angeli","year":"2008","unstructured":"Angeli A, Filliat D, Doncieux S, Meyer JA (2008) Fast and incremental method for loop-closure detection using bags of visual words. IEEE Trans Robot 24(5):1027\u20131037","journal-title":"IEEE Trans Robot"},{"issue":"3","key":"284_CR26","doi-asserted-by":"publisher","first-page":"565","DOI":"10.1007\/s10846-017-0755-7","volume":"92","author":"XL Wang","year":"2018","unstructured":"Wang XL, Peng G, Zhang H (2018) Combining multiple image descriptions for loop closure detection. J Intell Rob Syst 92(3):565\u2013585","journal-title":"J Intell Rob Syst"},{"doi-asserted-by":"crossref","unstructured":"Arroyo R, Alcantarilla PF, Bergasa LM, Romera E (2016) Fusion and binarization of CNN features for robust topological localization across seasons. In: IEEE international conference on intelligent robots and systems, pp 4656\u20134663","key":"284_CR27","DOI":"10.1109\/IROS.2016.7759685"},{"issue":"2","key":"284_CR28","doi-asserted-by":"publisher","first-page":"114","DOI":"10.1016\/j.neucom.2016.03.029","volume":"199","author":"Q Li","year":"2016","unstructured":"Li Q, Li K, You X, Bu S, Liu Z (2016) Place recognition based on deep feature and adaptive weighting of similarity matrix. Neurocomputing 199(2):114\u2013127","journal-title":"Neurocomputing"},{"issue":"5","key":"284_CR29","doi-asserted-by":"publisher","first-page":"1188","DOI":"10.1109\/TRO.2012.2197158","volume":"28","author":"D Galvez-L\u00f3pez","year":"2012","unstructured":"Galvez-L\u00f3pez D, Tardos JD (2012) Bags of binary words for fast place recognition in image sequences. IEEE Trans Robot 28(5):1188\u20131197","journal-title":"IEEE Trans Robot"},{"doi-asserted-by":"crossref","unstructured":"Siam SM, Zhang H (2017) Fast-SeqSLAM: A fast appearance based place recognition algorithm. In: IEEE international conference on robotics and automation. Piscataway, pp 5702\u20135708","key":"284_CR30","DOI":"10.1109\/ICRA.2017.7989671"},{"issue":"3","key":"284_CR31","doi-asserted-by":"publisher","first-page":"734","DOI":"10.1109\/TRO.2013.2242375","volume":"29","author":"M Labb\u00e9","year":"2013","unstructured":"Labb\u00e9 M, Michaud F (2013) Appearance-based loop closure detection for online large-scale and long-term operation. IEEE Trans Robot 29(3):734\u2013745","journal-title":"IEEE Trans Robot"},{"issue":"1","key":"284_CR32","doi-asserted-by":"publisher","first-page":"177","DOI":"10.1109\/TRO.2013.2279412","volume":"30","author":"F Endres","year":"2017","unstructured":"Endres F, Hess J, Sturm J, Cremers D, Burgard W (2017) 3-D mapping with an RGB-D camera. IEEE Trans Robot 30(1):177\u2013187","journal-title":"IEEE Trans Robot"},{"issue":"4","key":"284_CR33","doi-asserted-by":"publisher","first-page":"327","DOI":"10.1007\/s10514-009-9138-7","volume":"27","author":"JL Blanco","year":"2009","unstructured":"Blanco JL, Moreno FA, Gonz\u00e1lez J (2009) A collection of outdoor robotic datasets with centimeter-accuracy ground truth. Auton. Robots 27(4):327\u2013351","journal-title":"Auton. Robots"},{"unstructured":"Simonyan, K., Zisserman, A (2015) Very deep convolutional networks for large-scale image recognition. In: International conference on learning representations (ICLR)","key":"284_CR34"},{"doi-asserted-by":"crossref","unstructured":"Szegedy C, Vanhoucke V, Ioffe S, Shlens J, Wojna Z (2016) Rethinking the inception architecture for computer vision. In: IEEE conference on computer vision and pattern recognition (CVPR), pp 2818\u20132826","key":"284_CR35","DOI":"10.1109\/CVPR.2016.308"},{"doi-asserted-by":"crossref","unstructured":"He K, Zhang X, Ren S, Sun J (2016) Deep residual learning for image recognition. In: IEEE conference on computer vision and pattern recognition (CVPR), pp 770\u2013778","key":"284_CR36","DOI":"10.1109\/CVPR.2016.90"},{"doi-asserted-by":"crossref","unstructured":"Szegedy C, Liu W, Jia Y, Sermanet P, Reed S, Anguelov D, Erhan D, Vanhoucke V, Rabinovich A (2015) Going deeper with convolutions. In: Proceedings of the IEEE conference on computer vision and pattern recognition, pp 1\u20139","key":"284_CR37","DOI":"10.1109\/CVPR.2015.7298594"}],"container-title":["Intelligent Service Robotics"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s11370-019-00284-9.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s11370-019-00284-9\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s11370-019-00284-9.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,9,25]],"date-time":"2022-09-25T03:18:16Z","timestamp":1664075896000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s11370-019-00284-9"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,8,2]]},"references-count":37,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2019,10]]}},"alternative-id":["284"],"URL":"https:\/\/doi.org\/10.1007\/s11370-019-00284-9","relation":{},"ISSN":["1861-2776","1861-2784"],"issn-type":[{"type":"print","value":"1861-2776"},{"type":"electronic","value":"1861-2784"}],"subject":[],"published":{"date-parts":[[2019,8,2]]},"assertion":[{"value":"16 November 2018","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"10 July 2019","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"2 August 2019","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}]}}