{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,6]],"date-time":"2026-01-06T13:34:51Z","timestamp":1767706491635,"version":"3.28.0"},"reference-count":24,"publisher":"IEEE","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2011,9]]},"DOI":"10.1109\/iros.2011.6094885","type":"proceedings-article","created":{"date-parts":[[2011,12,6]],"date-time":"2011-12-06T21:46:42Z","timestamp":1323208002000},"page":"51-58","source":"Crossref","is-referenced-by-count":103,"title":["Real-time loop detection with bags of binary words"],"prefix":"10.1109","author":[{"given":"Dorian","family":"Galvez-Lopez","sequence":"first","affiliation":[]},{"given":"Juan D.","family":"Tardos","sequence":"additional","affiliation":[]}],"member":"263","reference":[{"year":"0","key":"ref10","article-title":"RAWSEEDS. (2007&#x2013;2009) Robotics Advancement through Web-publishing of Sensorial and Elaborated Extensive Data Sets (Project FP6- IST-045144)"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1023\/B:VISI.0000029664.99615.94"},{"key":"ref12","doi-asserted-by":"crossref","first-page":"404","DOI":"10.1007\/11744023_32","article-title":"SURF: Speeded up robust features","author":"bay","year":"2006","journal-title":"Computer Vision-ECCV 2006"},{"key":"ref13","article-title":"SIFT implementation and optimization for general-purpose GPU","author":"heymann","year":"2007","journal-title":"Proceedings of the International Conference in Central Europe on Computer Graphics Visualization and Computer Vision"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1007\/11612032_92"},{"key":"ref15","first-page":"506?","article-title":"PCA-SIFT: a more distinctive representation for local image descriptors","volume":"2","author":"ke","year":"2004"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2005.188"},{"key":"ref17","first-page":"357","article-title":"Compact signatures for high-speed interest point description and matching","author":"calonder","year":"2010","journal-title":"Computer Vision 2009 IEEE 12th International Conference on IEEE"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2006.188"},{"key":"ref19","first-page":"1027","article-title":"k-rneans++: the advantages of careful seeding","author":"arthur","year":"2007","journal-title":"SODA'07 Proceedings of the eighteenth annual ACM-SIAM symposium on Discrete algorithms"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20355"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.2004514"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2003.1238663"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2010.5650234"},{"key":"ref8","article-title":"BRIEF: Binary Robust Independent Elementary Features","author":"calonder","year":"2010","journal-title":"European Conference on Computer Vision"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2006.264"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1177\/0278364910370376"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2010.5509587"},{"key":"ref9","doi-asserted-by":"crossref","first-page":"430","DOI":"10.1007\/11744023_34","article-title":"Machine learning for high-speed corner detection","author":"rosten","year":"2006","journal-title":"Computer Vision-ECCV 2006"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1145\/358669.358692"},{"key":"ref22","first-page":"331","article-title":"Fast approximate nearest neighbors with automatic algorithm configuration","author":"muja","year":"2009","journal-title":"International Conference on Computer Vision Theory and Application VISSAPP'09)"},{"key":"ref21","article-title":"Multiple view geometry in computer vision","author":"hartley","year":"2003","journal-title":"Cambridge University Press"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1177\/0278364908090961"},{"key":"ref23","doi-asserted-by":"crossref","first-page":"298","DOI":"10.1007\/3-540-44480-7_21","article-title":"Bundle adjustment - A modern synthesis","author":"triggs","year":"2000","journal-title":"Vision Algorithms Theory and Practice LNCS"}],"event":{"name":"2011 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS 2011)","start":{"date-parts":[[2011,9,25]]},"location":"San Francisco, CA","end":{"date-parts":[[2011,9,30]]}},"container-title":["2011 IEEE\/RSJ International Conference on Intelligent Robots and Systems"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx5\/6034548\/6094399\/06094885.pdf?arnumber=6094885","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2017,6,20]],"date-time":"2017-06-20T10:54:30Z","timestamp":1497956070000},"score":1,"resource":{"primary":{"URL":"http:\/\/ieeexplore.ieee.org\/document\/6094885\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2011,9]]},"references-count":24,"URL":"https:\/\/doi.org\/10.1109\/iros.2011.6094885","relation":{},"subject":[],"published":{"date-parts":[[2011,9]]}}}