{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,15]],"date-time":"2025-10-15T17:57:24Z","timestamp":1760551044317,"version":"3.44.0"},"reference-count":27,"publisher":"IEEE","license":[{"start":{"date-parts":[[2019,11,1]],"date-time":"2019-11-01T00:00:00Z","timestamp":1572566400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2019,11,1]],"date-time":"2019-11-01T00:00:00Z","timestamp":1572566400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2019,11]]},"DOI":"10.1109\/iros40897.2019.8967683","type":"proceedings-article","created":{"date-parts":[[2020,1,30]],"date-time":"2020-01-30T23:53:51Z","timestamp":1580428431000},"page":"1271-1277","source":"Crossref","is-referenced-by-count":11,"title":["Free-Space Features: Global Localization in 2D Laser SLAM Using Distance Function Maps"],"prefix":"10.1109","author":[{"given":"Alexander","family":"Millane","sequence":"first","affiliation":[{"name":"Autonomous Systems Lab, ETH Zürich"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Helen","family":"Oleynikova","sequence":"additional","affiliation":[{"name":"Autonomous Systems Lab, ETH Zürich"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Juan","family":"Nieto","sequence":"additional","affiliation":[{"name":"Autonomous Systems Lab, ETH Zürich"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Roland","family":"Siegwart","sequence":"additional","affiliation":[{"name":"Autonomous Systems Lab, ETH Zürich"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"C\u00e9sar","family":"Cadena","sequence":"additional","affiliation":[{"name":"Autonomous Systems Lab, ETH Zürich"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2003.1238663"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2002.1187952"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2010.5509864"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2013.6630947"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1177\/0278364911405086"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8202236"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1177\/0278364904049393"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8593427"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2009.07.009"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8202315"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1145\/344779.344899"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6385729"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1145\/2047196.2047270"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487258"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2006.889486"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/CIRA.1999.810068"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7140013"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2012.08.010"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2009.5152375"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2016.2624754"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2015.7353633"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2003.1177156"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-016-0375-7"},{"key":"ref24","first-page":"886","article-title":"Histograms of oriented gradients for human detection","volume":"1","author":"dalal","year":"2005","journal-title":"Computer Vision and Pattern Recognition 2005 CVPR 2005 IEEE Computer Society Conference on"},{"key":"ref23","first-page":"404","article-title":"Surf: Speeded up robust features","author":"bay","year":"2006","journal-title":"European Conference on Computer Vision"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/34.993558"},{"key":"ref25","doi-asserted-by":"crossref","first-page":"1150","DOI":"10.1109\/ICCV.1999.790410","article-title":"Object recognition from local scale-invariant features","volume":"2","author":"lowe","year":"1999","journal-title":"Computer Vision 1999 The Proceedings of the Seventh IEEE International Conference on"}],"event":{"name":"2019 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","start":{"date-parts":[[2019,11,3]]},"location":"Macau, China","end":{"date-parts":[[2019,11,8]]}},"container-title":["2019 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/8957008\/8967518\/08967683.pdf?arnumber=8967683","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,8,26]],"date-time":"2025-08-26T21:54:37Z","timestamp":1756245277000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/8967683\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,11]]},"references-count":27,"URL":"https:\/\/doi.org\/10.1109\/iros40897.2019.8967683","relation":{},"subject":[],"published":{"date-parts":[[2019,11]]}}}