{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,9,25]],"date-time":"2026-09-25T02:28:34Z","timestamp":1790303314584,"version":"4.1.0"},"reference-count":19,"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\/iros40897.2019.8968159","type":"proceedings-article","created":{"date-parts":[[2020,1,30]],"date-time":"2020-01-30T23:53:51Z","timestamp":1580428431000},"page":"4554-4561","source":"Crossref","is-referenced-by-count":29,"title":["CALC2.0: Combining Appearance, Semantic and Geometric Information for Robust and Efficient Visual Loop Closure"],"prefix":"10.1109","author":[{"given":"Nathaniel","family":"Merrill","sequence":"first","affiliation":[{"name":"University of Delaware,Dept. of Computer and Information Sciences and Dept. of Mechanical Engineering,Newark,DE,19716"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Guoquan","family":"Huang","sequence":"additional","affiliation":[{"name":"University of Delaware,Dept. of Computer and Information Sciences and Dept. of Mechanical Engineering,Newark,DE,19716"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2013.207"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2018.00721"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2012.6248074"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2011.222"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2018.00132"},{"key":"ref15","article-title":"Fast and Accurate Deep Network Learning by Exponential Linear Units (ELUs)","author":"clevert","year":"2015","journal-title":"CoRR abs\/1511 07289"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2016.207"},{"key":"ref17","article-title":"Adam: A Method for Stochastic Optimization","author":"kingma","year":"2014","journal-title":"CoRR abs\/1412 6980"},{"key":"ref18","article-title":"TensorFlow: Large-Scale Machine Learning on Heterogeneous Systems","author":"abadi","year":"2015","journal-title":"software available from tensorflow org"},{"key":"ref19","article-title":"The OpenCV Library","author":"bradski","year":"2000","journal-title":"Dr Dobb’s J Softw Tools"},{"key":"ref4","article-title":"NetVLAD: CNN architecture for weakly supervised place recognition","author":"arandjelovi?","year":"2016","journal-title":"IEEE Conference on Computer Vision and Pattern Recognition"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2018.XIV.022"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2005.177"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2018.XIV.032"},{"key":"ref8","first-page":"1147","article-title":"ORB-SLAM: a Versatile and Accurate Monocular SLAM System","volume":"31 5","author":"ra\u00fal","year":"2015","journal-title":"IEEE Transactions on Robotics"},{"key":"ref7","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1109\/TRO.2015.2496823","article-title":"Visual Place Recognition: A Survey","volume":"32 1","author":"lowry","year":"2016","journal-title":"IEEE Transactions on Robotics"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2015.7353986"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2012.2197158"},{"key":"ref9","first-page":"1255","article-title":"ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras","volume":"33 5","author":"ra\u00fal","year":"2017","journal-title":"IEEE Transactions on Robotics"}],"event":{"name":"2019 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","location":"Macau, China","start":{"date-parts":[[2019,11,3]]},"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\/08968159.pdf?arnumber=8968159","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,28]],"date-time":"2025-07-28T19:39:43Z","timestamp":1753731583000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/8968159\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,11]]},"references-count":19,"URL":"https:\/\/doi.org\/10.1109\/iros40897.2019.8968159","relation":{},"subject":[],"published":{"date-parts":[[2019,11]]}}}