{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,17]],"date-time":"2026-03-17T20:07:43Z","timestamp":1773778063895,"version":"3.50.1"},"reference-count":56,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"5","license":[{"start":{"date-parts":[[2023,10,1]],"date-time":"2023-10-01T00:00:00Z","timestamp":1696118400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2023,10,1]],"date-time":"2023-10-01T00:00:00Z","timestamp":1696118400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2023,10,1]],"date-time":"2023-10-01T00:00:00Z","timestamp":1696118400000},"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":["IEEE Trans. Robot."],"published-print":{"date-parts":[[2023,10]]},"DOI":"10.1109\/tro.2023.3290448","type":"journal-article","created":{"date-parts":[[2023,8,2]],"date-time":"2023-08-02T17:52:48Z","timestamp":1690998768000},"page":"3686-3704","source":"Crossref","is-referenced-by-count":29,"title":["AutoMerge: A Framework for Map Assembling and Smoothing in City-Scale Environments"],"prefix":"10.1109","volume":"39","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-8398-0988","authenticated-orcid":false,"given":"Peng","family":"Yin","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering, City University of Hong Kong, Hong Kong, SAR, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5989-0771","authenticated-orcid":false,"given":"Shiqi","family":"Zhao","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, City University of Hong Kong, Hong Kong, SAR, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8722-0820","authenticated-orcid":false,"given":"Haowen","family":"Lai","sequence":"additional","affiliation":[{"name":"Department of Automation, Tsinghua University, Beijing, China"}]},{"ORCID":"https:\/\/orcid.org\/0009-0007-3978-3320","authenticated-orcid":false,"given":"Ruohai","family":"Ge","sequence":"additional","affiliation":[{"name":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4692-5645","authenticated-orcid":false,"given":"Ji","family":"Zhang","sequence":"additional","affiliation":[{"name":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5434-7945","authenticated-orcid":false,"given":"Howie","family":"Choset","sequence":"additional","affiliation":[{"name":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8373-4688","authenticated-orcid":false,"given":"Sebastian","family":"Scherer","sequence":"additional","affiliation":[{"name":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"}]}],"member":"263","reference":[{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3210880"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913491297"},{"key":"ref56","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-031-20047-2_34"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-008-9097-4"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2021.3137751"},{"key":"ref53","first-page":"131","article-title":"CUDA-based SeqSLAM for real-time place recognition","author":"ouerghi","year":"0","journal-title":"Proc 25th Int Conf Central Eur Comput Graph Visual Comput Vis"},{"key":"ref52","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR46437.2021.01119"},{"key":"ref11","first-page":"5556","article-title":"Robust reconstruction of indoor scenes","author":"choi","year":"0","journal-title":"Proc IEEE Conf Comput Vis Pattern Recognit"},{"key":"ref55","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2021.XVII.027"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1145\/358669.358692"},{"key":"ref54","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3059633"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1177\/0278364919863090"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21831"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2015.2496823"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-21538-4_5"},{"key":"ref51","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2019.01272"},{"key":"ref50","article-title":"Factor graphs and GTSAM: A hands-on introduction","author":"dellaert","year":"2012"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.3390\/rs13010106"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2019.00326"},{"key":"ref48","doi-asserted-by":"crossref","first-page":"888","DOI":"10.1109\/34.868688","article-title":"Normalized cuts and image segmentation","volume":"22","author":"shi","year":"2000","journal-title":"IEEE Trans Pattern Anal Mach Intell"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.1007\/s11222-007-9033-z"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3178797"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1109\/TIP.2021.3136714"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2014.X.007"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2013.207"},{"key":"ref49","first-page":"1","article-title":"Least-squares rigid motion using SVD","volume":"1","author":"sorkine-hornung","year":"2017","journal-title":"Computing"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2012.2197158"},{"key":"ref7","first-page":"6000","article-title":"Attention is all you need","author":"vaswani","year":"0","journal-title":"Proc Int Conf Neural Inf Process"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2012.6224623"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2020.XVI.009"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2018.00470"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3061375"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2021.3057025"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1109\/IROS45743.2020.9341727"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/ROBIO.2011.6181760"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/TVCG.2022.3170695"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2021.3116424"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-01261-8_4"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2017.106"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/ICPR56361.2022.9956458"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV48922.2021.00604"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1609\/aaai.v36i1.19934"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9562105"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9197082"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8593562"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-15558-1_26"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2009.V.021"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/IM.2001.924423"},{"key":"ref26","first-page":"1437","article-title":"NetVLAD: CNN architecture for weakly supervised place recognition","volume":"40","author":"arandjelovi?","year":"0","journal-title":"Proc IEEE Conf Comput Vis Pattern Recognit"},{"key":"ref25","first-page":"652","article-title":"PointNet: Deep learning on point sets for 3D classification and segmentation","author":"qi","year":"0","journal-title":"Proc IEEE Conf Comput Vis Pattern Recognit"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1007\/978-981-10-6370-1_41"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1177\/02783649211056674"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-012-9321-0"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2019.00292"},{"key":"ref27","first-page":"5099","article-title":"PointNet++: Deep hierarchical feature learning on point sets in a metric space","volume":"30","author":"qi","year":"0","journal-title":"Proc Int Conf Neural Inf Process"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/WACV48630.2021.00183"}],"container-title":["IEEE Transactions on Robotics"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/8860\/10271771\/10203034.pdf?arnumber=10203034","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,10,23]],"date-time":"2023-10-23T18:41:00Z","timestamp":1698086460000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/10203034\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,10]]},"references-count":56,"journal-issue":{"issue":"5"},"URL":"https:\/\/doi.org\/10.1109\/tro.2023.3290448","relation":{},"ISSN":["1552-3098","1941-0468"],"issn-type":[{"value":"1552-3098","type":"print"},{"value":"1941-0468","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,10]]}}}