{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,27]],"date-time":"2026-02-27T15:38:48Z","timestamp":1772206728948,"version":"3.50.1"},"reference-count":42,"publisher":"SAGE Publications","issue":"7","license":[{"start":{"date-parts":[[2013,6,1]],"date-time":"2013-06-01T00:00:00Z","timestamp":1370044800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2013,6]]},"abstract":"<jats:p> The central challenge in robotic mapping is obtaining reliable data associations (or \u201cloop closures\u201d): state-of-the-art inference algorithms can fail catastrophically if even one erroneous loop closure is incorporated into the map. Consequently, much work has been done to push error rates closer to zero. However, a long-lived or multi-robot system will still encounter errors, leading to system failure. We propose a fundamentally different approach: allow richer error models that allow the probability of a failure to be explicitly modeled. In other words, rather than characterizing loop closures as being \u201cright\u201d or \u201cwrong\u201d, we propose characterizing the error of those loop closures in a more expressive manner that can account for their non-Gaussian behavior. Our approach leads to an fully integrated Bayesian framework for dealing with error-prone data. Unlike earlier multiple-hypothesis approaches, our approach avoids exponential memory complexity and is fast enough for real-time performance. We show that the proposed method not only allows loop closing errors to be automatically identified, but also that in extreme cases, the \u201cfront-end\u201d loop-validation systems can be unnecessary. We demonstrate our system both on standard benchmarks and on the real-world data sets that motivated this work. <\/jats:p>","DOI":"10.1177\/0278364913479413","type":"journal-article","created":{"date-parts":[[2013,7,1]],"date-time":"2013-07-01T16:14:24Z","timestamp":1372695264000},"page":"826-840","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":162,"title":["Inference on networks of mixtures for robust robot mapping"],"prefix":"10.1177","volume":"32","author":[{"given":"Edwin","family":"Olson","sequence":"first","affiliation":[{"name":"Computer Science and Engineering, University of Michigan, Ann Arbor, MI, USA"}]},{"given":"Pratik","family":"Agarwal","sequence":"additional","affiliation":[{"name":"Computer Science and Engineering, University of Michigan, Ann Arbor, MI, USA"},{"name":"University of Freiburg, Albert-Ludwigs-Universit\u00e4t Freiburg, Freiburg, Germany"}]}],"member":"179","published-online":{"date-parts":[[2013,7,1]]},"reference":[{"key":"bibr1-0278364913479413","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6385473"},{"key":"bibr2-0278364913479413","unstructured":"Agarwal P, Olson E, Burgard W (2012) Max-mixture - open source implementation with g2o. http:\/\/openslam.org\/maxmixture.html"},{"key":"bibr3-0278364913479413","volume-title":"Mobile Robot Localisation and Mapping in Extensive Outdoor Environments","author":"Bailey T","year":"2002"},{"key":"bibr4-0278364913479413","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2006.1641748"},{"key":"bibr5-0278364913479413","doi-asserted-by":"publisher","DOI":"10.1109\/MAES.2004.1263228"},{"key":"bibr6-0278364913479413","doi-asserted-by":"publisher","DOI":"10.1177\/0278364904049393"},{"key":"bibr7-0278364913479413","doi-asserted-by":"publisher","DOI":"10.1109\/CTS.2012.6261036"},{"key":"bibr8-0278364913479413","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2005.I.024"},{"key":"bibr9-0278364913479413","doi-asserted-by":"publisher","DOI":"10.1177\/0278364906072768"},{"key":"bibr10-0278364913479413","doi-asserted-by":"publisher","DOI":"10.1007\/3-540-36460-9_4"},{"key":"bibr11-0278364913479413","doi-asserted-by":"publisher","DOI":"10.1177\/0278364906072512"},{"key":"bibr12-0278364913479413","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2005.1570140"},{"key":"bibr13-0278364913479413","first-page":"2432","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)","author":"Grisetti G","year":"2005"},{"key":"bibr14-0278364913479413","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2007.III.009"},{"key":"bibr15-0278364913479413","first-page":"206","volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","author":"H\u00e4hnel D","year":"2003"},{"key":"bibr16-0278364913479413","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9780511811685"},{"key":"bibr17-0278364913479413","unstructured":"Howard A, Roy N (2003) The robotics data set repository (radish). http:\/\/radish.sourceforge.net\/."},{"key":"bibr18-0278364913479413","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.2006706"},{"key":"bibr19-0278364913479413","doi-asserted-by":"publisher","DOI":"10.5244\/C.24.102"},{"key":"bibr20-0278364913479413","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)","author":"Kummerle R","year":"2011"},{"key":"bibr21-0278364913479413","doi-asserted-by":"publisher","DOI":"10.1109\/ROMAN.2007.4415080"},{"key":"bibr22-0278364913479413","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6385879"},{"key":"bibr23-0278364913479413","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2012.VIII.030"},{"key":"bibr24-0278364913479413","first-page":"310","volume-title":"Proceedings of the Proceedings of the Seventeenth Conference Annual Conference on Uncertainty in Artificial Intelligence (UAI-01)","author":"Lerner U","year":"2001"},{"key":"bibr25-0278364913479413","volume-title":"FastSLAM: A Factored Solution to the Simultaneous Localization and Mapping Problem with Unknown Data Association","author":"Montemerlo M","year":"2003"},{"key":"bibr26-0278364913479413","doi-asserted-by":"publisher","DOI":"10.1109\/70.976019"},{"key":"bibr27-0278364913479413","volume-title":"On the Structure and Solution of the Simultaneous Localisation and Map Building Problem","author":"Newman PM","year":"1999"},{"key":"bibr28-0278364913479413","unstructured":"Olson E (2008) Robust and Efficient Robotic Mapping. 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