{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T10:08:58Z","timestamp":1777716538417,"version":"3.51.4"},"reference-count":36,"publisher":"SAGE Publications","issue":"4-5","license":[{"start":{"date-parts":[[2015,1,21]],"date-time":"2015-01-21T00:00:00Z","timestamp":1421798400000},"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":[[2015,4]]},"abstract":"<jats:p>This paper considers the potential of using three-dimensional (3D) planar surfaces and line segments detected in depth images for place recognition. A place recognition method is presented that is based on matching sets of surface and line features extracted from depth images provided by a 3D camera to features of the same type contained in a previously created environment model. The considered environment model consists of a set of local models representing particular locations in the modeled environment. Each local model consists of planar surface segments and line segments representing the edges of objects in the environment. The presented method is designed for indoor and urban environments. A computationally efficient pose hypothesis generation approach is proposed that ranks the features according to their potential contribution to the pose information, thereby reducing the time needed for obtaining accurate pose estimation. Furthermore, a robust probabilistic method for selecting the best pose hypothesis is proposed that allows matching of partially overlapping point clouds with gross outliers. The proposed approach is experimentally tested on a benchmark dataset containing depth images acquired in the indoor environment with changes in lighting conditions and the presence of moving objects. A comparison of the proposed method to FAB-MAP and DLoopDetector is reported.<\/jats:p>","DOI":"10.1177\/0278364914548708","type":"journal-article","created":{"date-parts":[[2015,1,22]],"date-time":"2015-01-22T00:05:04Z","timestamp":1421885104000},"page":"674-704","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":23,"title":["Place recognition based on matching of planar surfaces and line segments"],"prefix":"10.1177","volume":"34","author":[{"given":"Robert","family":"Cupec","sequence":"first","affiliation":[{"name":"Faculty of Electrical Engineering, J. J. Strossmayer University of Osijek, Osijek, Croatia"}]},{"given":"Emmanuel Karlo","family":"Nyarko","sequence":"additional","affiliation":[{"name":"Faculty of Electrical Engineering, J. J. Strossmayer University of Osijek, Osijek, Croatia"}]},{"given":"Damir","family":"Filko","sequence":"additional","affiliation":[{"name":"Faculty of Electrical Engineering, J. J. Strossmayer University of Osijek, Osijek, Croatia"}]},{"given":"Andrej","family":"Kitanov","sequence":"additional","affiliation":[{"name":"Faculty of Electrical Engineering and Computing, University of Zagreb, Zagreb, Croatia"}]},{"given":"Ivan","family":"Petrovi\u0107","sequence":"additional","affiliation":[{"name":"Faculty of Electrical Engineering and Computing, University of Zagreb, Zagreb, Croatia"}]}],"member":"179","published-online":{"date-parts":[[2015,1,21]]},"reference":[{"key":"bibr1-0278364914548708","doi-asserted-by":"publisher","DOI":"10.1109\/70.88101"},{"key":"bibr2-0278364914548708","first-page":"1635","author":"Badino H","year":"2012","journal-title":"IEEE international conference on robotics and automation (ICRA)"},{"key":"bibr3-0278364914548708","doi-asserted-by":"publisher","DOI":"10.1016\/j.cviu.2007.09.014"},{"key":"bibr4-0278364914548708","volume-title":"Learning OpenCV","author":"Bradski G","year":"2008"},{"key":"bibr5-0278364914548708","volume":"1","author":"Chum O","year":"2005","journal-title":"computer vision and pattern recognition (CVPR)"},{"key":"bibr6-0278364914548708","first-page":"3837","author":"Ciarfuglia TA","year":"2012","journal-title":"IEEE\/RSJ international conference on intelligent robots and systems (IROS)"},{"key":"bibr7-0278364914548708","first-page":"94","author":"Cobzas D","year":"2001","journal-title":"vision interface"},{"key":"bibr8-0278364914548708","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2009.V.039"},{"key":"bibr9-0278364914548708","doi-asserted-by":"publisher","DOI":"10.3182\/20120905-3-HR-2030.00172"},{"key":"bibr10-0278364914548708","first-page":"31","volume-title":"Croatian computer vision workshop (CCVW)","author":"Cupec R","year":"2013"},{"key":"bibr11-0278364914548708","doi-asserted-by":"publisher","DOI":"10.3138\/FM57-6770-U75U-7727"},{"key":"bibr12-0278364914548708","author":"Endres F","year":"2012","journal-title":"IEEE international conference on robotics and automation (ICRA)"},{"key":"bibr13-0278364914548708","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2012.6224951"},{"key":"bibr14-0278364914548708","volume-title":"Three-dimensional Computer Vision: A Geometric Viewpoint","author":"Faugeras O","year":"1993"},{"issue":"6","key":"bibr15-0278364914548708","first-page":"381","volume":"24","author":"Fischler MA","year":"1981","journal-title":"Graphics and Image Processing"},{"key":"bibr16-0278364914548708","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2012.2197158"},{"key":"bibr17-0278364914548708","author":"Garland M","year":"2001","journal-title":"ACM symposium on interactive 3D graphics"},{"key":"bibr18-0278364914548708","first-page":"14","author":"Glover A","year":"2012","journal-title":"international conference on robotics and automation"},{"key":"bibr19-0278364914548708","doi-asserted-by":"publisher","DOI":"10.1177\/0278364911405086"},{"key":"bibr20-0278364914548708","volume-title":"international symposium on robotics research (ISRR)","author":"Huang AS","year":"2011"},{"key":"bibr21-0278364914548708","doi-asserted-by":"publisher","DOI":"10.1177\/0278364910371855"},{"key":"bibr22-0278364914548708","doi-asserted-by":"publisher","DOI":"10.1016\/1049-9660(92)90045-5"},{"key":"bibr23-0278364914548708","first-page":"4399","author":"Krainin M","year":"2012","journal-title":"IEEE international conference on robotics and automation (ICRA)"},{"key":"bibr24-0278364914548708","first-page":"3613","volume-title":"IEEE international conference on robotics and automation (ICRA)","author":"Liu Y","year":"2012"},{"key":"bibr25-0278364914548708","doi-asserted-by":"publisher","DOI":"10.1023\/B:VISI.0000029664.99615.94"},{"key":"bibr26-0278364914548708","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1987.1087097"},{"key":"bibr27-0278364914548708","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913490323"},{"key":"bibr28-0278364914548708","first-page":"1643","author":"Milford MJ","year":"2012","journal-title":"IEEE international conference on robotics and automation (ICRA)"},{"key":"bibr29-0278364914548708","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2014.2321376"},{"key":"bibr30-0278364914548708","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2010.2042989"},{"key":"bibr31-0278364914548708","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2010.5509587"},{"key":"bibr32-0278364914548708","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2009.07.025"},{"key":"bibr33-0278364914548708","first-page":"710","author":"Schmitt F","year":"1991","journal-title":"IEEE computer society conference on computer vision and pattern recognition (CVPR)"},{"key":"bibr34-0278364914548708","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2004.839228"},{"key":"bibr35-0278364914548708","doi-asserted-by":"publisher","DOI":"10.1016\/j.jvcir.2013.02.008"},{"key":"bibr36-0278364914548708","volume-title":"Probabilistic Robotics","author":"Thrun S","year":"2005"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364914548708","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.1177\/0278364914548708","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364914548708","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:18:47Z","timestamp":1777457927000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0278364914548708"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2015,1,21]]},"references-count":36,"journal-issue":{"issue":"4-5","published-print":{"date-parts":[[2015,4]]}},"alternative-id":["10.1177\/0278364914548708"],"URL":"https:\/\/doi.org\/10.1177\/0278364914548708","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2015,1,21]]}}}