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Grant support

This paper was recommended for publication by Associate Editor P. Jensfelt and Editor J.-P. Laumond upon evaluation of the reviewers' comments. This work was supported by the Spanish Ministry of Economy and Competitiveness (ARABOT: DPI 2010-21247-C02-01).

Analysis of institutional authors

San Segundo, PabloAuthorRodriguez-Losada, DiegoAuthor
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Robust Global Feature Based Data Association With a Sparse Bit Optimized Maximum Clique Algorithm

Publicated to:Ieee Transactions On Robotics. 29 (5): 1332-1339 - 2013-06-17 29(5), DOI: 10.1109/TRO.2013.2264869

Authors: San Segundo, Pablo; Rodriguez-Losada, Diego;

Affiliations

Univ Politecn Madrid, Consejo Super Invest Cient, Ctr Automat & Robot, E-28006 Madrid, Spain - Author

Abstract

This paper presents a robust solution to the mobile robotics data association problem based on solving the maximum clique problem (MCP) in a typically sparse correspondence graph, which contains compatibility information between pairs of observations and landmarks. Bit sparse optimizations are designed and implemented in a new algorithm BBMCS, which reduces computation and memory requirements of a leading general purpose maximum clique solver, to make it possibly the best exact sparse MCP algorithm currently found in the literature. BBMCS is reported to achieve very good results in terms of robustness with few assumptions on noise and visibility, while managing very reasonable computation time and memory usage even for complex large data association problems.

Keywords
Bound algorithmCombinatorial optimizationComputational intelligenceMobile robotsSearchSlam

Quality index

Bibliometric impact. Analysis of the contribution and dissemination channel

The work has been published in the journal Ieee Transactions On Robotics due to its progression and the good impact it has achieved in recent years, according to the agency WoS (JCR), it has become a reference in its field. In the year of publication of the work, 2013, it was in position 1/21, thus managing to position itself as a Q1 (Primer Cuartil), in the category Robotics.

From a relative perspective, and based on the normalized impact indicator calculated from World Citations provided by WoS (ESI, Clarivate), it yields a value for the citation normalization relative to the expected citation rate of: 1.03. This indicates that, compared to works in the same discipline and in the same year of publication, it ranks as a work cited above average. (source consulted: ESI Nov 14, 2024)

This information is reinforced by other indicators of the same type, which, although dynamic over time and dependent on the set of average global citations at the time of their calculation, consistently position the work at some point among the top 50% most cited in its field:

  • Field Citation Ratio (FCR) from Dimensions: 4.06 (source consulted: Dimensions Apr 2025)

Specifically, and according to different indexing agencies, this work has accumulated citations as of 2025-04-22, the following number of citations:

  • WoS: 11
  • Scopus: 21
  • OpenCitations: 14
Impact and social visibility

From the perspective of influence or social adoption, and based on metrics associated with mentions and interactions provided by agencies specializing in calculating the so-called "Alternative or Social Metrics," we can highlight as of 2025-04-22:

  • The use of this contribution in bookmarks, code forks, additions to favorite lists for recurrent reading, as well as general views, indicates that someone is using the publication as a basis for their current work. This may be a notable indicator of future more formal and academic citations. This claim is supported by the result of the "Capture" indicator, which yields a total of: 14 (PlumX).

It is essential to present evidence supporting full alignment with institutional principles and guidelines on Open Science and the Conservation and Dissemination of Intellectual Heritage. A clear example of this is:

  • The work has been submitted to a journal whose editorial policy allows open Open Access publication.
Leadership analysis of institutional authors

There is a significant leadership presence as some of the institution’s authors appear as the first or last signer, detailed as follows: First Author (SAN SEGUNDO CARRILLO, PABLO) and Last Author (RODRIGUEZ-LOSADA GONZALEZ, DIEGO).