{"id":"https://openalex.org/W4387123213","doi":"https://doi.org/10.1109/case56687.2023.10260532","title":"Semantic 3D Scene Segmentation for Robotic Assembly Process Execution","display_name":"Semantic 3D Scene Segmentation for Robotic Assembly Process Execution","publication_year":2023,"publication_date":"2023-08-26","ids":{"openalex":"https://openalex.org/W4387123213","doi":"https://doi.org/10.1109/case56687.2023.10260532"},"language":"en","primary_location":{"id":"doi:10.1109/case56687.2023.10260532","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case56687.2023.10260532","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 19th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5001545341","display_name":"Andreas Wiedholz","orcid":"https://orcid.org/0000-0003-0118-8765"},"institutions":[{"id":"https://openalex.org/I142270456","display_name":"Technische Hochschule Augsburg","ror":"https://ror.org/016604a03","country_code":"DE","type":"education","lineage":["https://openalex.org/I142270456"]},{"id":"https://openalex.org/I179225836","display_name":"University of Augsburg","ror":"https://ror.org/03p14d497","country_code":"DE","type":"education","lineage":["https://openalex.org/I179225836"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Andreas Wiedholz","raw_affiliation_strings":["University of applied Sciences,Faculty of Electrical Engineering,Augsburg,Germany","Faculty of Electrical Engineering, University of applied Sciences, Augsburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of applied Sciences,Faculty of Electrical Engineering,Augsburg,Germany","institution_ids":["https://openalex.org/I142270456","https://openalex.org/I179225836"]},{"raw_affiliation_string":"Faculty of Electrical Engineering, University of applied Sciences, Augsburg, Germany","institution_ids":["https://openalex.org/I142270456"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046779579","display_name":"Stefanie Wucherer","orcid":null},"institutions":[{"id":"https://openalex.org/I142270456","display_name":"Technische Hochschule Augsburg","ror":"https://ror.org/016604a03","country_code":"DE","type":"education","lineage":["https://openalex.org/I142270456"]},{"id":"https://openalex.org/I179225836","display_name":"University of Augsburg","ror":"https://ror.org/03p14d497","country_code":"DE","type":"education","lineage":["https://openalex.org/I179225836"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Stefanie Wucherer","raw_affiliation_strings":["University of applied Sciences,Faculty of Electrical Engineering,Augsburg,Germany","Faculty of Electrical Engineering, University of applied Sciences, Augsburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of applied Sciences,Faculty of Electrical Engineering,Augsburg,Germany","institution_ids":["https://openalex.org/I142270456","https://openalex.org/I179225836"]},{"raw_affiliation_string":"Faculty of Electrical Engineering, University of applied Sciences, Augsburg, Germany","institution_ids":["https://openalex.org/I142270456"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078466321","display_name":"Simon Dietrich","orcid":null},"institutions":[{"id":"https://openalex.org/I142270456","display_name":"Technische Hochschule Augsburg","ror":"https://ror.org/016604a03","country_code":"DE","type":"education","lineage":["https://openalex.org/I142270456"]},{"id":"https://openalex.org/I179225836","display_name":"University of Augsburg","ror":"https://ror.org/03p14d497","country_code":"DE","type":"education","lineage":["https://openalex.org/I179225836"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Simon Dietrich","raw_affiliation_strings":["University of applied Sciences,Faculty of Electrical Engineering,Augsburg,Germany","Faculty of Electrical Engineering, University of applied Sciences, Augsburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of applied Sciences,Faculty of Electrical Engineering,Augsburg,Germany","institution_ids":["https://openalex.org/I142270456","https://openalex.org/I179225836"]},{"raw_affiliation_string":"Faculty of Electrical Engineering, University of applied Sciences, Augsburg, Germany","institution_ids":["https://openalex.org/I142270456"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087945190","display_name":"F. Kerber","orcid":"https://orcid.org/0000-0002-4553-5186"},"institutions":[{"id":"https://openalex.org/I142270456","display_name":"Technische Hochschule Augsburg","ror":"https://ror.org/016604a03","country_code":"DE","type":"education","lineage":["https://openalex.org/I142270456"]},{"id":"https://openalex.org/I179225836","display_name":"University of Augsburg","ror":"https://ror.org/03p14d497","country_code":"DE","type":"education","lineage":["https://openalex.org/I179225836"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Florian Kerber","raw_affiliation_strings":["University of applied Sciences,Faculty of Electrical Engineering,Augsburg,Germany","Faculty of Electrical Engineering, University of applied Sciences, Augsburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of applied Sciences,Faculty of Electrical Engineering,Augsburg,Germany","institution_ids":["https://openalex.org/I142270456","https://openalex.org/I179225836"]},{"raw_affiliation_string":"Faculty of Electrical Engineering, University of applied Sciences, Augsburg, Germany","institution_ids":["https://openalex.org/I142270456"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.8705,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.87185236,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.8516969084739685},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.797892689704895},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.7129119038581848},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6657495498657227},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.6650409698486328},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.6112409830093384},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5642508864402771},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.49326056241989136},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.45328548550605774},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.4525146782398224},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3526005148887634},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.0712493360042572}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.8516969084739685},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.797892689704895},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.7129119038581848},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6657495498657227},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.6650409698486328},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.6112409830093384},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5642508864402771},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.49326056241989136},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.45328548550605774},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.4525146782398224},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3526005148887634},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0712493360042572},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/case56687.2023.10260532","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case56687.2023.10260532","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 19th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","score":0.6399999856948853,"id":"https://metadata.un.org/sdg/9"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W2133844819","https://openalex.org/W2152864241","https://openalex.org/W2160821342","https://openalex.org/W2786036844","https://openalex.org/W2939995398","https://openalex.org/W2968638474","https://openalex.org/W2990613095","https://openalex.org/W3094091653","https://openalex.org/W3109646990","https://openalex.org/W3112844079","https://openalex.org/W3118885154","https://openalex.org/W3139040491","https://openalex.org/W4212774754","https://openalex.org/W4281788563","https://openalex.org/W4312311821","https://openalex.org/W6637131181","https://openalex.org/W6747827861","https://openalex.org/W6763422710","https://openalex.org/W6765299845","https://openalex.org/W6809937331","https://openalex.org/W6864332406"],"related_works":["https://openalex.org/W4244478748","https://openalex.org/W4223488648","https://openalex.org/W2134969820","https://openalex.org/W2251605416","https://openalex.org/W1997222214","https://openalex.org/W2560439919","https://openalex.org/W4389340727","https://openalex.org/W4399442168","https://openalex.org/W2114282491","https://openalex.org/W4388446985"],"abstract_inverted_index":{"Adapting":[0],"robot":[1,68],"programmes":[2],"to":[3,51,80,102,139,150,184],"changes":[4],"in":[5,25,72,100,144,161],"the":[6,16,140,172],"environment":[7,40],"is":[8,15,45,135,164],"a":[9,36,81,89,104,165,178,185],"well-known":[10],"industry":[11],"problem,":[12],"and":[13,27],"it":[14],"reason":[17],"why":[18],"many":[19],"tedious":[20],"tasks":[21,54],"are":[22,56],"not":[23,137],"automated":[24],"small":[26],"medium-sized":[28],"enterprises":[29],"(SMEs).":[30],"A":[31],"semantic":[32,62,109,125],"world":[33],"model":[34,105],"of":[35,64,83,174],"robot's":[37,179],"previously":[38],"unknown":[39],"created":[41],"from":[42],"point":[43,65,94,107,126],"clouds":[44,66,95],"one":[46],"way":[47],"for":[48,67,91,96,106,124],"these":[49],"companies":[50],"automate":[52],"assembly":[53],"that":[55,113],"typically":[57],"performed":[58],"by":[59],"humans.":[60],"The":[61,158],"segmentation":[63,128],"manipulators":[69],"or":[70],"cobots":[71],"industrial":[73],"environments":[74],"has":[75],"received":[76],"little":[77],"attention":[78],"due":[79],"lack":[82],"suitable":[84],"datasets.":[85],"This":[86],"paper":[87],"describes":[88],"pipeline":[90],"creating":[92],"synthetic":[93],"specific":[97],"use":[98],"cases":[99],"order":[101],"train":[103],"cloud":[108,127],"segmentation.":[110],"We":[111],"show":[112],"models":[114],"trained":[115],"with":[116],"our":[117,170],"data":[118,146],"achieve":[119],"high":[120],"per-class":[121],"accuracy":[122],"(>90%)":[123],"on":[129,155],"unseen":[130],"real-world":[131],"data.":[132],"Our":[133],"approach":[134,171],"applicable":[136],"only":[138],"3D":[141],"camera":[142],"used":[143],"training":[145],"generation":[147],"but":[148],"also":[149],"other":[151],"depth":[152],"cameras":[153],"based":[154],"different":[156],"technologies.":[157],"application":[159],"tested":[160],"this":[162],"work":[163],"industry-related":[166],"peg-in-the-hole":[167],"process.":[168],"With":[169],"necessity":[173],"user":[175],"assistance":[176],"during":[177],"commissioning":[180],"can":[181],"be":[182],"reduced":[183],"minimum.":[186]},"counts_by_year":[{"year":2025,"cited_by_count":5}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}