{"id":"https://openalex.org/W4394631233","doi":"https://doi.org/10.1109/crc60659.2023.10488583","title":"SGN: Semantic-Guided Net for 3D Semantic Segmentation in Cluttered Scenes","display_name":"SGN: Semantic-Guided Net for 3D Semantic Segmentation in Cluttered Scenes","publication_year":2024,"publication_date":"2024-04-09","ids":{"openalex":"https://openalex.org/W4394631233","doi":"https://doi.org/10.1109/crc60659.2023.10488583"},"language":"en","primary_location":{"id":"doi:10.1109/crc60659.2023.10488583","is_oa":false,"landing_page_url":"https://doi.org/10.1109/crc60659.2023.10488583","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 8th International Conference on Control, Robotics and Cybernetics (CRC)","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/A5033247962","display_name":"Zihao Wan","orcid":"https://orcid.org/0000-0001-9937-4165"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zihao Wan","raw_affiliation_strings":["Chinese Academy of Sciences,Institute of Automation,Beijing,China","Institute of Automation, Chinese Academy of Sciences, Beijing, China","School of Artificial Inteligence, University of Chinese Academy of Sciences, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences,Institute of Automation,Beijing,China","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]},{"raw_affiliation_string":"School of Artificial Inteligence, University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111017189","display_name":"Jianhua Hu","orcid":"https://orcid.org/0000-0003-2356-5955"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianhua Hu","raw_affiliation_strings":["Chinese Academy of Sciences,Institute of Automation,Beijing,China","Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences,Institute of Automation,Beijing,China","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5030760502","display_name":"Yunkuan Wang","orcid":"https://orcid.org/0000-0003-1015-8381"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunkuan Wang","raw_affiliation_strings":["Chinese Academy of Sciences,Institute of Automation,Beijing,China","Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences,Institute of Automation,Beijing,China","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2187,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.44897934,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"285","last_page":"289"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.944599986076355,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.944599986076355,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T14339","display_name":"Image Processing and 3D Reconstruction","score":0.9179999828338623,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10481","display_name":"Computer Graphics and Visualization Techniques","score":0.9146000146865845,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7724233865737915},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.656281054019928},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.6252173185348511},{"id":"https://openalex.org/keywords/net","display_name":"Net (polyhedron)","score":0.5108582377433777},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4574306607246399},{"id":"https://openalex.org/keywords/natural-language-processing","display_name":"Natural language processing","score":0.42540988326072693},{"id":"https://openalex.org/keywords/semantic-computing","display_name":"Semantic computing","score":0.4249206483364105},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.32431042194366455},{"id":"https://openalex.org/keywords/semantic-web","display_name":"Semantic Web","score":0.1580081582069397},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08074340224266052}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7724233865737915},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.656281054019928},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.6252173185348511},{"id":"https://openalex.org/C14166107","wikidata":"https://www.wikidata.org/wiki/Q253829","display_name":"Net (polyhedron)","level":2,"score":0.5108582377433777},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4574306607246399},{"id":"https://openalex.org/C204321447","wikidata":"https://www.wikidata.org/wiki/Q30642","display_name":"Natural language processing","level":1,"score":0.42540988326072693},{"id":"https://openalex.org/C511149849","wikidata":"https://www.wikidata.org/wiki/Q7449051","display_name":"Semantic computing","level":3,"score":0.4249206483364105},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.32431042194366455},{"id":"https://openalex.org/C2129575","wikidata":"https://www.wikidata.org/wiki/Q54837","display_name":"Semantic Web","level":2,"score":0.1580081582069397},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08074340224266052},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/crc60659.2023.10488583","is_oa":false,"landing_page_url":"https://doi.org/10.1109/crc60659.2023.10488583","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 8th International Conference on Control, Robotics and Cybernetics (CRC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W2107376108","https://openalex.org/W2141977394","https://openalex.org/W2460657278","https://openalex.org/W2594519801","https://openalex.org/W2960986959","https://openalex.org/W2963509914","https://openalex.org/W2963706542","https://openalex.org/W2964257316","https://openalex.org/W2979750740","https://openalex.org/W2990613095","https://openalex.org/W3011788244","https://openalex.org/W3012494314","https://openalex.org/W3034664537","https://openalex.org/W3035002114","https://openalex.org/W3171215128","https://openalex.org/W3171440254","https://openalex.org/W4214755140","https://openalex.org/W4226098442","https://openalex.org/W4281732104","https://openalex.org/W4312307873","https://openalex.org/W4324122459","https://openalex.org/W6739778489","https://openalex.org/W6763422710","https://openalex.org/W6839446344"],"related_works":["https://openalex.org/W2912321008","https://openalex.org/W1998607122","https://openalex.org/W2324368075","https://openalex.org/W2972124131","https://openalex.org/W338149487","https://openalex.org/W2972032537","https://openalex.org/W2004663191","https://openalex.org/W4327772221","https://openalex.org/W2096831027","https://openalex.org/W2123558490"],"abstract_inverted_index":{"3D":[0,27,60,111,137],"semantic":[1,28,91,114,138],"segmentation":[2,29,92,139],"is":[3,33,102],"a":[4,87,136],"fundamental":[5],"task":[6],"in":[7,59,72],"robotic":[8,43,152],"manipulation":[9],"and":[10,113,160],"computer":[11],"vision.":[12],"However,":[13],"due":[14],"to":[15,100,116,146],"the":[16,24,40,63,74,77,118,124,148,163],"limitation":[17],"of":[18,26,42,76,109,126,165],"heuristic":[19],"point":[20,64,89],"cloud":[21,90],"upsampling":[22,52],"methods,":[23],"performance":[25,41],"under":[30,151],"cluttered":[31],"conditions":[32],"far":[34],"from":[35,129],"satisfactory,":[36],"which":[37,68,122],"severely":[38],"limits":[39],"grasping.":[44],"Specifically,":[45],"for":[46,66,120],"each":[47],"query":[48,78],"point,":[49],"previous":[50],"point-based":[51],"methods":[53],"only":[54],"choose":[55],"k":[56],"nearest":[57],"neighbors":[58,119],"space":[61],"as":[62],"set":[65],"interpolation,":[67,121],"may":[69],"cause":[70],"ambiguity":[71],"predicting":[73],"category":[75],"point.":[79],"To":[80],"tackle":[81],"this":[82,84,133],"issue,":[83],"paper":[85,134],"proposes":[86],"novel":[88],"network":[93],"called":[94,141],"Semantic-Guided":[95,103],"Net":[96],"(SGN).":[97],"The":[98],"key":[99],"SGN":[101],"Upsampler":[104],"(SGUS).":[105],"SGUS":[106],"make":[107],"use":[108],"both":[110],"position":[112],"information":[115],"find":[117],"reduces":[123],"number":[125],"irrelevant":[127],"points":[128],"different":[130],"categories.":[131],"Furthermore,":[132],"presents":[135],"dataset":[140],"Semantic":[142],"Cluttered":[143],"Objects":[144],"(SCO)":[145],"test":[147],"proposed":[149],"module":[150],"vision":[153],"grasping":[154],"circumstances.":[155],"Extensive":[156],"experiments":[157],"on":[158],"S3DIS":[159],"SCO":[161],"show":[162],"effectiveness":[164],"SGN.":[166]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}