{"id":"https://openalex.org/W2980875085","doi":"https://doi.org/10.1109/ecmr.2019.8870932","title":"Semantic Scene Segmentation of Unordered Point Clouds on Autonomous Robots","display_name":"Semantic Scene Segmentation of Unordered Point Clouds on Autonomous Robots","publication_year":2019,"publication_date":"2019-09-01","ids":{"openalex":"https://openalex.org/W2980875085","doi":"https://doi.org/10.1109/ecmr.2019.8870932","mag":"2980875085"},"language":"en","primary_location":{"id":"doi:10.1109/ecmr.2019.8870932","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr.2019.8870932","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 European Conference on Mobile Robots (ECMR)","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/A5101688602","display_name":"Ya Wang","orcid":"https://orcid.org/0000-0001-6916-9224"},"institutions":[{"id":"https://openalex.org/I8087733","display_name":"University of T\u00fcbingen","ror":"https://ror.org/03a1kwz48","country_code":"DE","type":"education","lineage":["https://openalex.org/I8087733"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Ya Wang","raw_affiliation_strings":["Department of Cognitive Systems, Computer Science, University of Tuebingen, Tuebingen, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Cognitive Systems, Computer Science, University of Tuebingen, Tuebingen, Germany","institution_ids":["https://openalex.org/I8087733"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004958444","display_name":"Andreas Zell","orcid":"https://orcid.org/0000-0003-3299-2211"},"institutions":[{"id":"https://openalex.org/I8087733","display_name":"University of T\u00fcbingen","ror":"https://ror.org/03a1kwz48","country_code":"DE","type":"education","lineage":["https://openalex.org/I8087733"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Andreas Zell","raw_affiliation_strings":["Department of Cognitive Systems, Computer Science, University of Tuebingen, Tuebingen, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Cognitive Systems, Computer Science, University of Tuebingen, Tuebingen, Germany","institution_ids":["https://openalex.org/I8087733"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5101688602"],"corresponding_institution_ids":["https://openalex.org/I8087733"],"apc_list":null,"apc_paid":null,"fwci":0.1892,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.51384176,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"29","issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9998999834060669,"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":0.9988999962806702,"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"}},{"id":"https://openalex.org/T10481","display_name":"Computer Graphics and Visualization Techniques","score":0.9983999729156494,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.812219500541687},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.7968308925628662},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7674154043197632},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7006882429122925},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.6755633354187012},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.6193878650665283},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.6182369589805603},{"id":"https://openalex.org/keywords/intersection","display_name":"Intersection (aeronautics)","score":0.47536319494247437},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4681919515132904},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4332202672958374},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4225430488586426},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.32169345021247864},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1089688241481781},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08368626236915588}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.812219500541687},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7968308925628662},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7674154043197632},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7006882429122925},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.6755633354187012},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.6193878650665283},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.6182369589805603},{"id":"https://openalex.org/C64543145","wikidata":"https://www.wikidata.org/wiki/Q162942","display_name":"Intersection (aeronautics)","level":2,"score":0.47536319494247437},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4681919515132904},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4332202672958374},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4225430488586426},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.32169345021247864},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1089688241481781},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08368626236915588},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"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/ecmr.2019.8870932","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr.2019.8870932","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 European Conference on Mobile Robots (ECMR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.41999998688697815}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1644641054","https://openalex.org/W1987648924","https://openalex.org/W2073700113","https://openalex.org/W2115499947","https://openalex.org/W2211722331","https://openalex.org/W2250172176","https://openalex.org/W2460657278","https://openalex.org/W2556802233","https://openalex.org/W2560609797","https://openalex.org/W2594519801","https://openalex.org/W2788158258","https://openalex.org/W2797997528","https://openalex.org/W2884355388","https://openalex.org/W2962724911","https://openalex.org/W2962912109","https://openalex.org/W2963121255","https://openalex.org/W2963231572","https://openalex.org/W2963721253","https://openalex.org/W2964062501","https://openalex.org/W2964342398","https://openalex.org/W6687932531","https://openalex.org/W6739778489","https://openalex.org/W6753228762","https://openalex.org/W6756639113","https://openalex.org/W6763422710"],"related_works":["https://openalex.org/W4293226380","https://openalex.org/W4389574804","https://openalex.org/W2348909947","https://openalex.org/W4292672442","https://openalex.org/W3016928466","https://openalex.org/W2362101859","https://openalex.org/W2936725271","https://openalex.org/W2791431590","https://openalex.org/W2941610985","https://openalex.org/W4235810826"],"abstract_inverted_index":{"This":[0],"paper":[1],"describes":[2],"a":[3,55],"3D":[4],"semantic":[5,73],"scene":[6,66,74],"segmentation":[7,75,83],"with":[8],"convolutional":[9],"neural":[10],"networks":[11],"for":[12],"unordered":[13],"point":[14,71],"clouds":[15],"of":[16,82],"autonomous":[17],"robots.":[18],"Euclidean":[19],"coordinates":[20],"and":[21,85,89,100],"RGB":[22],"color":[23],"spaces":[24],"are":[25],"used":[26],"as":[27,29,92,94],"well":[28,93],"multi-scaling":[30],"layers.":[31],"An":[32],"outlier":[33],"removal":[34],"is":[35],"designed":[36],"to":[37,69],"optimize":[38],"the":[39],"classification":[40],"rate.":[41],"We":[42],"tested":[43],"our":[44,77],"system":[45],"on":[46,54,63],"real":[47],"scenes":[48],"using":[49],"an":[50],"RGB-D":[51],"camera":[52],"installed":[53],"mobile":[56],"robot.":[57],"Additionally,":[58],"we":[59],"did":[60],"comparison":[61],"experiments":[62],"three":[64],"different":[65],"benchmarks.":[67],"Compared":[68],"state-of-the-art":[70],"cloud":[72],"networks,":[76],"network":[78],"produces":[79],"better":[80],"quality":[81],"results":[84],"achieves":[86],"higher":[87],"training":[88],"testing":[90],"accuracies,":[91],"average":[95],"intersection":[96],"over":[97],"union":[98],"(IoU)":[99],"overall":[101],"accuracy.":[102]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}