{"id":"https://openalex.org/W1854812032","doi":"https://doi.org/10.1109/icar.2011.6088647","title":"Object part segmentation and classification in range images for grasping","display_name":"Object part segmentation and classification in range images for grasping","publication_year":2011,"publication_date":"2011-06-01","ids":{"openalex":"https://openalex.org/W1854812032","doi":"https://doi.org/10.1109/icar.2011.6088647","mag":"1854812032"},"language":"en","primary_location":{"id":"doi:10.1109/icar.2011.6088647","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar.2011.6088647","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 15th International Conference on Advanced Robotics (ICAR)","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/A5047286078","display_name":"Kartik M. Varadarajan","orcid":"https://orcid.org/0000-0003-1039-3314"},"institutions":[{"id":"https://openalex.org/I145847075","display_name":"TU Wien","ror":"https://ror.org/04d836q62","country_code":"AT","type":"education","lineage":["https://openalex.org/I145847075"]}],"countries":["AT"],"is_corresponding":true,"raw_author_name":"K. M. Varadarajan","raw_affiliation_strings":["Automation and Control Institute, Vienna University of Technology, Vienna, Austria","Vienna University of Technology, Automation and Control Institute, Gusshausstrasse 30 / E376, A-1040 Vienna, Austria"],"affiliations":[{"raw_affiliation_string":"Automation and Control Institute, Vienna University of Technology, Vienna, Austria","institution_ids":["https://openalex.org/I145847075"]},{"raw_affiliation_string":"Vienna University of Technology, Automation and Control Institute, Gusshausstrasse 30 / E376, A-1040 Vienna, Austria","institution_ids":["https://openalex.org/I145847075"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013565399","display_name":"Markus Vincze","orcid":"https://orcid.org/0000-0002-2799-491X"},"institutions":[{"id":"https://openalex.org/I145847075","display_name":"TU Wien","ror":"https://ror.org/04d836q62","country_code":"AT","type":"education","lineage":["https://openalex.org/I145847075"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"M. Vincze","raw_affiliation_strings":["Automation and Control Institute, Vienna University of Technology, Vienna, Austria","Vienna University of Technology, Automation and Control Institute, Gusshausstrasse 30 / E376, A-1040 Vienna, Austria"],"affiliations":[{"raw_affiliation_string":"Automation and Control Institute, Vienna University of Technology, Vienna, Austria","institution_ids":["https://openalex.org/I145847075"]},{"raw_affiliation_string":"Vienna University of Technology, Automation and Control Institute, Gusshausstrasse 30 / E376, A-1040 Vienna, Austria","institution_ids":["https://openalex.org/I145847075"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5047286078"],"corresponding_institution_ids":["https://openalex.org/I145847075"],"apc_list":null,"apc_paid":null,"fwci":7.1775,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":{"value":0.96594261,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"21","last_page":"27"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9991000294685364,"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/T12549","display_name":"Image and Object Detection Techniques","score":0.9930999875068665,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7901082038879395},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7831526398658752},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.740605354309082},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.6622017621994019},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.5939050912857056},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5924425721168518},{"id":"https://openalex.org/keywords/categorization","display_name":"Categorization","score":0.4946846663951874},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.4677560329437256},{"id":"https://openalex.org/keywords/extension","display_name":"Extension (predicate logic)","score":0.46178773045539856},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.4419931173324585},{"id":"https://openalex.org/keywords/parameterized-complexity","display_name":"Parameterized complexity","score":0.43876945972442627},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.42905133962631226},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.4176397919654846},{"id":"https://openalex.org/keywords/image-segmentation","display_name":"Image segmentation","score":0.4110746383666992},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.0900888442993164},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08794420957565308}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7901082038879395},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7831526398658752},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.740605354309082},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.6622017621994019},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.5939050912857056},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5924425721168518},{"id":"https://openalex.org/C94124525","wikidata":"https://www.wikidata.org/wiki/Q912550","display_name":"Categorization","level":2,"score":0.4946846663951874},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.4677560329437256},{"id":"https://openalex.org/C2778029271","wikidata":"https://www.wikidata.org/wiki/Q5421931","display_name":"Extension (predicate logic)","level":2,"score":0.46178773045539856},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.4419931173324585},{"id":"https://openalex.org/C165464430","wikidata":"https://www.wikidata.org/wiki/Q1570441","display_name":"Parameterized complexity","level":2,"score":0.43876945972442627},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.42905133962631226},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4176397919654846},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.4110746383666992},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.0900888442993164},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08794420957565308},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icar.2011.6088647","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar.2011.6088647","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 15th International Conference on Advanced Robotics (ICAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.4000000059604645,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W171684774","https://openalex.org/W1505458831","https://openalex.org/W1565520895","https://openalex.org/W1971917931","https://openalex.org/W1999478155","https://openalex.org/W2016876803","https://openalex.org/W2053967978","https://openalex.org/W2083917930","https://openalex.org/W2093867260","https://openalex.org/W2104409884","https://openalex.org/W2116680905","https://openalex.org/W2116832400","https://openalex.org/W2118262422","https://openalex.org/W2133564229","https://openalex.org/W2156406284","https://openalex.org/W3022474324","https://openalex.org/W4234899042","https://openalex.org/W6606913741","https://openalex.org/W6633912459","https://openalex.org/W6776846652"],"related_works":["https://openalex.org/W2101128524","https://openalex.org/W3004284873","https://openalex.org/W2004370856","https://openalex.org/W1967061043","https://openalex.org/W2739874619","https://openalex.org/W2772397313","https://openalex.org/W2021186063","https://openalex.org/W1963494852","https://openalex.org/W2037423956","https://openalex.org/W1721780360"],"abstract_inverted_index":{"Recognition":[0],"by":[1,31,51,152],"Components":[2,153],"(RBC)":[3],"has":[4,76],"been":[5,28],"one":[6,134,188],"of":[7,20,34,43,68,83,101,135,141,160,171,179],"the":[8,21,32,41,52,73,142,148,161,177,183],"most":[9],"conceptually":[10],"significant":[11],"frameworks":[12],"for":[13,54,62,80,86,99,146,169],"modeling":[14],"human":[15],"visual":[16],"object":[17],"recognition.":[18],"Extension":[19],"model":[22],"to":[23,60,114],"practical":[24,81],"robotic":[25,87],"applications":[26,88],"have":[27],"traditionally":[29],"limited":[30],"lack":[33],"good":[35],"response":[36],"in":[37,40,182],"textureless":[38],"areas":[39],"case":[42],"conventional":[44],"inexpensive":[45],"stereo":[46],"cameras":[47],"as":[48,50,72,90],"well":[49],"need":[53],"expensive":[55],"laser":[56],"based":[57,110,128],"sensor":[58,75],"systems":[59],"compensate":[61],"this":[63,93],"deficiency.":[64],"The":[65,119,139],"recent":[66],"availability":[67],"RGB-D":[69],"sensors":[70,85],"such":[71,89],"PrimeSense":[74],"opened":[77],"new":[78],"avenues":[79],"usage":[82],"these":[84],"grasping.":[91],"In":[92],"paper,":[94],"we":[95],"present":[96],"novel":[97,180],"algorithms":[98],"segmentation":[100],"objects":[102,181],"and":[103,131,164],"parts":[104,121,143],"from":[105],"range":[106],"images":[107],"with":[108,185],"extensions":[109],"on":[111],"semantic":[112],"cues":[113],"yield":[115],"robust":[116],"part":[117],"detection.":[118],"detected":[120],"are":[122],"then":[123],"parameterized":[124],"using":[125],"a":[126,157,166],"superquadric":[127],"fitting":[129],"framework":[130,163,168],"classified":[132],"into":[133],"different":[136],"generic":[137],"shapes.":[138],"categorization":[140],"enables":[144],"rules":[145],"grasping":[147,170,178],"object.":[149],"This":[150,173],"Grasping":[151],"(GBC)":[154],"scheme":[155,174],"is":[156],"natural":[158],"extension":[159],"RBC":[162],"provides":[165],"scalable":[167],"objects.":[172],"also":[175],"permits":[176],"scene,":[184],"at":[186],"least":[187],"known":[189],"grasp":[190],"affordance.":[191]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":6},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}