{"id":"https://openalex.org/W2992415028","doi":"https://doi.org/10.1109/icar46387.2019.8981549","title":"Real-time RGB-D semantic keyframe SLAM based on image segmentation learning from industrial CAD models","display_name":"Real-time RGB-D semantic keyframe SLAM based on image segmentation learning from industrial CAD models","publication_year":2019,"publication_date":"2019-12-01","ids":{"openalex":"https://openalex.org/W2992415028","doi":"https://doi.org/10.1109/icar46387.2019.8981549","mag":"2992415028"},"language":"en","primary_location":{"id":"doi:10.1109/icar46387.2019.8981549","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar46387.2019.8981549","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 19th 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/A5028710807","display_name":"Howard Mahe","orcid":null},"institutions":[{"id":"https://openalex.org/I201841394","display_name":"Universit\u00e9 C\u00f4te d'Azur","ror":"https://ror.org/019tgvf94","country_code":"FR","type":"education","lineage":["https://openalex.org/I201841394"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Howard Mahe","raw_affiliation_strings":["CNRS-I3S, Universit\u00e9 C\u00f4te d\u2019 Azur, Sophia-Antipolis, France","CNRS-I3S, Universit\u00e9 C\u00f4te d' Azur, Sophia-Antipolis, France"],"affiliations":[{"raw_affiliation_string":"CNRS-I3S, Universit\u00e9 C\u00f4te d\u2019 Azur, Sophia-Antipolis, France","institution_ids":["https://openalex.org/I201841394","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"CNRS-I3S, Universit\u00e9 C\u00f4te d' Azur, Sophia-Antipolis, France","institution_ids":["https://openalex.org/I201841394","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037148895","display_name":"Denis Marraud","orcid":null},"institutions":[{"id":"https://openalex.org/I112991645","display_name":"Airbus (France)","ror":"https://ror.org/023qdcg29","country_code":"FR","type":"company","lineage":["https://openalex.org/I112991645","https://openalex.org/I4210121748"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Denis Marraud","raw_affiliation_strings":["Airbus Defence & Space, Elancourt, France"],"affiliations":[{"raw_affiliation_string":"Airbus Defence & Space, Elancourt, France","institution_ids":["https://openalex.org/I112991645"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066992384","display_name":"Andrew I. Comport","orcid":"https://orcid.org/0000-0002-3959-3195"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I201841394","display_name":"Universit\u00e9 C\u00f4te d'Azur","ror":"https://ror.org/019tgvf94","country_code":"FR","type":"education","lineage":["https://openalex.org/I201841394"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Andrew I. Comport","raw_affiliation_strings":["CNRS-I3S, Universit\u00e9 C\u00f4te d\u2019 Azur, Sophia-Antipolis, France","CNRS-I3S, Universit\u00e9 C\u00f4te d' Azur, Sophia-Antipolis, France"],"affiliations":[{"raw_affiliation_string":"CNRS-I3S, Universit\u00e9 C\u00f4te d\u2019 Azur, Sophia-Antipolis, France","institution_ids":["https://openalex.org/I201841394","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"CNRS-I3S, Universit\u00e9 C\u00f4te d' Azur, Sophia-Antipolis, France","institution_ids":["https://openalex.org/I201841394","https://openalex.org/I1294671590"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5028710807"],"corresponding_institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I201841394"],"apc_list":null,"apc_paid":null,"fwci":1.5868,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.86682754,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"1","issue":null,"first_page":"147","last_page":"154"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9994000196456909,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9980000257492065,"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":0.7758253216743469},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6900864839553833},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.6466256380081177},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.6165821552276611},{"id":"https://openalex.org/keywords/cad","display_name":"CAD","score":0.5685585141181946},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5662738680839539},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5288045406341553},{"id":"https://openalex.org/keywords/class","display_name":"Class (philosophy)","score":0.4824667274951935},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4757097363471985},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.4451858401298523},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.19396671652793884},{"id":"https://openalex.org/keywords/engineering-drawing","display_name":"Engineering drawing","score":0.1085292398929596},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10235989093780518}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7758253216743469},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6900864839553833},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.6466256380081177},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.6165821552276611},{"id":"https://openalex.org/C194789388","wikidata":"https://www.wikidata.org/wiki/Q17855283","display_name":"CAD","level":2,"score":0.5685585141181946},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5662738680839539},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5288045406341553},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.4824667274951935},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4757097363471985},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.4451858401298523},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.19396671652793884},{"id":"https://openalex.org/C199639397","wikidata":"https://www.wikidata.org/wiki/Q1788588","display_name":"Engineering drawing","level":1,"score":0.1085292398929596},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10235989093780518}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icar46387.2019.8981549","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar46387.2019.8981549","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 19th International Conference on Advanced Robotics (ICAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5899999737739563,"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":51,"referenced_works":["https://openalex.org/W1522301498","https://openalex.org/W1677182931","https://openalex.org/W1903029394","https://openalex.org/W1971618559","https://openalex.org/W1979061520","https://openalex.org/W1987648924","https://openalex.org/W2033979122","https://openalex.org/W2045587041","https://openalex.org/W2056610823","https://openalex.org/W2108598243","https://openalex.org/W2194775991","https://openalex.org/W2201312286","https://openalex.org/W2250172176","https://openalex.org/W2339172515","https://openalex.org/W2340897893","https://openalex.org/W2419448466","https://openalex.org/W2523049145","https://openalex.org/W2535388113","https://openalex.org/W2556802233","https://openalex.org/W2560023338","https://openalex.org/W2560609797","https://openalex.org/W2594519801","https://openalex.org/W2602764693","https://openalex.org/W2604455318","https://openalex.org/W2606833507","https://openalex.org/W2630837129","https://openalex.org/W2762439315","https://openalex.org/W2808456995","https://openalex.org/W2893890202","https://openalex.org/W2894593111","https://openalex.org/W2895289727","https://openalex.org/W2899771611","https://openalex.org/W2903417260","https://openalex.org/W2904816510","https://openalex.org/W2906346536","https://openalex.org/W2949115101","https://openalex.org/W2956887593","https://openalex.org/W2962772649","https://openalex.org/W2963106865","https://openalex.org/W2963163009","https://openalex.org/W2963418739","https://openalex.org/W2963685263","https://openalex.org/W2964121744","https://openalex.org/W2964217532","https://openalex.org/W3099155473","https://openalex.org/W4293406525","https://openalex.org/W6729060410","https://openalex.org/W6737324727","https://openalex.org/W6755020528","https://openalex.org/W6763422710","https://openalex.org/W6763530150"],"related_works":["https://openalex.org/W2334610590","https://openalex.org/W2320366403","https://openalex.org/W3204197061","https://openalex.org/W4251350712","https://openalex.org/W637098845","https://openalex.org/W2410116073","https://openalex.org/W3044972437","https://openalex.org/W4287707480","https://openalex.org/W2275866607","https://openalex.org/W2556215627"],"abstract_inverted_index":{"This":[0,94],"paper":[1],"presents":[2],"methods":[3],"for":[4,121,151],"performing":[5],"realtime":[6],"semantic":[7,33,73,115,149],"SLAM":[8],"aimed":[9],"at":[10,162],"autonomous":[11],"navigation":[12,155],"and":[13,44,105,126,141,154],"control":[14,153],"of":[15,71,156],"a":[16,20,32,54,101,130,147],"humanoid":[17],"robot":[18],"in":[19,39,100,129,167],"manufacturing":[21,87,165],"scenario.":[22],"A":[23],"novel":[24],"multi-keyframe":[25],"approach":[26,48,99],"is":[27,49,139],"proposed":[28,98,171],"that":[29],"simultaneously":[30],"minimizes":[31],"cost":[34],"based":[35],"on":[36],"class-level":[37],"features":[38],"addition":[40],"to":[41,51,62,66,89,145],"common":[42],"photometric":[43],"geometric":[45],"costs.":[46],"The":[47,114,136],"shown":[50],"robustly":[52],"construct":[53],"3D":[55],"map":[56],"with":[57,83,143],"associated":[58],"class":[59],"labels":[60],"relevant":[61],"robotic":[63],"tasks.":[64],"Alternatively":[65],"existing":[67],"approaches,":[68],"the":[69,97,109,122,152,157,163,170],"segmentation":[70,116],"these":[72],"classes":[74],"have":[75],"been":[76],"learnt":[77],"using":[78,133],"RGB-D":[79],"sensor":[80],"data":[81],"aligned":[82],"an":[84],"industrial":[85],"CAD":[86],"model":[88],"obtain":[90,146],"noisy":[91,134],"pixel-wise":[92],"labels.":[93,135],"dataset":[95],"confronts":[96],"complicated":[102],"real-world":[103],"setting":[104],"provides":[106],"insight":[107],"into":[108],"practical":[110],"use":[111,124],"case":[112,125],"scenarios.":[113],"network":[117],"was":[118,127],"fine":[119],"tuned":[120],"given":[123],"trained":[128],"semi-supervised":[131],"manner":[132],"developed":[137],"software":[138],"real-time":[140],"integrated":[142],"ROS":[144],"complete":[148],"reconstruction":[150],"HRP4":[158],"robot.":[159],"Experiments":[160],"in-situ":[161],"Airbus":[164],"site":[166],"Saint-Nazaire":[168],"validate":[169],"approach.":[172]},"counts_by_year":[{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}