{"id":"https://openalex.org/W2124154128","doi":"https://doi.org/10.1109/ichr.2010.5686323","title":"Hierarchical object geometric categorization and appearance classification for mobile manipulation","display_name":"Hierarchical object geometric categorization and appearance classification for mobile manipulation","publication_year":2010,"publication_date":"2010-12-01","ids":{"openalex":"https://openalex.org/W2124154128","doi":"https://doi.org/10.1109/ichr.2010.5686323","mag":"2124154128"},"language":"en","primary_location":{"id":"doi:10.1109/ichr.2010.5686323","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2010.5686323","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 10th IEEE-RAS International Conference on Humanoid Robots","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/A5003417614","display_name":"Zolt\u00e1n-Csaba M\u00e1rton","orcid":"https://orcid.org/0000-0002-3035-493X"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Zoltan-Csaba Marton","raw_affiliation_strings":["Intelligent Autonomous Systems, Technische Universitat Munchen, Germany","Intelligent Autonomous Systems, Technische Universit\u00e4t M\u00fcnchen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems, Technische Universitat Munchen, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Intelligent Autonomous Systems, Technische Universit\u00e4t M\u00fcnchen, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020427508","display_name":"Dejan Pangercic","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dejan Pangercic","raw_affiliation_strings":["Intelligent Autonomous Systems, Technische Universitat Munchen, Germany","Intelligent Autonomous Systems, Technische Universit\u00e4t M\u00fcnchen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems, Technische Universitat Munchen, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Intelligent Autonomous Systems, Technische Universit\u00e4t M\u00fcnchen, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112225953","display_name":"Radu Bogdan Rusu","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Radu Bogdan Rusu","raw_affiliation_strings":["Intelligent Autonomous Systems, Technische Universitat Munchen, Germany","Intelligent Autonomous Systems, Technische Universit\u00e4t M\u00fcnchen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems, Technische Universitat Munchen, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Intelligent Autonomous Systems, Technische Universit\u00e4t M\u00fcnchen, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046982530","display_name":"Andreas Holzbach","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Andreas Holzbach","raw_affiliation_strings":["Intelligent Autonomous Systems, Technische Universitat Munchen, Germany","Intelligent Autonomous Systems, Technische Universit\u00e4t M\u00fcnchen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems, Technische Universitat Munchen, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Intelligent Autonomous Systems, Technische Universit\u00e4t M\u00fcnchen, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003274224","display_name":"Michael Beetz","orcid":"https://orcid.org/0000-0002-7888-7444"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Michael Beetz","raw_affiliation_strings":["Intelligent Autonomous Systems, Technische Universitat Munchen, Germany","Intelligent Autonomous Systems, Technische Universit\u00e4t M\u00fcnchen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems, Technische Universitat Munchen, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Intelligent Autonomous Systems, Technische Universit\u00e4t M\u00fcnchen, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":129.1135,"has_fulltext":false,"cited_by_count":67,"citation_normalized_percentile":{"value":0.99865109,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9986000061035156,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9973000288009644,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/categorization","display_name":"Categorization","score":0.7497400045394897},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7373706102371216},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7241063714027405},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.722839891910553},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6695486307144165},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5401583909988403},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.5083157420158386},{"id":"https://openalex.org/keywords/cognitive-neuroscience-of-visual-object-recognition","display_name":"Cognitive neuroscience of visual object recognition","score":0.5030636191368103},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4911503493785858},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4292445480823517},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1678515076637268},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.09785863757133484}],"concepts":[{"id":"https://openalex.org/C94124525","wikidata":"https://www.wikidata.org/wiki/Q912550","display_name":"Categorization","level":2,"score":0.7497400045394897},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7373706102371216},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7241063714027405},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.722839891910553},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6695486307144165},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5401583909988403},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.5083157420158386},{"id":"https://openalex.org/C64876066","wikidata":"https://www.wikidata.org/wiki/Q5141226","display_name":"Cognitive neuroscience of visual object recognition","level":3,"score":0.5030636191368103},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4911503493785858},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4292445480823517},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1678515076637268},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.09785863757133484},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ichr.2010.5686323","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2010.5686323","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 10th IEEE-RAS International Conference on Humanoid Robots","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.391.7132","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.391.7132","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://ias.in.tum.de/_media/spezial/bib/grsd10humanoids.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.6499999761581421}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W21187803","https://openalex.org/W1497683200","https://openalex.org/W1988874269","https://openalex.org/W2001695893","https://openalex.org/W2072723786","https://openalex.org/W2106364358","https://openalex.org/W2109384047","https://openalex.org/W2119605622","https://openalex.org/W2123528505","https://openalex.org/W2125880285","https://openalex.org/W2126496149","https://openalex.org/W2133616956","https://openalex.org/W2146447720","https://openalex.org/W2151103935","https://openalex.org/W2154422044","https://openalex.org/W2158521913","https://openalex.org/W2171592532","https://openalex.org/W6629675783","https://openalex.org/W6940760238"],"related_works":["https://openalex.org/W4311804456","https://openalex.org/W4365135359","https://openalex.org/W2047139419","https://openalex.org/W2115592544","https://openalex.org/W2093773434","https://openalex.org/W2573606541","https://openalex.org/W2157278770","https://openalex.org/W2912559722","https://openalex.org/W2114275278","https://openalex.org/W2769899322"],"abstract_inverted_index":{"In":[0,22],"this":[1],"paper":[2],"we":[3,24,79,117,136,193],"present":[4],"a":[5,36,45,84,104,108,129,157],"comprehensive":[6],"object":[7,101,115,140],"categorization":[8,159],"and":[9,50,107,127,142,168,171,199,204],"classification":[10,51],"system,":[11],"of":[12,28,83,99,121,160,190],"great":[13],"importance":[14],"for":[15,35,113,133],"mobile":[16],"manipulation":[17],"applications":[18],"in":[19,40,123],"indoor":[20],"environments.":[21],"detail,":[23],"tackle":[25],"the":[26,73,81,100,119,124,138,143,146,151],"problem":[27],"recognizing":[29],"everyday":[30],"objects":[31,161,170,191],"that":[32,93,192],"are":[33,94],"useful":[34],"personal":[37],"robotic":[38],"assistant":[39],"fulfilling":[41],"its":[42],"tasks,":[43],"using":[44,72,195],"hierarchical":[46,158],"multi-modal":[47],"3D-2D":[48],"processing":[49],"system.":[52],"The":[53,153],"acquired":[54,194],"3D":[55,109],"data":[56],"is":[57,111],"used":[58],"to":[59,89],"estimate":[60],"geometric":[61,105],"labels":[62],"(plane,":[63],"cylinder,":[64],"edge,":[65],"rim,":[66],"sphere)":[67],"at":[68],"each":[69,114],"voxel":[70],"cell":[71],"Radius-based":[74],"Surface":[75],"Descriptor":[76],"(RSD).":[77],"Then,":[78],"propose":[80],"use":[82],"Global":[85],"RSD":[86],"feature":[87,131],"(GRSD)":[88],"categorize":[90],"point":[91],"clusters":[92],"geometrically":[95],"identical":[96],"into":[97,162],"one":[98],"categories.":[102],"Once":[103],"category":[106],"position":[110],"obtained":[112],"cluster,":[116],"extract":[118],"region":[120],"interest":[122],"camera":[125],"image":[126],"compute":[128],"SURF-based":[130],"vector":[132],"it.":[134],"Thus":[135],"obtain":[137],"exact":[139],"instance":[141],"orientation":[144],"around":[145],"object's":[147],"up-right":[148],"axis":[149],"from":[150,165],"appearance.":[152],"resultant":[154],"system":[155],"provides":[156],"basic":[163],"classes":[164],"their":[166,172,176],"geometry":[167],"identifies":[169],"poses":[173],"based":[174],"on":[175,186,200],"appearance,":[177],"with":[178],"near":[179],"real-time":[180],"performance.":[181],"We":[182],"validate":[183],"our":[184],"approach":[185],"an":[187],"extensive":[188],"database":[189],"real":[196],"sensing":[197],"devices,":[198],"both":[201],"unseen":[202,205],"views":[203],"objects.":[206]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":10},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":13},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":6},{"year":2013,"cited_by_count":7},{"year":2012,"cited_by_count":5}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}