{"id":"https://openalex.org/W4312362395","doi":"https://doi.org/10.1109/icpr56361.2022.9956118","title":"Superquadric Indoor Scene Representation for Orientation and Navigation Tasks","display_name":"Superquadric Indoor Scene Representation for Orientation and Navigation Tasks","publication_year":2022,"publication_date":"2022-08-21","ids":{"openalex":"https://openalex.org/W4312362395","doi":"https://doi.org/10.1109/icpr56361.2022.9956118"},"language":"en","primary_location":{"id":"doi:10.1109/icpr56361.2022.9956118","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icpr56361.2022.9956118","pdf_url":null,"source":{"id":"https://openalex.org/S4363607731","display_name":"2022 26th International Conference on Pattern Recognition (ICPR)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 26th International Conference on Pattern Recognition (ICPR)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5054236290","display_name":"A. Gonz\u00e1lez G\u00f3mez","orcid":null},"institutions":[{"id":"https://openalex.org/I155417937","display_name":"Hochschule Bonn-Rhein-Sieg","ror":"https://ror.org/04m2anh63","country_code":"DE","type":"education","lineage":["https://openalex.org/I155417937"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alan Gomez","raw_affiliation_strings":["Hochschule Bonn-Rhein-Sieg,Sankt Augustin,Germany,53757"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hochschule Bonn-Rhein-Sieg,Sankt Augustin,Germany,53757","institution_ids":["https://openalex.org/I155417937"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065124600","display_name":"Stefan Rilling","orcid":null},"institutions":[{"id":"https://openalex.org/I4210144576","display_name":"Fraunhofer Institute for Intelligent Analysis and Information Systems","ror":"https://ror.org/04nc32781","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210144576","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Stefan Rilling","raw_affiliation_strings":["Fraunhofer IAIS,Sankt Augustin,Germany,53757"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fraunhofer IAIS,Sankt Augustin,Germany,53757","institution_ids":["https://openalex.org/I4210144576"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014750401","display_name":"Rainer Herpers","orcid":"https://orcid.org/0000-0002-9712-598X"},"institutions":[{"id":"https://openalex.org/I155417937","display_name":"Hochschule Bonn-Rhein-Sieg","ror":"https://ror.org/04m2anh63","country_code":"DE","type":"education","lineage":["https://openalex.org/I155417937"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Rainer Herpers","raw_affiliation_strings":["Hochschule Bonn-Rhein-Sieg,Sankt Augustin,Germany,53757"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hochschule Bonn-Rhein-Sieg,Sankt Augustin,Germany,53757","institution_ids":["https://openalex.org/I155417937"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.7337,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.75641087,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"21","issue":null,"first_page":"3692","last_page":"3698"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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":0.9994000196456909,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.998199999332428,"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/representation","display_name":"Representation (politics)","score":0.7067856788635254},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6799045205116272},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6464998722076416},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6462007761001587},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.6356768608093262},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.6307846307754517},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5727174282073975},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.487148255109787},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.43499213457107544},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.4149777889251709},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.41306716203689575},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18757161498069763},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.05591300129890442}],"concepts":[{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.7067856788635254},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6799045205116272},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6464998722076416},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6462007761001587},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.6356768608093262},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.6307846307754517},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5727174282073975},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.487148255109787},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.43499213457107544},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.4149777889251709},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.41306716203689575},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18757161498069763},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.05591300129890442},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icpr56361.2022.9956118","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icpr56361.2022.9956118","pdf_url":null,"source":{"id":"https://openalex.org/S4363607731","display_name":"2022 26th International Conference on Pattern Recognition (ICPR)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 26th International Conference on Pattern Recognition (ICPR)","raw_type":"proceedings-article"},{"id":"pmh:oai:null:publica/440280","is_oa":false,"landing_page_url":"https://publica.fraunhofer.de/handle/publica/440280","pdf_url":null,"source":{"id":"https://openalex.org/S4306400318","display_name":"Fraunhofer-Publica (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer-Gesellschaft","host_organization_lineage":["https://openalex.org/I4923324"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"conference paper"},{"id":"pmh:oai:pub.h-brs.de:6525","is_oa":false,"landing_page_url":"https://pub.h-brs.de/frontdoor/index/index/docId/6525","pdf_url":null,"source":{"id":"https://openalex.org/S4306400385","display_name":"Publication Server of Bonn-Rhein-Sieg University of Applied Sciences (Bonn-Rhein-Sieg University of Applied Sciences)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I135140700","host_organization_name":"University of Bonn","host_organization_lineage":["https://openalex.org/I135140700"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2022 26th International Conference on Pattern Recognition (ICPR), August 21-25, 2022, Montr\u00e9al, Qu\u00e9bec, Canada","raw_type":"conferenceobject"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.49000000953674316}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W50423551","https://openalex.org/W1980483414","https://openalex.org/W1982387979","https://openalex.org/W2000018820","https://openalex.org/W2005660297","https://openalex.org/W2023751161","https://openalex.org/W2039005177","https://openalex.org/W2108402667","https://openalex.org/W2108889042","https://openalex.org/W2114002892","https://openalex.org/W2115519229","https://openalex.org/W2123564600","https://openalex.org/W2138013109","https://openalex.org/W2152864241","https://openalex.org/W2168569831","https://openalex.org/W2366389387","https://openalex.org/W2557269700","https://openalex.org/W2591119809","https://openalex.org/W2750339080","https://openalex.org/W2810401700","https://openalex.org/W2885163231","https://openalex.org/W2894741140","https://openalex.org/W2901893665","https://openalex.org/W2963369474","https://openalex.org/W2981010689","https://openalex.org/W3005347330","https://openalex.org/W3035046407","https://openalex.org/W3035764938","https://openalex.org/W3099524026","https://openalex.org/W3127328072","https://openalex.org/W3214787523","https://openalex.org/W6602081954","https://openalex.org/W6651568755","https://openalex.org/W6677023648","https://openalex.org/W6729796904","https://openalex.org/W6743263902","https://openalex.org/W6754503360","https://openalex.org/W6773842061"],"related_works":["https://openalex.org/W2012531322","https://openalex.org/W2402761219","https://openalex.org/W2785900585","https://openalex.org/W2353730437","https://openalex.org/W2490303674","https://openalex.org/W2609066826","https://openalex.org/W2810752900","https://openalex.org/W2365677836","https://openalex.org/W2531295127","https://openalex.org/W2062195135"],"abstract_inverted_index":{"The":[0],"use":[1],"of":[2,39,44,59,73,104,129],"rescue":[3],"robots":[4],"in":[5,80],"endangered":[6],"buildings":[7],"avoids":[8],"risking":[9],"lives.":[10],"A":[11],"scene":[12],"representation":[13,128],"for":[14,146,157],"orientation":[15],"and":[16,23,62,86,98,118],"navigation":[17],"purposes":[18],"that":[19],"is":[20,28,106,163],"visually":[21],"understandable":[22],"reduces":[24],"the":[25,74,81,93,112,115,119,130,150],"storage":[26],"space":[27],"needed.":[29],"Researchers":[30],"have":[31],"proposed":[32],"recovering":[33,48,158],"primitive":[34],"shapes":[35],"from":[36,67,108,160],"different":[37],"kinds":[38],"3D":[40],"data.":[41],"However,":[42],"most":[43],"them":[45],"focus":[46],"on":[47],"individual":[49],"objects,":[50],"not":[51],"complete":[52],"scenes.":[53],"Therefore,":[54],"we":[55],"propose":[56],"a":[57,99,102,126,135,155],"combination":[58],"planes,":[60,117],"superquadrics,":[61,141],"points":[63,89,95],"to":[64,124,139],"abstract":[65],"scenes":[66],"depth":[68,161],"maps.The":[69],"introduced":[70],"approach":[71,132],"consists":[72],"following":[75],"steps.":[76],"First,":[77],"prominent":[78],"planes":[79],"input":[82],"data":[83],"are":[84,90,96,122],"detected,":[85],"their":[87],"corresponding":[88],"removed.":[91],"Second,":[92],"remaining":[94,113],"segmented,":[97],"superquadric":[100],"or":[101],"set":[103],"superquadrics":[105,121,159],"recovered":[107,120],"each":[109],"segment.":[110],"Finally,":[111],"points,":[114],"detected":[116],"used":[123],"create":[125],"parsimonious":[127],"input.This":[131],"also":[133],"introduces":[134],"new":[136],"objective":[137,152],"function":[138],"recover":[140],"which":[142],"provides":[143],"better":[144],"results":[145,166],"this":[147],"application":[148],"than":[149],"existing":[151],"functions.":[153],"Additionally,":[154],"constraint":[156],"images":[162],"proposed,":[164],"ensuring":[165],"consistent":[167],"with":[168],"reality.":[169]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2026-08-01T09:00:35.917206","created_date":"2025-10-10T00:00:00"}