{"id":"https://openalex.org/W2132360065","doi":"https://doi.org/10.1109/icra.2011.5979818","title":"On the segmentation of 3D LIDAR point clouds","display_name":"On the segmentation of 3D LIDAR point clouds","publication_year":2011,"publication_date":"2011-05-01","ids":{"openalex":"https://openalex.org/W2132360065","doi":"https://doi.org/10.1109/icra.2011.5979818","mag":"2132360065"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2011.5979818","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5979818","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","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/A5022459396","display_name":"Bertrand Douillard","orcid":null},"institutions":[{"id":"https://openalex.org/I129604602","display_name":"The University of Sydney","ror":"https://ror.org/0384j8v12","country_code":"AU","type":"education","lineage":["https://openalex.org/I129604602"]},{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"B. Douillard","raw_affiliation_strings":["Australian Centre of Field Robotics, University of Sydney, Australia","The Australian Centre for Field Robotics, The University of Sydney, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Australian Centre of Field Robotics, University of Sydney, Australia","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I129604602"]},{"raw_affiliation_string":"The Australian Centre for Field Robotics, The University of Sydney, Australia","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I129604602"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031525913","display_name":"James Underwood","orcid":"https://orcid.org/0000-0003-0189-0706"},"institutions":[{"id":"https://openalex.org/I129604602","display_name":"The University of Sydney","ror":"https://ror.org/0384j8v12","country_code":"AU","type":"education","lineage":["https://openalex.org/I129604602"]},{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"J. Underwood","raw_affiliation_strings":["Australian Centre of Field Robotics, University of Sydney, Australia","The Australian Centre for Field Robotics, The University of Sydney, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Australian Centre of Field Robotics, University of Sydney, Australia","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I129604602"]},{"raw_affiliation_string":"The Australian Centre for Field Robotics, The University of Sydney, Australia","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I129604602"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033072812","display_name":"Noah Kuntz","orcid":null},"institutions":[{"id":"https://openalex.org/I129604602","display_name":"The University of Sydney","ror":"https://ror.org/0384j8v12","country_code":"AU","type":"education","lineage":["https://openalex.org/I129604602"]},{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"N. Kuntz","raw_affiliation_strings":["Australian Centre of Field Robotics, University of Sydney, Australia","The Australian Centre for Field Robotics, The University of Sydney, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Australian Centre of Field Robotics, University of Sydney, Australia","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I129604602"]},{"raw_affiliation_string":"The Australian Centre for Field Robotics, The University of Sydney, Australia","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I129604602"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057986185","display_name":"V. Vlaskine","orcid":null},"institutions":[{"id":"https://openalex.org/I129604602","display_name":"The University of Sydney","ror":"https://ror.org/0384j8v12","country_code":"AU","type":"education","lineage":["https://openalex.org/I129604602"]},{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"V. Vlaskine","raw_affiliation_strings":["Australian Centre of Field Robotics, University of Sydney, Australia","The Australian Centre for Field Robotics, The University of Sydney, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Australian Centre of Field Robotics, University of Sydney, Australia","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I129604602"]},{"raw_affiliation_string":"The Australian Centre for Field Robotics, The University of Sydney, Australia","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I129604602"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036591665","display_name":"A. Quadros","orcid":null},"institutions":[{"id":"https://openalex.org/I129604602","display_name":"The University of Sydney","ror":"https://ror.org/0384j8v12","country_code":"AU","type":"education","lineage":["https://openalex.org/I129604602"]},{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"A. Quadros","raw_affiliation_strings":["Australian Centre of Field Robotics, University of Sydney, Australia","The Australian Centre for Field Robotics, The University of Sydney, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Australian Centre of Field Robotics, University of Sydney, Australia","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I129604602"]},{"raw_affiliation_string":"The Australian Centre for Field Robotics, The University of Sydney, Australia","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I129604602"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048525753","display_name":"P. Morton","orcid":null},"institutions":[{"id":"https://openalex.org/I129604602","display_name":"The University of Sydney","ror":"https://ror.org/0384j8v12","country_code":"AU","type":"education","lineage":["https://openalex.org/I129604602"]},{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"P. Morton","raw_affiliation_strings":["Australian Centre of Field Robotics, University of Sydney, Australia","The Australian Centre for Field Robotics, The University of Sydney, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Australian Centre of Field Robotics, University of Sydney, Australia","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I129604602"]},{"raw_affiliation_string":"The Australian Centre for Field Robotics, The University of Sydney, Australia","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I129604602"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053231197","display_name":"Alex Frenkel","orcid":null},"institutions":[{"id":"https://openalex.org/I129604602","display_name":"The University of Sydney","ror":"https://ror.org/0384j8v12","country_code":"AU","type":"education","lineage":["https://openalex.org/I129604602"]},{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"A. Frenkel","raw_affiliation_strings":["Australian Centre of Field Robotics, University of Sydney, Australia","The Australian Centre for Field Robotics, The University of Sydney, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Australian Centre of Field Robotics, University of Sydney, Australia","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I129604602"]},{"raw_affiliation_string":"The Australian Centre for Field Robotics, The University of Sydney, Australia","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I129604602"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":475,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2798","last_page":"2805"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9995999932289124,"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":0.9991999864578247,"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/segmentation","display_name":"Segmentation","score":0.8492711782455444},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.8080620765686035},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7083762884140015},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6840735673904419},{"id":"https://openalex.org/keywords/scale-space-segmentation","display_name":"Scale-space segmentation","score":0.6160483360290527},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6158223152160645},{"id":"https://openalex.org/keywords/image-segmentation","display_name":"Image segmentation","score":0.5605902671813965},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.5524260401725769},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.5463557243347168},{"id":"https://openalex.org/keywords/region-growing","display_name":"Region growing","score":0.47752654552459717},{"id":"https://openalex.org/keywords/segmentation-based-object-categorization","display_name":"Segmentation-based object categorization","score":0.4507732391357422},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4326075613498688},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.2798459827899933},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.17008069157600403},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.14787742495536804},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.06847196817398071}],"concepts":[{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.8492711782455444},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.8080620765686035},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7083762884140015},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6840735673904419},{"id":"https://openalex.org/C65885262","wikidata":"https://www.wikidata.org/wiki/Q7429708","display_name":"Scale-space segmentation","level":4,"score":0.6160483360290527},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6158223152160645},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.5605902671813965},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5524260401725769},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.5463557243347168},{"id":"https://openalex.org/C206824153","wikidata":"https://www.wikidata.org/wiki/Q1169834","display_name":"Region growing","level":5,"score":0.47752654552459717},{"id":"https://openalex.org/C25694479","wikidata":"https://www.wikidata.org/wiki/Q7446278","display_name":"Segmentation-based object categorization","level":5,"score":0.4507732391357422},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4326075613498688},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.2798459827899933},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.17008069157600403},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.14787742495536804},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.06847196817398071}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2011.5979818","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5979818","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.998.5762","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.998.5762","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.velodynelidar.com/lidar/hdlpressroom/pdf/papers/journal_papers/On%20the%20Segmentation%20of%203D%20LIDAR%20Point%20Clouds.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320331430","display_name":"New South Wales Government","ror":"https://ror.org/0067dvq63"},{"id":"https://openalex.org/F4320334704","display_name":"Australian Research Council","ror":"https://ror.org/05mmh0f86"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W325177972","https://openalex.org/W767435976","https://openalex.org/W1560270123","https://openalex.org/W1993846506","https://openalex.org/W1996688648","https://openalex.org/W1999478155","https://openalex.org/W2009685382","https://openalex.org/W2011158589","https://openalex.org/W2075690349","https://openalex.org/W2085261163","https://openalex.org/W2086495393","https://openalex.org/W2089036831","https://openalex.org/W2109945199","https://openalex.org/W2115519229","https://openalex.org/W2119300483","https://openalex.org/W2121947440","https://openalex.org/W2129298951","https://openalex.org/W2132603077","https://openalex.org/W2168104347","https://openalex.org/W2246692033","https://openalex.org/W3083135905","https://openalex.org/W4232840210","https://openalex.org/W4241357572","https://openalex.org/W6611289598","https://openalex.org/W6653063046","https://openalex.org/W6676600194","https://openalex.org/W6684742562","https://openalex.org/W6691421389"],"related_works":["https://openalex.org/W2394279717","https://openalex.org/W2364730859","https://openalex.org/W1978085585","https://openalex.org/W3144569342","https://openalex.org/W2386644571","https://openalex.org/W2551987074","https://openalex.org/W2372421320","https://openalex.org/W2185902295","https://openalex.org/W2531745538","https://openalex.org/W2353364291"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,26,63,68,76],"set":[4],"of":[5,11,16,31,46,58,75],"segmentation":[6,43,102],"methods":[7],"for":[8,101],"various":[9],"types":[10],"3D":[12,18,48],"point":[13],"clouds.":[14],"Segmentation":[15,45],"dense":[17],"data":[19,49,95],"(e.g.":[20,50],"Riegl":[21],"scans)":[22,52],"is":[23,37,53],"optimised":[24],"via":[25],"simple":[27],"yet":[28],"efficient":[29],"voxelisation":[30],"the":[32,73,87],"space.":[33],"Prior":[34],"ground":[35,56],"extraction":[36],"empirically":[38],"shown":[39],"to":[40,83],"significantly":[41],"improve":[42],"performance.":[44,85],"sparse":[47],"Velodyne":[51],"addressed":[54],"using":[55,97],"models":[57],"non-constant":[59],"resolution":[60],"either":[61],"providing":[62,81],"continuous":[64],"probabilistic":[65],"surface":[66],"or":[67],"terrain":[69],"mesh":[70],"built":[71],"from":[72],"structure":[74],"range":[77],"image,":[78],"both":[79],"representations":[80],"close":[82],"real-time":[84],"All":[86],"algorithms":[88],"are":[89],"tested":[90],"on":[91],"several":[92],"hand":[93],"labeled":[94],"sets":[96],"two":[98],"novel":[99],"metrics":[100],"evaluation.":[103]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":16},{"year":2024,"cited_by_count":20},{"year":2023,"cited_by_count":36},{"year":2022,"cited_by_count":27},{"year":2021,"cited_by_count":36},{"year":2020,"cited_by_count":44},{"year":2019,"cited_by_count":70},{"year":2018,"cited_by_count":24},{"year":2017,"cited_by_count":47},{"year":2016,"cited_by_count":36},{"year":2015,"cited_by_count":37},{"year":2014,"cited_by_count":26},{"year":2013,"cited_by_count":36},{"year":2012,"cited_by_count":10}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}