{"id":"https://openalex.org/W2132761823","doi":"https://doi.org/10.1109/icra.2011.5980187","title":"Point feature extraction on 3D range scans taking into account object boundaries","display_name":"Point feature extraction on 3D range scans taking into account object boundaries","publication_year":2011,"publication_date":"2011-05-01","ids":{"openalex":"https://openalex.org/W2132761823","doi":"https://doi.org/10.1109/icra.2011.5980187","mag":"2132761823"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2011.5980187","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980187","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":"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/A5021840448","display_name":"Bastian Steder","orcid":null},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Bastian Steder","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Germany","Dept. of Computer Science of the University of Freiburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"Dept. of Computer Science of the University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112225953","display_name":"Radu Bogdan Rusu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210117999","display_name":"Willow Wood (United States)","ror":"https://ror.org/02hrkdj18","country_code":"US","type":"company","lineage":["https://openalex.org/I4210117999"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Radu Bogdan Rusu","raw_affiliation_strings":["Willow Garage, Inc., USA","Willow Garage Inc., USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Willow Garage, Inc., USA","institution_ids":[]},{"raw_affiliation_string":"Willow Garage Inc., USA","institution_ids":["https://openalex.org/I4210117999"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020223882","display_name":"Kurt Konolige","orcid":null},"institutions":[{"id":"https://openalex.org/I4210117999","display_name":"Willow Wood (United States)","ror":"https://ror.org/02hrkdj18","country_code":"US","type":"company","lineage":["https://openalex.org/I4210117999"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kurt Konolige","raw_affiliation_strings":["Willow Garage, Inc., USA","Willow Garage Inc., USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Willow Garage, Inc., USA","institution_ids":[]},{"raw_affiliation_string":"Willow Garage Inc., USA","institution_ids":["https://openalex.org/I4210117999"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084499878","display_name":"Wolfram Burgard","orcid":"https://orcid.org/0000-0002-5680-6500"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Wolfram Burgard","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Germany","Dept. of Computer Science of the University of Freiburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"Dept. of Computer Science of the University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":94.9887,"has_fulltext":false,"cited_by_count":269,"citation_normalized_percentile":{"value":0.99976247,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"2601","last_page":"2608"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9997000098228455,"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/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/T14339","display_name":"Image Processing and 3D Reconstruction","score":0.9984999895095825,"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/point-cloud","display_name":"Point cloud","score":0.8243570327758789},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7685937881469727},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.7255644798278809},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7204022407531738},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.6284274458885193},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6242480874061584},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.6227636337280273},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6144601702690125},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.570519208908081},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.5644508600234985},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.5617976188659668},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5407711267471313},{"id":"https://openalex.org/keywords/cognitive-neuroscience-of-visual-object-recognition","display_name":"Cognitive neuroscience of visual object recognition","score":0.4904424846172333},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.48607519268989563},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14850610494613647}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.8243570327758789},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7685937881469727},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.7255644798278809},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7204022407531738},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.6284274458885193},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6242480874061584},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.6227636337280273},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6144601702690125},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.570519208908081},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.5644508600234985},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.5617976188659668},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5407711267471313},{"id":"https://openalex.org/C64876066","wikidata":"https://www.wikidata.org/wiki/Q5141226","display_name":"Cognitive neuroscience of visual object recognition","level":3,"score":0.4904424846172333},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.48607519268989563},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14850610494613647},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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},{"id":"https://openalex.org/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","level":1,"score":0.0},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"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/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra.2011.5980187","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980187","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:10.1.1.230.9317","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.230.9317","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://ais.informatik.uni-freiburg.de/publications/papers/steder11icra.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.883.2504","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.883.2504","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"https://www.researchgate.net/profile/Bastian_Steder/publication/221069159_Point_feature_extraction_on_3D_range_scans_taking_into_account_object_boundaries/links/54b698200cf2e68eb27ea394.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.884.7145","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.884.7145","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"https://www.researchgate.net/profile/Bastian_Steder/publication/221069159_Point_feature_extraction_on_3D_range_scans_taking_into_account_object_boundaries/links/54b8f2830cf2c27adc490a0f.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Reduced inequalities","score":0.4300000071525574,"id":"https://metadata.un.org/sdg/10"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1560740717","https://openalex.org/W1564871316","https://openalex.org/W1677409904","https://openalex.org/W1735588541","https://openalex.org/W1905302620","https://openalex.org/W1980911747","https://openalex.org/W2025062188","https://openalex.org/W2029449100","https://openalex.org/W2054831727","https://openalex.org/W2099606917","https://openalex.org/W2099907898","https://openalex.org/W2108681527","https://openalex.org/W2123528505","https://openalex.org/W2124386111","https://openalex.org/W2160821342","https://openalex.org/W2171592532","https://openalex.org/W2308031539","https://openalex.org/W4214920538","https://openalex.org/W6637400245","https://openalex.org/W6637923771","https://openalex.org/W6656866612"],"related_works":["https://openalex.org/W2936725271","https://openalex.org/W3016928466","https://openalex.org/W3150655618","https://openalex.org/W2626737336","https://openalex.org/W2005998065","https://openalex.org/W2562256921","https://openalex.org/W2979603868","https://openalex.org/W2862230042","https://openalex.org/W2980582925","https://openalex.org/W4387272257"],"abstract_inverted_index":{"In":[0],"this":[1],"paper":[2],"we":[3,79],"address":[4],"the":[5,43,46,63,81,94],"topic":[6],"of":[7,45],"feature":[8,59,98],"extraction":[9,27],"in":[10,77],"3D":[11,37],"point":[12,38,97],"cloud":[13],"data":[14],"for":[15,96],"object":[16,100],"recognition":[17],"and":[18,73,89,92],"pose":[19],"identification.":[20],"We":[21,55,68],"present":[22,57,74],"a":[23,58],"novel":[24],"interest":[25],"keypoint":[26],"method":[28],"that":[29,61],"operates":[30],"on":[31],"range":[32],"images":[33],"generated":[34],"from":[35,51],"arbitrary":[36],"clouds,":[39],"which":[40,78],"explicitly":[41],"considers":[42],"borders":[44],"objects":[47],"identified":[48],"by":[49],"transitions":[50],"foreground":[52],"to":[53,86],"background.":[54],"furthermore":[56],"descriptor":[60],"takes":[62],"same":[64],"information":[65],"into":[66],"account.":[67],"have":[69],"implemented":[70],"our":[71],"approach":[72],"rigorous":[75],"experiments":[76],"analyze":[80],"individual":[82],"components":[83],"with":[84],"respect":[85],"their":[87],"repeatability":[88],"matching":[90],"capabilities":[91],"evaluate":[93],"usefulness":[95],"based":[99],"detection":[101],"methods.":[102]},"counts_by_year":[{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":11},{"year":2020,"cited_by_count":10},{"year":2019,"cited_by_count":17},{"year":2018,"cited_by_count":16},{"year":2017,"cited_by_count":26},{"year":2016,"cited_by_count":34},{"year":2015,"cited_by_count":20},{"year":2014,"cited_by_count":31},{"year":2013,"cited_by_count":36},{"year":2012,"cited_by_count":19}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}