{"id":"https://openalex.org/W2105849221","doi":"https://doi.org/10.1109/icra.2011.5980495","title":"Search in the real world: Active visual object search based on spatial relations","display_name":"Search in the real world: Active visual object search based on spatial relations","publication_year":2011,"publication_date":"2011-05-01","ids":{"openalex":"https://openalex.org/W2105849221","doi":"https://doi.org/10.1109/icra.2011.5980495","mag":"2105849221"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2011.5980495","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980495","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":true,"oa_status":"green","oa_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-48836","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5023659565","display_name":"Ay\u015fe Zeynep Aydemir","orcid":"https://orcid.org/0000-0002-3271-4193"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"A. Aydemir","raw_affiliation_strings":["Centre of Autonomous Systems, the Royal Institute of Technology (KTH), Stockholm, Sweden","Centre for Autonomous Systems at the Royal Institute of Technology (KTH), Stockholm, SE-100 44, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre of Autonomous Systems, the Royal Institute of Technology (KTH), Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"Centre for Autonomous Systems at the Royal Institute of Technology (KTH), Stockholm, SE-100 44, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031140763","display_name":"Kristoffer Sj\u00f6\u00f6","orcid":null},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"K. Sjoo","raw_affiliation_strings":["Centre of Autonomous Systems, the Royal Institute of Technology (KTH), Stockholm, Sweden","Centre for Autonomous Systems at the Royal Institute of Technology (KTH), Stockholm, SE-100 44, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre of Autonomous Systems, the Royal Institute of Technology (KTH), Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"Centre for Autonomous Systems at the Royal Institute of Technology (KTH), Stockholm, SE-100 44, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068942914","display_name":"John Folkesson","orcid":"https://orcid.org/0000-0002-7796-1438"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"J. Folkesson","raw_affiliation_strings":["Centre of Autonomous Systems, the Royal Institute of Technology (KTH), Stockholm, Sweden","Centre for Autonomous Systems at the Royal Institute of Technology (KTH), Stockholm, SE-100 44, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre of Autonomous Systems, the Royal Institute of Technology (KTH), Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"Centre for Autonomous Systems at the Royal Institute of Technology (KTH), Stockholm, SE-100 44, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076531093","display_name":"Andrzej Pronobis","orcid":null},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"A. Pronobis","raw_affiliation_strings":["Centre of Autonomous Systems, the Royal Institute of Technology (KTH), Stockholm, Sweden","Centre for Autonomous Systems at the Royal Institute of Technology (KTH), Stockholm, SE-100 44, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre of Autonomous Systems, the Royal Institute of Technology (KTH), Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"Centre for Autonomous Systems at the Royal Institute of Technology (KTH), Stockholm, SE-100 44, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028082686","display_name":"Patric Jensfelt","orcid":"https://orcid.org/0000-0002-1170-7162"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"P. Jensfelt","raw_affiliation_strings":["Centre of Autonomous Systems, the Royal Institute of Technology (KTH), Stockholm, Sweden","Centre for Autonomous Systems at the Royal Institute of Technology (KTH), Stockholm, SE-100 44, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre of Autonomous Systems, the Royal Institute of Technology (KTH), Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"Centre for Autonomous Systems at the Royal Institute of Technology (KTH), Stockholm, SE-100 44, Sweden","institution_ids":["https://openalex.org/I86987016"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I86987016"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":105,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2818","last_page":"2824"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9998000264167786,"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/T11605","display_name":"Visual Attention and Saliency Detection","score":0.996999979019165,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9940000176429749,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7375790476799011},{"id":"https://openalex.org/keywords/spatial-relation","display_name":"Spatial relation","score":0.6938790082931519},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6648170351982117},{"id":"https://openalex.org/keywords/visual-search","display_name":"Visual search","score":0.649318277835846},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5778841376304626},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5749104022979736},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.5288955569267273},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.4728322923183441},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.44911420345306396},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3828962743282318},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12122422456741333}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7375790476799011},{"id":"https://openalex.org/C27511587","wikidata":"https://www.wikidata.org/wiki/Q2178623","display_name":"Spatial relation","level":2,"score":0.6938790082931519},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6648170351982117},{"id":"https://openalex.org/C158495155","wikidata":"https://www.wikidata.org/wiki/Q2369151","display_name":"Visual search","level":2,"score":0.649318277835846},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5778841376304626},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5749104022979736},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.5288955569267273},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.4728322923183441},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.44911420345306396},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3828962743282318},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12122422456741333},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","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":2,"locations":[{"id":"doi:10.1109/icra.2011.5980495","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980495","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:DiVA.org:kth-48836","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-48836","pdf_url":null,"source":{"id":"https://openalex.org/S4306401559","display_name":"KTH Publication Database DiVA (KTH Royal Institute of Technology)","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":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:DiVA.org:kth-48836","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-48836","pdf_url":null,"source":{"id":"https://openalex.org/S4306401559","display_name":"KTH Publication Database DiVA (KTH Royal Institute of Technology)","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":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"display_name":"Reduced inequalities","id":"https://metadata.un.org/sdg/10","score":0.41999998688697815}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W113525123","https://openalex.org/W200191133","https://openalex.org/W1783865723","https://openalex.org/W1952054943","https://openalex.org/W1986099000","https://openalex.org/W2019854335","https://openalex.org/W2021577700","https://openalex.org/W2044718933","https://openalex.org/W2077167025","https://openalex.org/W2097406002","https://openalex.org/W2106848651","https://openalex.org/W2108712229","https://openalex.org/W2110764733","https://openalex.org/W2111056274","https://openalex.org/W2117324197","https://openalex.org/W2126296436","https://openalex.org/W2128550493","https://openalex.org/W2165881750","https://openalex.org/W2236366363","https://openalex.org/W4285719527","https://openalex.org/W6604569386","https://openalex.org/W6608052368","https://openalex.org/W6689937471"],"related_works":["https://openalex.org/W1970358776","https://openalex.org/W1978999997","https://openalex.org/W1968716078","https://openalex.org/W4311800528","https://openalex.org/W2051216071","https://openalex.org/W4241743678","https://openalex.org/W1964815740","https://openalex.org/W2942618310","https://openalex.org/W2071478268","https://openalex.org/W4254623023"],"abstract_inverted_index":{"Objects":[0],"are":[1],"integral":[2],"to":[3,53,61,83,86,109],"a":[4,93],"robot's":[5],"understanding":[6],"of":[7,45,113],"space.":[8],"Various":[9],"tasks":[10],"such":[11],"as":[12],"semantic":[13],"mapping,":[14],"pick-and-carry":[15],"missions":[16],"or":[17],"manipulation":[18],"involve":[19],"interaction":[20],"with":[21],"objects.":[22],"Previous":[23],"work":[24,50],"in":[25,36],"the":[26,31,34,41,46,59,111],"field":[27],"largely":[28],"builds":[29],"on":[30],"assumption":[32,56],"that":[33,73],"object":[35,68],"question":[37],"starts":[38],"out":[39],"within":[40],"ready":[42],"sensory":[43],"reach":[44],"robot.":[47],"In":[48],"this":[49,55],"we":[51,79,106],"aim":[52],"relax":[54],"by":[57],"providing":[58],"means":[60],"perform":[62,107],"robust":[63],"and":[64],"large-scale":[65],"active":[66],"visual":[67],"search.":[69],"Presenting":[70],"spatial":[71],"relations":[72],"describe":[74],"topological":[75],"relationships":[76],"between":[77],"objects,":[78],"then":[80],"show":[81],"how":[82],"use":[84],"these":[85],"create":[87],"potential":[88],"search":[89,98],"actions.":[90],"We":[91],"introduce":[92],"method":[94],"for":[95,102],"efficiently":[96],"selecting":[97],"strategies":[99],"given":[100],"probabilities":[101],"those":[103],"relations.":[104],"Finally":[105],"experiments":[108],"verify":[110],"feasibility":[112],"our":[114],"approach.":[115]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":11},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":9},{"year":2014,"cited_by_count":15},{"year":2013,"cited_by_count":11},{"year":2012,"cited_by_count":9}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}