{"id":"https://openalex.org/W2006698373","doi":"https://doi.org/10.1109/icra.2013.6630614","title":"A scene graph based shared 3D world model for robotic applications","display_name":"A scene graph based shared 3D world model for robotic applications","publication_year":2013,"publication_date":"2013-05-01","ids":{"openalex":"https://openalex.org/W2006698373","doi":"https://doi.org/10.1109/icra.2013.6630614","mag":"2006698373"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2013.6630614","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6630614","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://zenodo.org/record/3431932","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5060689267","display_name":"Sebastian Blumenthal","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sebastian Blumenthal","raw_affiliation_strings":["GPS GmbH, Stuttgart, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GPS GmbH, Stuttgart, Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009116988","display_name":"Herman Bruyninckx","orcid":"https://orcid.org/0000-0003-3776-1025"},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Herman Bruyninckx","raw_affiliation_strings":["Department of Mechanical Engineering, Katholieke Universiteit Leuven, Belgium","Dept. of Mech. Eng., Katholieke Univ. Leuven, Leuven, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Katholieke Universiteit Leuven, Belgium","institution_ids":["https://openalex.org/I99464096"]},{"raw_affiliation_string":"Dept. of Mech. Eng., Katholieke Univ. Leuven, Leuven, Belgium","institution_ids":["https://openalex.org/I99464096"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102051125","display_name":"Walter Nowak","orcid":null},"institutions":[{"id":"https://openalex.org/I4210129999","display_name":"KUKA (Germany)","ror":"https://ror.org/02y22dj89","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210129999"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Walter Nowak","raw_affiliation_strings":["Locomotec UG, Augsburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Locomotec UG, Augsburg, Germany","institution_ids":["https://openalex.org/I4210129999"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086198002","display_name":"Erwin Prassler","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":"Erwin Prassler","raw_affiliation_strings":["University of Applied Sciences Bonn-Rhein-Sieg, Sankt Augustin, Germany","Univ. of Appl. Sci. Bonn-Rhein-Sieg, St. Augustin, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Applied Sciences Bonn-Rhein-Sieg, Sankt Augustin, Germany","institution_ids":["https://openalex.org/I155417937"]},{"raw_affiliation_string":"Univ. of Appl. Sci. Bonn-Rhein-Sieg, St. Augustin, Germany","institution_ids":["https://openalex.org/I155417937"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":76.9688,"has_fulltext":false,"cited_by_count":31,"citation_normalized_percentile":{"value":0.99691133,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"3","issue":null,"first_page":"453","last_page":"460"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9980999827384949,"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":0.9922000169754028,"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/computer-science","display_name":"Computer science","score":0.826543927192688},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.740420937538147},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5620959997177124},{"id":"https://openalex.org/keywords/scene-graph","display_name":"Scene graph","score":0.5567088723182678},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5531604290008545},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.47948798537254333},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.4341674745082855},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.2130543291568756}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.826543927192688},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.740420937538147},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5620959997177124},{"id":"https://openalex.org/C179372163","wikidata":"https://www.wikidata.org/wiki/Q1406181","display_name":"Scene graph","level":3,"score":0.5567088723182678},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5531604290008545},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.47948798537254333},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.4341674745082855},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.2130543291568756},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2013.6630614","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6630614","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:zenodo.org:3431932","is_oa":true,"landing_page_url":"https://zenodo.org/record/3431932","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"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":"","raw_type":"info:eu-repo/semantics/conferencePaper"}],"best_oa_location":{"id":"pmh:oai:zenodo.org:3431932","is_oa":true,"landing_page_url":"https://zenodo.org/record/3431932","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"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":"","raw_type":"info:eu-repo/semantics/conferencePaper"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W70651934","https://openalex.org/W1553636913","https://openalex.org/W1649645444","https://openalex.org/W1999050017","https://openalex.org/W2010806162","https://openalex.org/W2072723786","https://openalex.org/W2091986315","https://openalex.org/W2100119371","https://openalex.org/W2117464136","https://openalex.org/W2125880285","https://openalex.org/W2130422193","https://openalex.org/W2134581605","https://openalex.org/W2141208266","https://openalex.org/W2148033465","https://openalex.org/W2148228392","https://openalex.org/W2152671441","https://openalex.org/W2901136733","https://openalex.org/W3143481044","https://openalex.org/W6602877717","https://openalex.org/W6675759124","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W17155033","https://openalex.org/W3207760230","https://openalex.org/W1496222301","https://openalex.org/W1590307681","https://openalex.org/W2536018345","https://openalex.org/W4312814274","https://openalex.org/W4285370786","https://openalex.org/W2296488620","https://openalex.org/W4392007279","https://openalex.org/W4387129494"],"abstract_inverted_index":{"This":[0,18],"paper":[1],"presents":[2],"a":[3,10,80],"novel":[4],"approach":[5,19,60],"for":[6,15,70,79],"representing":[7],"and":[8,44,68],"maintaining":[9],"shared":[11],"3D":[12,50,89],"world":[13],"model":[14],"robotic":[16,36],"applications.":[17],"is":[20,41,77,96],"based":[21],"on":[22],"the":[23,32,35,42,53,56,85,99],"scene":[24,101],"graph":[25,57],"concept":[26],"which":[27],"has":[28],"been":[29],"adapted":[30],"to":[31,105],"requirements":[33],"of":[34,47,55,63,88,93],"domain.":[37],"A":[38,75,91],"key":[39],"feature":[40],"temporal":[43,86],"centralized":[45],"sharing":[46,87],"all":[48],"available":[49],"data":[51,102],"in":[52,103],"leaves":[54],"structure.":[58],"The":[59],"enables":[61],"tracking":[62],"dynamic":[64],"objects,":[65],"incorporates":[66],"uncertainty":[67],"allows":[69],"annotations":[71],"by":[72],"semantic":[73],"tags.":[74],"demonstration":[76],"given":[78],"perception":[81],"application":[82],"that":[83],"exploits":[84],"data.":[90],"Region":[92],"Interest":[94],"(ROI)":[95],"extracted":[97],"from":[98],"stored":[100],"order":[104],"accelerate":[106],"processing":[107],"cycle":[108],"times.":[109]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":5},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":7},{"year":2014,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}