{"id":"https://openalex.org/W2115859267","doi":"https://doi.org/10.1109/icra.2014.6906902","title":"Learning spatial relationships from 3D vision using histograms","display_name":"Learning spatial relationships from 3D vision using histograms","publication_year":2014,"publication_date":"2014-05-01","ids":{"openalex":"https://openalex.org/W2115859267","doi":"https://doi.org/10.1109/icra.2014.6906902","mag":"2115859267"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2014.6906902","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6906902","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","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/A5050354112","display_name":"Severin Fichtl","orcid":null},"institutions":[{"id":"https://openalex.org/I195460627","display_name":"University of Aberdeen","ror":"https://ror.org/016476m91","country_code":"GB","type":"education","lineage":["https://openalex.org/I195460627"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Severin Fichtl","raw_affiliation_strings":["University of Aberdeen"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Aberdeen","institution_ids":["https://openalex.org/I195460627"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068343442","display_name":"Andrew McManus","orcid":null},"institutions":[{"id":"https://openalex.org/I195460627","display_name":"University of Aberdeen","ror":"https://ror.org/016476m91","country_code":"GB","type":"education","lineage":["https://openalex.org/I195460627"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Andrew McManus","raw_affiliation_strings":["University of Aberdeen"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Aberdeen","institution_ids":["https://openalex.org/I195460627"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063179993","display_name":"Wail Mustafa","orcid":"https://orcid.org/0000-0003-4315-2293"},"institutions":[{"id":"https://openalex.org/I177969490","display_name":"University of Southern Denmark","ror":"https://ror.org/03yrrjy16","country_code":"DK","type":"education","lineage":["https://openalex.org/I177969490"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Wail Mustafa","raw_affiliation_strings":["University of Southern Denmark"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Southern Denmark","institution_ids":["https://openalex.org/I177969490"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024921282","display_name":"Dirk Kraft","orcid":"https://orcid.org/0000-0002-6125-8481"},"institutions":[{"id":"https://openalex.org/I177969490","display_name":"University of Southern Denmark","ror":"https://ror.org/03yrrjy16","country_code":"DK","type":"education","lineage":["https://openalex.org/I177969490"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Dirk Kraft","raw_affiliation_strings":["University of Southern Denmark"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Southern Denmark","institution_ids":["https://openalex.org/I177969490"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025978995","display_name":"Norbert Kr\u00fcger","orcid":"https://orcid.org/0000-0002-3931-116X"},"institutions":[{"id":"https://openalex.org/I177969490","display_name":"University of Southern Denmark","ror":"https://ror.org/03yrrjy16","country_code":"DK","type":"education","lineage":["https://openalex.org/I177969490"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Norbert Kruger","raw_affiliation_strings":["Syddansk Universitet, Odense, Syddanmark, DK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Syddansk Universitet, Odense, Syddanmark, DK","institution_ids":["https://openalex.org/I177969490"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090217029","display_name":"Frank Gu\u00e9rin","orcid":"https://orcid.org/0000-0003-1918-6311"},"institutions":[{"id":"https://openalex.org/I195460627","display_name":"University of Aberdeen","ror":"https://ror.org/016476m91","country_code":"GB","type":"education","lineage":["https://openalex.org/I195460627"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Frank Guerin","raw_affiliation_strings":["University of Aberdeen"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Aberdeen","institution_ids":["https://openalex.org/I195460627"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.5533,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.95998364,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"7","issue":null,"first_page":"501","last_page":"508"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9973000288009644,"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/T10757","display_name":"Geographic Information Systems Studies","score":0.9936000108718872,"subfield":{"id":"https://openalex.org/subfields/3305","display_name":"Geography, Planning and Development"},"field":{"id":"https://openalex.org/fields/33","display_name":"Social Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6737245917320251},{"id":"https://openalex.org/keywords/histogram","display_name":"Histogram","score":0.5908569097518921},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5887649059295654},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5816047787666321},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.3764379918575287},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.1422051191329956}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6737245917320251},{"id":"https://openalex.org/C53533937","wikidata":"https://www.wikidata.org/wiki/Q185020","display_name":"Histogram","level":3,"score":0.5908569097518921},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5887649059295654},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5816047787666321},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.3764379918575287},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.1422051191329956}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2014.6906902","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6906902","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:sdu.dk:openaire_cris_publications/715d6e9e-050e-49ff-a703-b40d2fb9690e","is_oa":false,"landing_page_url":"https://portal.findresearcher.sdu.dk/da/publications/715d6e9e-050e-49ff-a703-b40d2fb9690e","pdf_url":null,"source":{"id":"https://openalex.org/S4306400423","display_name":"University of Southern Denmark Research Portal (University of Southern Denmark)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I177969490","host_organization_name":"University of Southern Denmark","host_organization_lineage":["https://openalex.org/I177969490"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Fichtl, S, McManus, A, Mustafa, W, Kraft, D, Kr\u00fcger, N & Guerin, F 2014, Learning Spatial Relationships From 3D Vision Using Histograms. in Proceedings of the 2014 IEEE International Conference on Robotics and Automation. IEEE, pp. 501-508, IEEE International Conference on Robotics & Automation, Hong Kong, China, 31/05/2014. https://doi.org/10.1109/ICRA.2014.6906902","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320359","display_name":"University of Aberdeen","ror":"https://ror.org/016476m91"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W45931016","https://openalex.org/W1799227866","https://openalex.org/W1930968146","https://openalex.org/W1933657216","https://openalex.org/W1982952542","https://openalex.org/W2011222378","https://openalex.org/W2015855120","https://openalex.org/W2041094000","https://openalex.org/W2048732280","https://openalex.org/W2059535491","https://openalex.org/W2092399515","https://openalex.org/W2098201806","https://openalex.org/W2132322793","https://openalex.org/W2133419167","https://openalex.org/W2152864241","https://openalex.org/W2157904933","https://openalex.org/W2160415018","https://openalex.org/W2800209762","https://openalex.org/W2802622378","https://openalex.org/W2911964244","https://openalex.org/W6662440627","https://openalex.org/W6673562971"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Effective":[0],"robot":[1],"manipulation":[2,17,202],"requires":[3],"a":[4,67,70,79,87,97,143,152],"vision":[5,71,88],"system":[6,72,89,107],"which":[7,14,73,86],"can":[8,74],"extract":[9],"features":[10],"of":[11,32,48,61,99,131,136,154,171],"the":[12,29,115,128,137,149,159,194],"environment":[13],"determine":[15,102],"what":[16],"actions":[18,42],"are":[19,36],"possible.":[20],"There":[21],"is":[22,55,66,145,179],"existing":[23],"work":[24,178],"in":[25,39,78,85,114,166,198],"this":[26,64],"direction":[27],"under":[28],"broad":[30],"banner":[31],"recognising":[33],"\u201caffordances\u201d.":[34],"We":[35,81],"particularly":[37],"interested":[38],"possibilities":[40],"for":[41,69,111,181],"afforded":[43],"by":[44],"relationships":[45,77,126,173,197],"among":[46],"pairs":[47],"objects.":[49,155],"For":[50,63],"example":[51],"if":[52],"an":[53,83,92],"object":[54,113,133],"\u201cinside\u201d":[56],"another":[57],"or":[58],"\u201con":[59],"top\u201d":[60],"another.":[62],"there":[65],"need":[68],"recognise":[75,148],"such":[76],"scene.":[80],"use":[82],"approach":[84],"first":[90],"segments":[91],"image,":[93,117],"and":[94,118,134,191],"then":[95,119],"considers":[96],"pair":[98,153],"objects":[100],"to":[101,147,163,168,200],"their":[103],"physical":[104,172,196],"relationship.":[105],"The":[106],"extracts":[108],"surface":[109,129],"patches":[110,130],"each":[112],"segmented":[116],"compiles":[120],"various":[121],"histograms":[122,142,165],"from":[123],"looking":[124],"at":[125],"between":[127,151],"one":[132],"those":[135],"other":[138],"object.":[139],"From":[140],"these":[141],"classifier":[144],"trained":[146],"relationship":[150],"Our":[156],"results":[157],"identify":[158,193],"most":[160],"promising":[161],"ways":[162],"construct":[164],"order":[167,199],"permit":[169],"classification":[170],"with":[174,188],"high":[175],"accuracy.":[176],"This":[177],"important":[180],"manipulator":[182],"robots":[183],"who":[184],"may":[185],"be":[186],"presented":[187],"novel":[189],"scenes":[190],"must":[192],"salient":[195],"plan":[201],"activities.":[203]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}