{"id":"https://openalex.org/W1979399383","doi":"https://doi.org/10.1109/icra.2014.6907301","title":"Unsupervised discovery of object classes with a mobile robot","display_name":"Unsupervised discovery of object classes with a mobile robot","publication_year":2014,"publication_date":"2014-05-01","ids":{"openalex":"https://openalex.org/W1979399383","doi":"https://doi.org/10.1109/icra.2014.6907301","mag":"1979399383"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2014.6907301","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907301","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":"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/A5042210331","display_name":"Julian Mason","orcid":null},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Julian Mason","raw_affiliation_strings":["Google Research","[Google Research]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Google Research","institution_ids":["https://openalex.org/I1291425158"]},{"raw_affiliation_string":"[Google Research]","institution_ids":["https://openalex.org/I1291425158"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109900453","display_name":"Bhaskara Marthi","orcid":null},"institutions":[{"id":"https://openalex.org/I170897317","display_name":"Duke University","ror":"https://ror.org/00py81415","country_code":"US","type":"education","lineage":["https://openalex.org/I170897317"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bhaskara Marthi","raw_affiliation_strings":["Duke University","Vicarious Systems"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Duke University","institution_ids":["https://openalex.org/I170897317"]},{"raw_affiliation_string":"Vicarious Systems","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109839104","display_name":"Ronald Parr","orcid":null},"institutions":[{"id":"https://openalex.org/I170897317","display_name":"Duke University","ror":"https://ror.org/00py81415","country_code":"US","type":"education","lineage":["https://openalex.org/I170897317"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ronald Parr","raw_affiliation_strings":["Vicarious Systems","Duke University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Vicarious Systems","institution_ids":[]},{"raw_affiliation_string":"Duke University","institution_ids":["https://openalex.org/I170897317"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":19.8101,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.9862509,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"3074","last_page":"3081"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9993000030517578,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9962000250816345,"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":0.7975022792816162},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7717005014419556},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.7401626110076904},{"id":"https://openalex.org/keywords/method","display_name":"Method","score":0.5354495048522949},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5318688154220581},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.5196881890296936},{"id":"https://openalex.org/keywords/cognitive-neuroscience-of-visual-object-recognition","display_name":"Cognitive neuroscience of visual object recognition","score":0.5196184515953064},{"id":"https://openalex.org/keywords/variety","display_name":"Variety (cybernetics)","score":0.5076085329055786},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5058465003967285},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5017273426055908},{"id":"https://openalex.org/keywords/3d-single-object-recognition","display_name":"3D single-object recognition","score":0.4954456090927124},{"id":"https://openalex.org/keywords/video-tracking","display_name":"Video tracking","score":0.45437145233154297},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.4489455223083496},{"id":"https://openalex.org/keywords/class","display_name":"Class (philosophy)","score":0.43336430191993713},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.41865792870521545},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.40698397159576416},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3724922835826874},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.25666290521621704},{"id":"https://openalex.org/keywords/object-oriented-programming","display_name":"Object-oriented programming","score":0.09284859895706177}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7975022792816162},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7717005014419556},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.7401626110076904},{"id":"https://openalex.org/C512554520","wikidata":"https://www.wikidata.org/wiki/Q815844","display_name":"Method","level":3,"score":0.5354495048522949},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5318688154220581},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.5196881890296936},{"id":"https://openalex.org/C64876066","wikidata":"https://www.wikidata.org/wiki/Q5141226","display_name":"Cognitive neuroscience of visual object recognition","level":3,"score":0.5196184515953064},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.5076085329055786},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5058465003967285},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5017273426055908},{"id":"https://openalex.org/C14551309","wikidata":"https://www.wikidata.org/wiki/Q4636325","display_name":"3D single-object recognition","level":4,"score":0.4954456090927124},{"id":"https://openalex.org/C202474056","wikidata":"https://www.wikidata.org/wiki/Q1931635","display_name":"Video tracking","level":3,"score":0.45437145233154297},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.4489455223083496},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.43336430191993713},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.41865792870521545},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.40698397159576416},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3724922835826874},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.25666290521621704},{"id":"https://openalex.org/C73752529","wikidata":"https://www.wikidata.org/wiki/Q79872","display_name":"Object-oriented programming","level":2,"score":0.09284859895706177},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2014.6907301","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907301","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:CiteSeerX.psu:10.1.1.641.5168","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.641.5168","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.duke.edu/~parr/icra14_mmp.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W163569376","https://openalex.org/W658916814","https://openalex.org/W1510035368","https://openalex.org/W2000321478","https://openalex.org/W2033574012","https://openalex.org/W2038714769","https://openalex.org/W2049776679","https://openalex.org/W2049981393","https://openalex.org/W2106874006","https://openalex.org/W2117228865","https://openalex.org/W2125298120","https://openalex.org/W2129571700","https://openalex.org/W2133815132","https://openalex.org/W2140873064","https://openalex.org/W2152864241","https://openalex.org/W2154418813","https://openalex.org/W2164860858","https://openalex.org/W2167135506","https://openalex.org/W4235773083","https://openalex.org/W4285719527","https://openalex.org/W6684741110","https://openalex.org/W7042332083"],"related_works":["https://openalex.org/W2727211572","https://openalex.org/W2046953865","https://openalex.org/W113382539","https://openalex.org/W2587477420","https://openalex.org/W2188151889","https://openalex.org/W2274423614","https://openalex.org/W2144684827","https://openalex.org/W2591243219","https://openalex.org/W2019233926","https://openalex.org/W2191130262"],"abstract_inverted_index":{"Object":[0],"detection":[1],"and":[2,24,126,135,178,189,221,225],"recognition":[3,53,60,73,81],"are":[4,12,132],"fundamental":[5],"capabilities":[6],"for":[7,16,63,110,123],"a":[8,13,17,28,35,75,108,120,160,230,235,240],"mobile":[9,22],"robot.":[10],"Objects":[11],"powerful":[14],"representation":[15],"variety":[18,97],"of":[19,38,98,153,180,186,193],"tasks":[20],"including":[21],"manipulation":[23],"inventory":[25],"tracking.":[26],"As":[27,234],"result,":[29,236],"object-based":[30],"world":[31],"representations":[32],"have":[33,204],"seen":[34],"great":[36],"deal":[37],"research":[39],"interest":[40],"in":[41,102,129,140],"the":[42,149,184,191],"last":[43],"several":[44],"years.":[45],"However,":[46],"these":[47,181],"systems":[48],"usually":[49],"assume":[50],"that":[51,58,100],"object":[52,65,72,80,87,113,125,167,196,207],"is":[54,239],"well-solved:":[55],"they":[56,66],"require":[57],"accurate":[59],"be":[61,247],"available":[62],"every":[64,111],"might":[67],"encounter.":[68],"Despite":[69],"steady":[70],"advances,":[71],"remains":[74],"difficult,":[76],"open":[77],"problem.":[78],"Existing":[79],"algorithms":[82],"rely":[83],"on":[84,90,229],"high-resolution":[85],"three-dimensional":[86],"models":[88],"or":[89],"extensive":[91],"hand-labeled":[92],"training":[93,107],"data.":[94],"The":[95,176],"sheer":[96],"objects":[99,131],"occur":[101],"natural":[103],"environments":[104],"makes":[105],"manually":[106],"recognizer":[109],"possible":[112],"infeasible.":[114],"In":[115],"this":[116,210,237],"work,":[117],"we":[118,147,165],"present":[119],"robotic":[121,163,206],"system":[122],"unsupervised":[124,142],"class":[127],"discovery,":[128],"which":[130,243],"first":[133],"discovered,":[134],"then":[136],"grouped":[137],"into":[138],"classes":[139,168],"an":[141],"fashion.":[143],"At":[144],"each":[145],"step,":[146],"approach":[148],"problem":[150],"as":[151],"one":[152],"robotics,":[154],"not":[155],"disembodied":[156],"computer":[157],"vision.":[158],"On":[159],"very":[161,231],"large":[162,232],"dataset,":[164],"discover":[166],"with":[169],"98.7%":[170],"precision":[171],"while":[172],"achieving":[173],"71.8%":[174],"recall.":[175],"scale":[177],"quality":[179],"results":[182],"demonstrate":[183],"merit":[185],"our":[187,199,219,227],"approach,":[188],"prove":[190],"practicality":[192],"long-term":[194],"large-scale":[195],"discovery.":[197],"To":[198],"knowledge,":[200],"no":[201],"other":[202],"authors":[203],"investigated":[205],"discovery":[208],"at":[209],"scale,":[211],"making":[212],"direct":[213],"quantitative":[214],"comparison":[215],"impossible.":[216],"We":[217],"make":[218],"implementation":[220],"ground-truth":[222],"labelings":[223],"available,":[224],"evaluate":[226],"technique":[228],"dataset.":[233],"work":[238,245],"baseline":[241],"against":[242],"future":[244],"can":[246],"compared.":[248]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}