{"id":"https://openalex.org/W2891785416","doi":"https://doi.org/10.1109/icra.2018.8460955","title":"Configuration of Perception Systems via Planning Over Factor Graphs","display_name":"Configuration of Perception Systems via Planning Over Factor Graphs","publication_year":2018,"publication_date":"2018-05-01","ids":{"openalex":"https://openalex.org/W2891785416","doi":"https://doi.org/10.1109/icra.2018.8460955","mag":"2891785416"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2018.8460955","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8460955","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 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/A5007330724","display_name":"Vincent Dietrich","orcid":"https://orcid.org/0000-0003-0568-9727"},"institutions":[{"id":"https://openalex.org/I1325886976","display_name":"Siemens (Germany)","ror":"https://ror.org/059mq0909","country_code":"DE","type":"company","lineage":["https://openalex.org/I1325886976"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Vincent Dietrich","raw_affiliation_strings":["Siemens Corporate Technology, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Siemens Corporate Technology, Munich, Germany","institution_ids":["https://openalex.org/I1325886976"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056853793","display_name":"Bernd Kast","orcid":"https://orcid.org/0000-0001-7838-3142"},"institutions":[{"id":"https://openalex.org/I1325886976","display_name":"Siemens (Germany)","ror":"https://ror.org/059mq0909","country_code":"DE","type":"company","lineage":["https://openalex.org/I1325886976"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Bernd Kast","raw_affiliation_strings":["Siemens Corporate Technology, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Siemens Corporate Technology, Munich, Germany","institution_ids":["https://openalex.org/I1325886976"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107640148","display_name":"Philipp Schmitt","orcid":null},"institutions":[{"id":"https://openalex.org/I1325886976","display_name":"Siemens (Germany)","ror":"https://ror.org/059mq0909","country_code":"DE","type":"company","lineage":["https://openalex.org/I1325886976"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Philipp Schmitt","raw_affiliation_strings":["Siemens Corporate Technology, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Siemens Corporate Technology, Munich, Germany","institution_ids":["https://openalex.org/I1325886976"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029758616","display_name":"Sebastian Albrecht","orcid":"https://orcid.org/0000-0002-3647-4043"},"institutions":[{"id":"https://openalex.org/I1325886976","display_name":"Siemens (Germany)","ror":"https://ror.org/059mq0909","country_code":"DE","type":"company","lineage":["https://openalex.org/I1325886976"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sebastian Albrecht","raw_affiliation_strings":["Siemens Corporate Technology, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Siemens Corporate Technology, Munich, Germany","institution_ids":["https://openalex.org/I1325886976"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011402821","display_name":"Michael Fiegert","orcid":null},"institutions":[{"id":"https://openalex.org/I1325886976","display_name":"Siemens (Germany)","ror":"https://ror.org/059mq0909","country_code":"DE","type":"company","lineage":["https://openalex.org/I1325886976"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Michael Fiegert","raw_affiliation_strings":["Siemens Corporate Technology, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Siemens Corporate Technology, Munich, Germany","institution_ids":["https://openalex.org/I1325886976"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025706455","display_name":"Wendelin Feiten","orcid":"https://orcid.org/0000-0002-7593-6298"},"institutions":[{"id":"https://openalex.org/I1325886976","display_name":"Siemens (Germany)","ror":"https://ror.org/059mq0909","country_code":"DE","type":"company","lineage":["https://openalex.org/I1325886976"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Wendelin Feiten","raw_affiliation_strings":["Siemens Corporate Technology, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Siemens Corporate Technology, Munich, Germany","institution_ids":["https://openalex.org/I1325886976"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003274224","display_name":"Michael Beetz","orcid":"https://orcid.org/0000-0002-7888-7444"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Michael Beetz","raw_affiliation_strings":["Institute for Artificial Intelligence, University Bremen, Bremen, Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Artificial Intelligence, University Bremen, Bremen, Germany","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5007330724"],"corresponding_institution_ids":["https://openalex.org/I1325886976"],"apc_list":null,"apc_paid":null,"fwci":0.3258,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.67657321,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"94","issue":null,"first_page":"1","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9947999715805054,"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/T11596","display_name":"Constraint Satisfaction and Optimization","score":0.9936000108718872,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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":0.7605910301208496},{"id":"https://openalex.org/keywords/factor-graph","display_name":"Factor graph","score":0.6491178274154663},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.6483856439590454},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.5946438908576965},{"id":"https://openalex.org/keywords/graphical-model","display_name":"Graphical model","score":0.5683409571647644},{"id":"https://openalex.org/keywords/factor","display_name":"Factor (programming language)","score":0.5477889180183411},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.48552513122558594},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.4718370735645294},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.46760430932044983},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.45590513944625854},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4527847468852997},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.43704527616500854},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3697190284729004},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.3615362346172333},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3518480658531189},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3481452465057373},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.31296253204345703},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.20454972982406616},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.13093307614326477},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1057145893573761}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7605910301208496},{"id":"https://openalex.org/C159246509","wikidata":"https://www.wikidata.org/wiki/Q5428725","display_name":"Factor graph","level":3,"score":0.6491178274154663},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.6483856439590454},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5946438908576965},{"id":"https://openalex.org/C155846161","wikidata":"https://www.wikidata.org/wiki/Q1143367","display_name":"Graphical model","level":2,"score":0.5683409571647644},{"id":"https://openalex.org/C2781039887","wikidata":"https://www.wikidata.org/wiki/Q1391724","display_name":"Factor (programming language)","level":2,"score":0.5477889180183411},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.48552513122558594},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.4718370735645294},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.46760430932044983},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.45590513944625854},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4527847468852997},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.43704527616500854},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3697190284729004},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.3615362346172333},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3518480658531189},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3481452465057373},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.31296253204345703},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.20454972982406616},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.13093307614326477},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1057145893573761},{"id":"https://openalex.org/C57273362","wikidata":"https://www.wikidata.org/wiki/Q576722","display_name":"Decoding methods","level":2,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2018.8460955","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8460955","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.41999998688697815,"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W1484612461","https://openalex.org/W1499297823","https://openalex.org/W1511986666","https://openalex.org/W1545688112","https://openalex.org/W1972583156","https://openalex.org/W2006698373","https://openalex.org/W2010220123","https://openalex.org/W2017197542","https://openalex.org/W2032905890","https://openalex.org/W2100988719","https://openalex.org/W2119709400","https://openalex.org/W2123149358","https://openalex.org/W2128410037","https://openalex.org/W2147357263","https://openalex.org/W2148295611","https://openalex.org/W2151492375","https://openalex.org/W2161414194","https://openalex.org/W2182229738","https://openalex.org/W2337392266","https://openalex.org/W2461937780","https://openalex.org/W2604236302","https://openalex.org/W2625694822","https://openalex.org/W2772079811","https://openalex.org/W2963037989","https://openalex.org/W3124420883","https://openalex.org/W4231002530","https://openalex.org/W4232554840","https://openalex.org/W6628870909","https://openalex.org/W6629917348","https://openalex.org/W6631664056","https://openalex.org/W6651985371","https://openalex.org/W6652849605","https://openalex.org/W6675301218","https://openalex.org/W6679058514","https://openalex.org/W6685664056","https://openalex.org/W6697047427","https://openalex.org/W6736356028","https://openalex.org/W6746756801","https://openalex.org/W6765265697"],"related_works":["https://openalex.org/W1480311453","https://openalex.org/W2950591710","https://openalex.org/W2582515281","https://openalex.org/W4368755698","https://openalex.org/W3180766726","https://openalex.org/W4388627352","https://openalex.org/W2011528978","https://openalex.org/W2530136521","https://openalex.org/W4312457419","https://openalex.org/W2501500329"],"abstract_inverted_index":{"Sensor":[0],"guided,":[1],"automated":[2],"systems":[3,52],"require":[4],"the":[5,48,67,75,90,117,127],"composition":[6],"of":[7,50,66,71,89,120],"various":[8],"sensors":[9,93],"and":[10,40,81,94,103],"data":[11,78,95,105],"processing":[12,79,96],"algorithms":[13,80],"to":[14,34],"obtain":[15],"relevant":[16],"information":[17],"for":[18],"performing":[19],"their":[20],"task.":[21],"Many":[22],"applications":[23],"have":[24],"additional":[25],"requirements":[26,119],"such":[27],"as":[28,53],"a":[29,54,64,86,113],"certain":[30],"accuracy,":[31],"which":[32],"has":[33],"be":[35],"achieved":[36],"despite":[37],"sensor":[38,104],"noise":[39],"calibration":[41],"errors.":[42],"In":[43],"this":[44],"paper":[45],"we":[46],"model":[47],"configuration":[49,69],"perception":[51,101],"planning":[55],"problem":[56],"over":[57],"probabilistic":[58],"graphical":[59],"models.":[60],"We":[61,131],"work":[62],"on":[63,85],"subset":[65],"full":[68],"space":[70],"perceptions":[72],"systems,":[73],"specifically":[74],"used":[76],"sensors,":[77],"view":[82],"poses.":[83],"Based":[84],"semantic":[87],"description":[88],"goal,":[91],"available":[92,128],"algorithms,":[97],"our":[98,133],"system":[99],"plans":[100],"steps":[102],"fusion":[106],"autonomously.":[107],"The":[108],"planner":[109],"operates":[110],"by":[111],"constructing":[112],"factor":[114],"graph":[115],"until":[116],"accuracy":[118],"tasks":[121],"are":[122],"fulfilled":[123],"or":[124],"unobtainable":[125],"with":[126],"action":[129],"set.":[130],"validate":[132],"approach":[134],"in":[135],"an":[136],"industrial":[137],"assembly":[138],"scenario.":[139]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}