{"id":"https://openalex.org/W3206772186","doi":"https://doi.org/10.1109/icra48506.2021.9560923","title":"TSDF++: A Multi-Object Formulation for Dynamic Object Tracking and Reconstruction","display_name":"TSDF++: A Multi-Object Formulation for Dynamic Object Tracking and Reconstruction","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3206772186","doi":"https://doi.org/10.1109/icra48506.2021.9560923","mag":"3206772186"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9560923","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9560923","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 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/A5028157709","display_name":"Margarita Grinvald","orcid":"https://orcid.org/0000-0003-0253-1801"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Margarita Grinvald","raw_affiliation_strings":["Autonomous Systems Lab, ETH Zurich, Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041092666","display_name":"Federico Tombari","orcid":"https://orcid.org/0000-0001-5598-5212"},"institutions":[{"id":"https://openalex.org/I4210100430","display_name":"Google (Switzerland)","ror":"https://ror.org/014f9c269","country_code":"CH","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210100430","https://openalex.org/I4210128969"]},{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["CH","DE"],"is_corresponding":false,"raw_author_name":"Federico Tombari","raw_affiliation_strings":["Google, Switzerland","Technical University of Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Google, Switzerland","institution_ids":["https://openalex.org/I4210100430"]},{"raw_affiliation_string":"Technical University of Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083003222","display_name":"Roland Siegwart","orcid":"https://orcid.org/0000-0002-2760-7983"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Roland Siegwart","raw_affiliation_strings":["Autonomous Systems Lab, ETH Zurich, Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059792297","display_name":"Juan Nieto","orcid":"https://orcid.org/0000-0003-4808-0831"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Juan Nieto","raw_affiliation_strings":["Autonomous Systems Lab, ETH Zurich, Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"14192","last_page":"14198"},"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9990000128746033,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9973999857902527,"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-vision","display_name":"Computer vision","score":0.8298790454864502},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.769987940788269},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.7555460929870605},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7530670166015625},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.6615106463432312},{"id":"https://openalex.org/keywords/encode","display_name":"ENCODE","score":0.6339234113693237},{"id":"https://openalex.org/keywords/code","display_name":"Code (set theory)","score":0.6300856471061707},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.525439441204071},{"id":"https://openalex.org/keywords/track","display_name":"Track (disk drive)","score":0.48112693428993225},{"id":"https://openalex.org/keywords/video-tracking","display_name":"Video tracking","score":0.4628068804740906}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.8298790454864502},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.769987940788269},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.7555460929870605},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7530670166015625},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.6615106463432312},{"id":"https://openalex.org/C66746571","wikidata":"https://www.wikidata.org/wiki/Q1134833","display_name":"ENCODE","level":3,"score":0.6339234113693237},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.6300856471061707},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.525439441204071},{"id":"https://openalex.org/C89992363","wikidata":"https://www.wikidata.org/wiki/Q5961558","display_name":"Track (disk drive)","level":2,"score":0.48112693428993225},{"id":"https://openalex.org/C202474056","wikidata":"https://www.wikidata.org/wiki/Q1931635","display_name":"Video tracking","level":3,"score":0.4628068804740906},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48506.2021.9560923","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9560923","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320309327","display_name":"Google","ror":"https://ror.org/00njsd438"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1861492603","https://openalex.org/W1938204631","https://openalex.org/W1987648924","https://openalex.org/W2009422376","https://openalex.org/W2193145675","https://openalex.org/W2196111060","https://openalex.org/W2250172176","https://openalex.org/W2325034626","https://openalex.org/W2461005315","https://openalex.org/W2523049145","https://openalex.org/W2607968634","https://openalex.org/W2670684868","https://openalex.org/W2736384647","https://openalex.org/W2799135238","https://openalex.org/W2886826852","https://openalex.org/W2888144883","https://openalex.org/W2890090517","https://openalex.org/W2919379406","https://openalex.org/W2941292358","https://openalex.org/W2950538710","https://openalex.org/W2962677407","https://openalex.org/W2963150697","https://openalex.org/W2963357556","https://openalex.org/W2964032623","https://openalex.org/W2964226622","https://openalex.org/W2967352563","https://openalex.org/W2989838178","https://openalex.org/W3102129812","https://openalex.org/W3102330937","https://openalex.org/W3106250896","https://openalex.org/W3106487434","https://openalex.org/W4288414706","https://openalex.org/W6760274371"],"related_works":["https://openalex.org/W2542007731","https://openalex.org/W4285271403","https://openalex.org/W2968379562","https://openalex.org/W3156013036","https://openalex.org/W4388689193","https://openalex.org/W2892070025","https://openalex.org/W29633852","https://openalex.org/W2091015105","https://openalex.org/W2985362983","https://openalex.org/W2110899030"],"abstract_inverted_index":{"The":[0],"ability":[1,174],"to":[2,33,40,67,175,183],"simultaneously":[3],"track":[4,49],"and":[5,25,48,57,75,102,136,171],"reconstruct":[6],"multiple":[7,35,120,132],"objects":[8,37,43,71,105,155],"moving":[9,156],"in":[10,44,72,127,157],"the":[11,15,30,50,68,73,77,99,104,128,162,184],"scene":[12,74,101],"is":[13,190],"of":[14,29,70,145,178],"utmost":[16],"importance":[17],"for":[18,79,98],"robotic":[19],"tasks":[20],"such":[21,59],"as":[22],"autonomous":[23],"navigation":[24],"interaction.":[26],"Virtually":[27],"all":[28,103],"previous":[31],"attempts":[32],"map":[34,90,187],"dynamic":[36,133],"have":[38],"evolved":[39],"store":[41],"individual":[42],"separate":[45],"reconstruction":[46,137,144],"volumes":[47],"relative":[51],"pose":[52],"between":[53],"them.":[54],"While":[55],"simple":[56],"intuitive,":[58],"formulation":[60,116,165],"does":[61],"not":[62],"scale":[63],"well":[64],"with":[65],"respect":[66],"number":[69],"introduces":[76],"need":[78],"an":[80],"explicit":[81],"occlusion":[82],"handling":[83],"strategy.":[84],"In":[85,130],"contrast,":[86],"we":[87,110],"propose":[88],"a":[89,95,112,131,167],"representation":[91,140],"that":[92,117],"allows":[93,141],"maintaining":[94,142],"single":[96],"volume":[97],"entire":[100],"therein.":[106],"To":[107],"this":[108],"end,":[109],"introduce":[111],"novel":[113],"multi-object":[114],"TSDF":[115,186],"can":[118],"encode":[119],"object":[121,134],"surfaces":[122,146,180],"at":[123,192],"any":[124],"given":[125],"location":[126],"map.":[129],"tracking":[135],"scenario,":[138],"our":[139],"accurate":[143],"even":[147],"while":[148],"they":[149],"become":[150],"temporarily":[151],"occluded":[152,179],"by":[153],"other":[154],"their":[158],"proximity.":[159],"We":[160],"evaluate":[161],"proposed":[163],"TSDF++":[164],"on":[166],"public":[168],"synthetic":[169],"dataset":[170],"demonstrate":[172],"its":[173],"preserve":[176],"reconstructions":[177],"when":[181],"compared":[182],"standard":[185],"representation.":[188],"Code":[189],"available":[191],"https://github.com/ethz-asl/tsdf-plusplus.":[193]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
