{"id":"https://openalex.org/W4383108941","doi":"https://doi.org/10.1109/icra48891.2023.10160487","title":"Target-Aware Implicit Mapping for Agricultural Crop Inspection","display_name":"Target-Aware Implicit Mapping for Agricultural Crop Inspection","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383108941","doi":"https://doi.org/10.1109/icra48891.2023.10160487"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160487","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160487","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5028845628","display_name":"Shane Kelly","orcid":null},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]},{"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"]},{"id":"https://openalex.org/I4387154616","display_name":"Lamarr Institute for Machine Learning and Artificial Intelligence","ror":"https://ror.org/04s11ea33","country_code":null,"type":"facility","lineage":["https://openalex.org/I135140700","https://openalex.org/I200332995","https://openalex.org/I4210098062","https://openalex.org/I4210144576","https://openalex.org/I4387154616","https://openalex.org/I4923324","https://openalex.org/I4923324"]}],"countries":["CH","DE"],"is_corresponding":false,"raw_author_name":"Shane Kelly","raw_affiliation_strings":["ETH Zurich,Vision for Robotics Lab","Lamarr Institute for Machine Learning and Artificial Intelligence, Germany","Vision for Robotics Lab, ETH Zurich","University of Bonn"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zurich,Vision for Robotics Lab","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Lamarr Institute for Machine Learning and Artificial Intelligence, Germany","institution_ids":["https://openalex.org/I4387154616"]},{"raw_affiliation_string":"Vision for Robotics Lab, ETH Zurich","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"University of Bonn","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022688209","display_name":"Alessandro Riccardi","orcid":"https://orcid.org/0000-0002-4936-1531"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]},{"id":"https://openalex.org/I4387154616","display_name":"Lamarr Institute for Machine Learning and Artificial Intelligence","ror":"https://ror.org/04s11ea33","country_code":null,"type":"facility","lineage":["https://openalex.org/I135140700","https://openalex.org/I200332995","https://openalex.org/I4210098062","https://openalex.org/I4210144576","https://openalex.org/I4387154616","https://openalex.org/I4923324","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alessandro Riccardi","raw_affiliation_strings":["University of Bonn","Lamarr Institute for Machine Learning and Artificial Intelligence, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Bonn","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"Lamarr Institute for Machine Learning and Artificial Intelligence, Germany","institution_ids":["https://openalex.org/I4387154616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004673510","display_name":"Elias Marks","orcid":"https://orcid.org/0000-0003-1322-9317"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]},{"id":"https://openalex.org/I4387154616","display_name":"Lamarr Institute for Machine Learning and Artificial Intelligence","ror":"https://ror.org/04s11ea33","country_code":null,"type":"facility","lineage":["https://openalex.org/I135140700","https://openalex.org/I200332995","https://openalex.org/I4210098062","https://openalex.org/I4210144576","https://openalex.org/I4387154616","https://openalex.org/I4923324","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Elias Marks","raw_affiliation_strings":["University of Bonn","Lamarr Institute for Machine Learning and Artificial Intelligence, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Bonn","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"Lamarr Institute for Machine Learning and Artificial Intelligence, Germany","institution_ids":["https://openalex.org/I4387154616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042093536","display_name":"Federico Magistri","orcid":"https://orcid.org/0000-0003-2815-5760"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]},{"id":"https://openalex.org/I4387154616","display_name":"Lamarr Institute for Machine Learning and Artificial Intelligence","ror":"https://ror.org/04s11ea33","country_code":null,"type":"facility","lineage":["https://openalex.org/I135140700","https://openalex.org/I200332995","https://openalex.org/I4210098062","https://openalex.org/I4210144576","https://openalex.org/I4387154616","https://openalex.org/I4923324","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Federico Magistri","raw_affiliation_strings":["University of Bonn","Lamarr Institute for Machine Learning and Artificial Intelligence, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Bonn","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"Lamarr Institute for Machine Learning and Artificial Intelligence, Germany","institution_ids":["https://openalex.org/I4387154616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016069215","display_name":"Tiziano Guadagnino","orcid":"https://orcid.org/0000-0002-7853-5510"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]},{"id":"https://openalex.org/I4387154616","display_name":"Lamarr Institute for Machine Learning and Artificial Intelligence","ror":"https://ror.org/04s11ea33","country_code":null,"type":"facility","lineage":["https://openalex.org/I135140700","https://openalex.org/I200332995","https://openalex.org/I4210098062","https://openalex.org/I4210144576","https://openalex.org/I4387154616","https://openalex.org/I4923324","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Tiziano Guadagnino","raw_affiliation_strings":["University of Bonn","Lamarr Institute for Machine Learning and Artificial Intelligence, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Bonn","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"Lamarr Institute for Machine Learning and Artificial Intelligence, Germany","institution_ids":["https://openalex.org/I4387154616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055582765","display_name":"Margarita Chli","orcid":"https://orcid.org/0000-0001-5611-7492"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]},{"id":"https://openalex.org/I4387154616","display_name":"Lamarr Institute for Machine Learning and Artificial Intelligence","ror":"https://ror.org/04s11ea33","country_code":null,"type":"facility","lineage":["https://openalex.org/I135140700","https://openalex.org/I200332995","https://openalex.org/I4210098062","https://openalex.org/I4210144576","https://openalex.org/I4387154616","https://openalex.org/I4923324","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Margarita Chli","raw_affiliation_strings":["University of Bonn","Lamarr Institute for Machine Learning and Artificial Intelligence, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Bonn","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"Lamarr Institute for Machine Learning and Artificial Intelligence, Germany","institution_ids":["https://openalex.org/I4387154616"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011166267","display_name":"Cyrill Stachniss","orcid":"https://orcid.org/0000-0003-1173-6972"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]},{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]},{"id":"https://openalex.org/I4387154616","display_name":"Lamarr Institute for Machine Learning and Artificial Intelligence","ror":"https://ror.org/04s11ea33","country_code":null,"type":"facility","lineage":["https://openalex.org/I135140700","https://openalex.org/I200332995","https://openalex.org/I4210098062","https://openalex.org/I4210144576","https://openalex.org/I4387154616","https://openalex.org/I4923324","https://openalex.org/I4923324"]}],"countries":["DE","GB"],"is_corresponding":false,"raw_author_name":"Cyrill Stachniss","raw_affiliation_strings":["University of Bonn","Lamarr Institute for Machine Learning and Artificial Intelligence, Germany","Department of Engineering Science, University of Oxford, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Bonn","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"Lamarr Institute for Machine Learning and Artificial Intelligence, Germany","institution_ids":["https://openalex.org/I4387154616"]},{"raw_affiliation_string":"Department of Engineering Science, University of Oxford, UK","institution_ids":["https://openalex.org/I40120149"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"9608","last_page":"9614"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9995999932289124,"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":0.9995999932289124,"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/T10616","display_name":"Smart Agriculture and AI","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9822999835014343,"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":0.748701810836792},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.6524364948272705},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.596160888671875},{"id":"https://openalex.org/keywords/initialization","display_name":"Initialization","score":0.4764290750026703},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4621575176715851},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.45498836040496826},{"id":"https://openalex.org/keywords/agricultural-engineering","display_name":"Agricultural engineering","score":0.4308794140815735},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.39204084873199463},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13092735409736633},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.08877798914909363}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.748701810836792},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.6524364948272705},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.596160888671875},{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.4764290750026703},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4621575176715851},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.45498836040496826},{"id":"https://openalex.org/C88463610","wikidata":"https://www.wikidata.org/wiki/Q194118","display_name":"Agricultural engineering","level":1,"score":0.4308794140815735},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.39204084873199463},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13092735409736633},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.08877798914909363},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10160487","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160487","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Zero hunger","id":"https://metadata.un.org/sdg/2","score":0.5699999928474426}],"awards":[{"id":"https://openalex.org/G3796399684","display_name":null,"funder_award_id":"EXC-2070-390732324","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"}],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W1861492603","https://openalex.org/W2045533399","https://openalex.org/W2064451896","https://openalex.org/W2117228865","https://openalex.org/W2151290401","https://openalex.org/W2194775991","https://openalex.org/W2535547924","https://openalex.org/W2738551266","https://openalex.org/W2745859992","https://openalex.org/W2754177129","https://openalex.org/W2783864900","https://openalex.org/W2805267014","https://openalex.org/W2962782553","https://openalex.org/W2963150697","https://openalex.org/W2997495511","https://openalex.org/W3036843665","https://openalex.org/W3043971245","https://openalex.org/W3091667825","https://openalex.org/W3098250009","https://openalex.org/W3102214643","https://openalex.org/W3102327032","https://openalex.org/W3109585842","https://openalex.org/W3112108866","https://openalex.org/W3130983693","https://openalex.org/W3159565241","https://openalex.org/W3177583232","https://openalex.org/W3202731770","https://openalex.org/W3205597468","https://openalex.org/W3205636718","https://openalex.org/W3206704828","https://openalex.org/W3210063163","https://openalex.org/W4200003757","https://openalex.org/W4206060409","https://openalex.org/W4210678508","https://openalex.org/W4214564845","https://openalex.org/W4214768561","https://openalex.org/W4285102202","https://openalex.org/W4286579600","https://openalex.org/W4312280420","https://openalex.org/W4312878643","https://openalex.org/W6747834269","https://openalex.org/W6780179280","https://openalex.org/W6790818473","https://openalex.org/W6797260751","https://openalex.org/W6801454020"],"related_works":["https://openalex.org/W17155033","https://openalex.org/W3207760230","https://openalex.org/W1496222301","https://openalex.org/W4312814274","https://openalex.org/W1590307681","https://openalex.org/W2536018345","https://openalex.org/W4285370786","https://openalex.org/W2296488620","https://openalex.org/W2358353312","https://openalex.org/W2353836703"],"abstract_inverted_index":{"Crop":[0],"inspection":[1,28,161],"is":[2],"a":[3,18,92,98,124],"critical":[4,158],"part":[5],"of":[6,17,57,64,113,153],"modern":[7],"agricultural":[8,58],"practices":[9],"that":[10],"helps":[11],"farmers":[12],"assess":[13],"the":[14,54,111,154],"current":[15],"status":[16],"field":[19,95],"and":[20,38,82,100,115,144],"then":[21,101],"make":[22],"crop":[23,27,65,76,85,160],"management":[24],"decisions.":[25],"Current":[26],"methods":[29],"are":[30,157],"labour-intensive":[31],"tasks,":[32,162],"which":[33,156],"makes":[34],"them":[35],"rather":[36],"slow":[37],"expensive":[39],"to":[40,52,60,71,105,109,163],"apply.":[41],"In":[42],"this":[43,103],"paper,":[44],"we":[45,79],"exploit":[46],"recent":[47],"advancements":[48],"in":[49,168],"implicit":[50],"mapping":[51],"tackle":[53],"challenging":[55],"context":[56],"environments":[59],"create":[61,164],"dense":[62],"maps":[63,108,167],"rows":[66,86],"with":[67],"high":[68],"enough":[69],"fidelity":[70],"be":[72],"useful":[73],"for":[74,129,140,150,159],"automated":[75],"inspection.":[77],"Specifically,":[78],"map":[80],"strawberry":[81],"sweet":[83],"pepper":[84],"using":[87],"RGB":[88],"images":[89],"captured":[90],"by":[91],"wheeled":[93],"mobile":[94],"robot":[96],"inside":[97],"greenhouse":[99],"use":[102],"data":[104],"build":[106],"3D":[107],"document":[110],"development":[112],"plants":[114],"fruits.":[116],"Our":[117],"Target-Aware":[118],"Implicit":[119],"Mapping":[120],"system":[121],"(TAIM)":[122],"uses":[123],"SLAM-based":[125],"pose":[126,131],"initialization":[127],"strategy":[128],"robust":[130],"convergence,":[132],"an":[133],"efficient":[134],"information-guided":[135],"training":[136,148],"sample":[137],"selection":[138],"framework":[139],"faster":[141],"loss":[142],"reduction,":[143],"focuses":[145],"on":[146],"exploiting":[147],"samples":[149],"fruit":[151],"regions":[152],"scene,":[155],"more":[165],"accurate":[166],"less":[169],"time.":[170]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-26T07:53:14.480251","created_date":"2025-10-10T00:00:00"}
