{"id":"https://openalex.org/W4383109035","doi":"https://doi.org/10.1109/icra48891.2023.10160650","title":"Occlusion Reasoning for Skeleton Extraction of Self-Occluded Tree Canopies","display_name":"Occlusion Reasoning for Skeleton Extraction of Self-Occluded Tree Canopies","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383109035","doi":"https://doi.org/10.1109/icra48891.2023.10160650"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160650","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160650","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/A5024804188","display_name":"Chung Hee Kim","orcid":"https://orcid.org/0000-0002-7856-3511"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chung Hee Kim","raw_affiliation_strings":["Carnegie Mellon University,Pittsburgh,PA,USA","Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Pittsburgh,PA,USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067346459","display_name":"George Kantor","orcid":"https://orcid.org/0000-0001-7088-8533"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"George Kantor","raw_affiliation_strings":["Carnegie Mellon University,Pittsburgh,PA,USA","Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Pittsburgh,PA,USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"9580","last_page":"9586"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12729","display_name":"Tree Root and Stability Studies","score":0.9868000149726868,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9693999886512756,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.7252845168113708},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.690880537033081},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6486080288887024},{"id":"https://openalex.org/keywords/tree-structure","display_name":"Tree structure","score":0.6121937036514282},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5933009386062622},{"id":"https://openalex.org/keywords/skeleton","display_name":"Skeleton (computer programming)","score":0.5575950145721436},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.5003743171691895},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.446731835603714},{"id":"https://openalex.org/keywords/segment-tree","display_name":"Segment tree","score":0.4442400634288788},{"id":"https://openalex.org/keywords/block","display_name":"Block (permutation group theory)","score":0.4274914860725403},{"id":"https://openalex.org/keywords/search-tree","display_name":"Search tree","score":0.4231521189212799},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4198414385318756},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.40741491317749023},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.33647096157073975},{"id":"https://openalex.org/keywords/binary-tree","display_name":"Binary tree","score":0.3094521462917328},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.23572289943695068},{"id":"https://openalex.org/keywords/interval-tree","display_name":"Interval tree","score":0.2319246530532837},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.18438270688056946},{"id":"https://openalex.org/keywords/search-algorithm","display_name":"Search algorithm","score":0.1477726697921753}],"concepts":[{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.7252845168113708},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.690880537033081},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6486080288887024},{"id":"https://openalex.org/C163797641","wikidata":"https://www.wikidata.org/wiki/Q2067937","display_name":"Tree structure","level":3,"score":0.6121937036514282},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5933009386062622},{"id":"https://openalex.org/C18969341","wikidata":"https://www.wikidata.org/wiki/Q1169129","display_name":"Skeleton (computer programming)","level":2,"score":0.5575950145721436},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.5003743171691895},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.446731835603714},{"id":"https://openalex.org/C94557470","wikidata":"https://www.wikidata.org/wiki/Q2377385","display_name":"Segment tree","level":5,"score":0.4442400634288788},{"id":"https://openalex.org/C2777210771","wikidata":"https://www.wikidata.org/wiki/Q4927124","display_name":"Block (permutation group theory)","level":2,"score":0.4274914860725403},{"id":"https://openalex.org/C207024777","wikidata":"https://www.wikidata.org/wiki/Q621673","display_name":"Search tree","level":3,"score":0.4231521189212799},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4198414385318756},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.40741491317749023},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.33647096157073975},{"id":"https://openalex.org/C197855036","wikidata":"https://www.wikidata.org/wiki/Q380172","display_name":"Binary tree","level":2,"score":0.3094521462917328},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.23572289943695068},{"id":"https://openalex.org/C84927040","wikidata":"https://www.wikidata.org/wiki/Q6057306","display_name":"Interval tree","level":4,"score":0.2319246530532837},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.18438270688056946},{"id":"https://openalex.org/C125583679","wikidata":"https://www.wikidata.org/wiki/Q755673","display_name":"Search algorithm","level":2,"score":0.1477726697921753},{"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10160650","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160650","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":[{"score":0.6499999761581421,"display_name":"Zero hunger","id":"https://metadata.un.org/sdg/2"}],"awards":[{"id":"https://openalex.org/G8200673358","display_name":null,"funder_award_id":"2020-67021-31531","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1977572223","https://openalex.org/W1980089263","https://openalex.org/W2029492929","https://openalex.org/W2074178568","https://openalex.org/W2086970743","https://openalex.org/W2088922279","https://openalex.org/W2144008209","https://openalex.org/W2208368362","https://openalex.org/W2558175778","https://openalex.org/W2900256449","https://openalex.org/W2963150697","https://openalex.org/W3005151501","https://openalex.org/W3036474525","https://openalex.org/W3040547430","https://openalex.org/W3095546493","https://openalex.org/W3119304907","https://openalex.org/W3149424266","https://openalex.org/W3204040743","https://openalex.org/W3210666822","https://openalex.org/W3217595080","https://openalex.org/W4200598972","https://openalex.org/W4234674137","https://openalex.org/W4285102582","https://openalex.org/W6605807493","https://openalex.org/W6644610165","https://openalex.org/W6804625528"],"related_works":["https://openalex.org/W2359095153","https://openalex.org/W2227684440","https://openalex.org/W2376256808","https://openalex.org/W1979994068","https://openalex.org/W2156833871","https://openalex.org/W2160311168","https://openalex.org/W2083751087","https://openalex.org/W2359983499","https://openalex.org/W2566588687","https://openalex.org/W1521720839"],"abstract_inverted_index":{"In":[0],"this":[1],"work,":[2],"we":[3,89],"present":[4],"a":[5,12,91,112,133,138,148],"method":[6,69,123],"to":[7,47,57,60,75,103],"extract":[8],"the":[9,18,22,29,85,97,106,154],"skeleton":[10,26],"of":[11,21,99,108,114,135],"self-occluded":[13],"tree":[14,25,87,140,150],"canopy":[15],"by":[16,62],"estimating":[17],"unobserved":[19],"structures":[20],"tree.":[23],"A":[24],"compactly":[27],"describes":[28],"topological":[30],"structure":[31],"and":[32,41,65,80],"contains":[33],"useful":[34],"information":[35],"such":[36],"as":[37],"branch":[38],"geometry,":[39],"positions":[40],"hierarchy.":[42],"This":[43],"can":[44],"be":[45],"critical":[46],"planning":[48],"contact":[49],"interactions":[50],"for":[51],"agricultural":[52],"manipulation,":[53],"yet":[54],"is":[55],"difficult":[56],"gain":[58],"due":[59],"occlusion":[61],"leaves,":[63],"fruits":[64],"other":[66],"branches.":[67],"Our":[68],"uses":[70],"an":[71,100],"instance":[72],"segmentation":[73],"network":[74],"detect":[76],"visible":[77],"trunk,":[78],"branches,":[79],"twigs.":[81],"Then,":[82],"based":[83],"on":[84,105,137,147],"observed":[86],"structures,":[88],"build":[90],"custom":[92],"3D":[93],"likelihood":[94],"map":[95],"in":[96,127],"form":[98],"occupancy":[101],"grid":[102],"hypothesize":[104],"presence":[107],"occluded":[109,129],"skeletons":[110],"through":[111,132],"series":[113],"minimum":[115],"cost":[116],"path":[117],"searches.":[118],"We":[119],"show":[120],"that":[121],"our":[122],"outperforms":[124],"baseline":[125],"methods":[126],"highly":[128],"scenes,":[130],"demonstrated":[131],"set":[134],"experiments":[136],"synthetic":[139],"dataset.":[141],"Qualitative":[142],"results":[143],"are":[144],"also":[145],"presented":[146],"real":[149],"dataset":[151],"collected":[152],"from":[153],"field.":[155]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}