{"id":"https://openalex.org/W4383109509","doi":"https://doi.org/10.1109/icra48891.2023.10160800","title":"Feature-Realistic Neural Fusion for Real-Time, Open Set Scene Understanding","display_name":"Feature-Realistic Neural Fusion for Real-Time, Open Set Scene Understanding","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383109509","doi":"https://doi.org/10.1109/icra48891.2023.10160800"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160800","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160800","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":"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/A5090473845","display_name":"Kirill Mazur","orcid":null},"institutions":[{"id":"https://openalex.org/I4210089887","display_name":"Dyson (United Kingdom)","ror":"https://ror.org/00a4npp83","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210089887"]},{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Kirill Mazur","raw_affiliation_strings":["Imperial College,Dyson Robotics Lab,London,UK","Dyson Robotics Lab, Imperial College, London, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Imperial College,Dyson Robotics Lab,London,UK","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"Dyson Robotics Lab, Imperial College, London, UK","institution_ids":["https://openalex.org/I4210089887","https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103143883","display_name":"Edgar Sucar","orcid":"https://orcid.org/0000-0002-5874-7559"},"institutions":[{"id":"https://openalex.org/I4210089887","display_name":"Dyson (United Kingdom)","ror":"https://ror.org/00a4npp83","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210089887"]},{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Edgar Sucar","raw_affiliation_strings":["Imperial College,Dyson Robotics Lab,London,UK","Dyson Robotics Lab, Imperial College, London, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Imperial College,Dyson Robotics Lab,London,UK","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"Dyson Robotics Lab, Imperial College, London, UK","institution_ids":["https://openalex.org/I4210089887","https://openalex.org/I47508984"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5108137333","display_name":"Andrew J. Davison","orcid":null},"institutions":[{"id":"https://openalex.org/I4210089887","display_name":"Dyson (United Kingdom)","ror":"https://ror.org/00a4npp83","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210089887"]},{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Andrew J. Davison","raw_affiliation_strings":["Imperial College,Dyson Robotics Lab,London,UK","Dyson Robotics Lab, Imperial College, London, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Imperial College,Dyson Robotics Lab,London,UK","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"Dyson Robotics Lab, Imperial College, London, UK","institution_ids":["https://openalex.org/I4210089887","https://openalex.org/I47508984"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.0845,"has_fulltext":false,"cited_by_count":29,"citation_normalized_percentile":{"value":0.93367162,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"8201","last_page":"8207"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9995999932289124,"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"}},"topics":[{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9995999932289124,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994999766349792,"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/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":0.9973999857902527,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7708104848861694},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7471780776977539},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.6465927362442017},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5879867672920227},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5832928419113159},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5444309711456299},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.5326993465423584},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.5174118280410767},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.47437530755996704},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08662766218185425}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7708104848861694},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7471780776977539},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.6465927362442017},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5879867672920227},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5832928419113159},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5444309711456299},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.5326993465423584},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.5174118280410767},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.47437530755996704},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08662766218185425},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10160800","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160800","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":[],"awards":[{"id":"https://openalex.org/G7999120326","display_name":null,"funder_award_id":"EP/S036636/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1538131130","https://openalex.org/W2108598243","https://openalex.org/W2250172176","https://openalex.org/W2951884519","https://openalex.org/W2955425717","https://openalex.org/W2963150697","https://openalex.org/W3004300126","https://openalex.org/W3091346723","https://openalex.org/W3094502228","https://openalex.org/W3159481202","https://openalex.org/W3210613940","https://openalex.org/W3215769467","https://openalex.org/W3216840732","https://openalex.org/W4200150166","https://openalex.org/W4214768561","https://openalex.org/W4221151978","https://openalex.org/W4281905095","https://openalex.org/W4292881559","https://openalex.org/W4312433568","https://openalex.org/W4313150877","https://openalex.org/W4321319299","https://openalex.org/W4321512561","https://openalex.org/W4321512591","https://openalex.org/W4385245566","https://openalex.org/W6676297131","https://openalex.org/W6727114389","https://openalex.org/W6739901393","https://openalex.org/W6762718338","https://openalex.org/W6784333009","https://openalex.org/W6784424992","https://openalex.org/W6794655914","https://openalex.org/W6804722138","https://openalex.org/W6811470611","https://openalex.org/W6839087412"],"related_works":["https://openalex.org/W2062195135","https://openalex.org/W3147584709","https://openalex.org/W2795079307","https://openalex.org/W2391251536","https://openalex.org/W2977677679","https://openalex.org/W2465918047","https://openalex.org/W2793058541","https://openalex.org/W2362198218","https://openalex.org/W1992327129","https://openalex.org/W4388321867"],"abstract_inverted_index":{"General":[0],"scene":[1],"understanding":[2],"for":[3],"robotics":[4],"requires":[5],"flexible":[6],"semantic":[7],"representation,":[8],"so":[9],"that":[10,72],"novel":[11],"objects":[12,82,87],"and":[13,28,91],"structures":[14],"which":[15,34],"may":[16],"not":[17],"have":[18],"been":[19],"known":[20],"at":[21,79],"training":[22],"time":[23],"can":[24],"be":[25,89],"identified,":[26],"segmented":[27,93],"grouped.":[29],"We":[30],"present":[31],"an":[32,95],"algorithm":[33],"fuses":[35],"general":[36],"learned":[37],"features":[38],"from":[39],"a":[40,45],"standard":[41],"pre-trained":[42],"network":[43],"into":[44],"highly":[46],"efficient":[47],"3D":[48,58],"geometric":[49],"neural":[50,66],"field":[51],"representation":[52],"during":[53],"real-time":[54],"SLAM.":[55],"The":[56],"fused":[57],"feature":[59],"maps":[60],"inherit":[61],"the":[62,65],"coherence":[63],"of":[64,75,86],"field's":[67],"geometry":[68],"representation.":[69],"This":[70],"means":[71],"tiny":[73],"amounts":[74],"human":[76],"labelling":[77],"interacting":[78],"runtime":[80],"enable":[81],"or":[83],"even":[84],"parts":[85],"to":[88],"robustly":[90],"accurately":[92],"in":[94],"open":[96],"set":[97],"manner.":[98],"Project":[99],"page:":[100],"https://makezur.github.io/FeatureRealisticFusion/":[101]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":10}],"updated_date":"2026-02-07T06:11:34.122080","created_date":"2025-10-10T00:00:00"}
