{"id":"https://openalex.org/W4383108719","doi":"https://doi.org/10.1109/icra48891.2023.10161212","title":"3D VSG: Long-term Semantic Scene Change Prediction through 3D Variable Scene Graphs","display_name":"3D VSG: Long-term Semantic Scene Change Prediction through 3D Variable Scene Graphs","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383108719","doi":"https://doi.org/10.1109/icra48891.2023.10161212"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10161212","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161212","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":"preprint","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/A5064197959","display_name":"Samuel Looper","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Samuel Looper","raw_affiliation_strings":["Autonomous Systems Lab,ETH Z&#x00FC;rich,Z&#x00FC;rich,Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab,ETH Z&#x00FC;rich,Z&#x00FC;rich,Switzerland","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021542895","display_name":"Javier Rodr\u00edguez-Puigvert","orcid":"https://orcid.org/0000-0003-1064-4347"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Javier Rodriguez-Puigvert","raw_affiliation_strings":["Universidad de Zaragoza,Zaragoza,Spain","Universidad de Zaragoza, Zaragoza, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universidad de Zaragoza,Zaragoza,Spain","institution_ids":["https://openalex.org/I255234318"]},{"raw_affiliation_string":"Universidad de Zaragoza, Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083003222","display_name":"Roland Siegwart","orcid":"https://orcid.org/0000-0002-2760-7983"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Roland Siegwart","raw_affiliation_strings":["Autonomous Systems Lab,ETH Z&#x00FC;rich,Z&#x00FC;rich,Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab,ETH Z&#x00FC;rich,Z&#x00FC;rich,Switzerland","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063529163","display_name":"C\u00e9sar Cadena","orcid":"https://orcid.org/0000-0002-2972-6011"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cesar Cadena","raw_affiliation_strings":["Autonomous Systems Lab,ETH Z&#x00FC;rich,Z&#x00FC;rich,Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab,ETH Z&#x00FC;rich,Z&#x00FC;rich,Switzerland","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5104163855","display_name":"Lukas Schmid","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lukas Schmid","raw_affiliation_strings":["Autonomous Systems Lab,ETH Z&#x00FC;rich,Z&#x00FC;rich,Switzerland","Massachusetts Institute of Technology, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab,ETH Z&#x00FC;rich,Z&#x00FC;rich,Switzerland","institution_ids":[]},{"raw_affiliation_string":"Massachusetts Institute of Technology, USA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.9192,"has_fulltext":false,"cited_by_count":26,"citation_normalized_percentile":{"value":0.92798603,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"8179","last_page":"8186"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9994000196456909,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9994000196456909,"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":0.9973000288009644,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.996399998664856,"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/term","display_name":"Term (time)","score":0.7261353135108948},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6836247444152832},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.5805487632751465},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.49607357382774353},{"id":"https://openalex.org/keywords/scene-graph","display_name":"Scene graph","score":0.41446760296821594},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.33690375089645386},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13742274045944214},{"id":"https://openalex.org/keywords/astronomy","display_name":"Astronomy","score":0.08450457453727722}],"concepts":[{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.7261353135108948},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6836247444152832},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.5805487632751465},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.49607357382774353},{"id":"https://openalex.org/C179372163","wikidata":"https://www.wikidata.org/wiki/Q1406181","display_name":"Scene graph","level":3,"score":0.41446760296821594},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.33690375089645386},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13742274045944214},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.08450457453727722},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10161212","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161212","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":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":68,"referenced_works":["https://openalex.org/W125693051","https://openalex.org/W1596059437","https://openalex.org/W2046796791","https://openalex.org/W2077069816","https://openalex.org/W2082761562","https://openalex.org/W2277195237","https://openalex.org/W2479423890","https://openalex.org/W2523049145","https://openalex.org/W2531126657","https://openalex.org/W2610207162","https://openalex.org/W2886970679","https://openalex.org/W2888144883","https://openalex.org/W2891248708","https://openalex.org/W2907286725","https://openalex.org/W2919379406","https://openalex.org/W2962884155","https://openalex.org/W2963038646","https://openalex.org/W2964015378","https://openalex.org/W2981422075","https://openalex.org/W2990129662","https://openalex.org/W3001075632","https://openalex.org/W3009501976","https://openalex.org/W3033043020","https://openalex.org/W3034538190","https://openalex.org/W3034550906","https://openalex.org/W3035154952","https://openalex.org/W3036594286","https://openalex.org/W3039925688","https://openalex.org/W3044683644","https://openalex.org/W3090386798","https://openalex.org/W3090789587","https://openalex.org/W3098970982","https://openalex.org/W3102330937","https://openalex.org/W3110074314","https://openalex.org/W3114942877","https://openalex.org/W3130635958","https://openalex.org/W3134460763","https://openalex.org/W3151132395","https://openalex.org/W3175788243","https://openalex.org/W3181216735","https://openalex.org/W3182751372","https://openalex.org/W3183042936","https://openalex.org/W3187966659","https://openalex.org/W3192660112","https://openalex.org/W3201048198","https://openalex.org/W3202536355","https://openalex.org/W3204757729","https://openalex.org/W3206617243","https://openalex.org/W3207057769","https://openalex.org/W3207711849","https://openalex.org/W3216152619","https://openalex.org/W4200348116","https://openalex.org/W4221151084","https://openalex.org/W4281615222","https://openalex.org/W4285077803","https://openalex.org/W4312720308","https://openalex.org/W6605121731","https://openalex.org/W6629098493","https://openalex.org/W6726873649","https://openalex.org/W6754663522","https://openalex.org/W6754725917","https://openalex.org/W6774731229","https://openalex.org/W6783243524","https://openalex.org/W6785337047","https://openalex.org/W6787808883","https://openalex.org/W6794014714","https://openalex.org/W6804931167","https://openalex.org/W6810086633"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Numerous":[0],"applications":[1],"require":[2],"robots":[3],"to":[4,25,35,124,199],"operate":[5],"in":[6,69,130,146,184],"environments":[7],"shared":[8,20],"with":[9,106],"other":[10,16],"agents,":[11],"such":[12,19,39],"as":[13,84,208],"humans":[14],"or":[15,78],"robots.":[17],"However,":[18],"scenes":[21,172],"are":[22],"typically":[23],"subject":[24],"different":[26],"kinds":[27],"of":[28,54,64,72,81,113,128,158,163,181,187],"long-term":[29,115,141],"semantic":[30,55,65,76],"scene":[31,56,66,83],"changes.":[32],"The":[33],"ability":[34],"model":[36],"and":[37,59,160],"predict":[38],"changes":[40,68],"is":[41],"thus":[42],"crucial":[43],"for":[44],"robot":[45],"autonomy.":[46],"In":[47],"this":[48,89,147],"work,":[49],"we":[50,91],"formalize":[51],"the":[52,70,79,93,107,111,126,139,179,185],"task":[53,149,186,194],"variability":[57,108,127],"estimation":[58],"identify":[60],"three":[61],"main":[62],"varieties":[63],"change:":[67],"position":[71],"an":[73,156],"object,":[74],"its":[75],"state,":[77],"composition":[80],"a":[82,85,120,131,161,200],"whole.":[86],"To":[87],"represent":[88],"variability,":[90],"propose":[92],"Variable":[94],"Scene":[95,102],"Graph":[96,103],"(VSG),":[97],"which":[98],"augments":[99],"existing":[100,151],"3D":[101],"(SG)":[104],"representations":[105],"attribute,":[109],"representing":[110],"likelihood":[112],"discrete":[114],"change":[116,173,190],"events.":[117],"We":[118,134,176,203],"present":[119],"novel":[121,148],"method,":[122],"DeltaVSG,":[123],"estimate":[125],"VSGs":[129],"supervised":[132],"fashion.":[133],"evaluate":[135],"our":[136,205],"method":[137,154],"on":[138],"3RScan":[140],"dataset,":[142],"showing":[143],"notable":[144],"improvements":[145],"over":[150,174],"approaches.":[152],"Our":[153],"DeltaVsgachieves":[155],"accuracy":[157],"77.1%":[159],"recall":[162],"72.3%,":[164],"often":[165],"mimicking":[166],"human":[167],"intuition":[168],"about":[169],"how":[170],"indoor":[171],"time.":[175],"further":[177],"show":[178],"utility":[180],"VSG":[182],"prediction":[183],"active":[188],"robotic":[189],"detection,":[191],"speeding":[192],"up":[193],"completion":[195],"by":[196],"66.0%":[197],"compared":[198],"scene-change-unaware":[201],"planner.":[202],"make":[204],"code":[206],"available":[207],"open-source.":[209]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2023-07-05T00:00:00"}
