{"id":"https://openalex.org/W4383108216","doi":"https://doi.org/10.1109/icra48891.2023.10161273","title":"From Semi-supervised to Omni-supervised Room Layout Estimation Using Point Clouds","display_name":"From Semi-supervised to Omni-supervised Room Layout Estimation Using Point Clouds","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383108216","doi":"https://doi.org/10.1109/icra48891.2023.10161273"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10161273","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161273","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/A5041236976","display_name":"Huan-ang Gao","orcid":"https://orcid.org/0009-0004-6727-5778"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huan-ang Gao","raw_affiliation_strings":["Tsinghua University,Department of Computer Science and Technology,China","Institute for AI Industry Research (AIR), Tsinghua University, China","Department of Computer Science and Technology, Tsinghua University, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,Department of Computer Science and Technology,China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Institute for AI Industry Research (AIR), Tsinghua University, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Department of Computer Science and Technology, Tsinghua University, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077011386","display_name":"Beiwen Tian","orcid":"https://orcid.org/0000-0002-2651-913X"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Beiwen Tian","raw_affiliation_strings":["Tsinghua University,Department of Computer Science and Technology,China","Institute for AI Industry Research (AIR), Tsinghua University, China","Department of Computer Science and Technology, Tsinghua University, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,Department of Computer Science and Technology,China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Institute for AI Industry Research (AIR), Tsinghua University, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Department of Computer Science and Technology, Tsinghua University, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100339792","display_name":"Pengfei Li","orcid":"https://orcid.org/0009-0009-8114-6207"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Pengfei Li","raw_affiliation_strings":["Tsinghua University,Department of Computer Science and Technology,China","Department of Computer Science and Technology, Tsinghua University, China","Institute for AI Industry Research (AIR), Tsinghua University, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,Department of Computer Science and Technology,China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Department of Computer Science and Technology, Tsinghua University, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Institute for AI Industry Research (AIR), Tsinghua University, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101659095","display_name":"Xiaoxue Chen","orcid":"https://orcid.org/0000-0001-6587-6060"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoxue Chen","raw_affiliation_strings":["Tsinghua University,Department of Computer Science and Technology,China","Department of Computer Science and Technology, Tsinghua University, China","Institute for AI Industry Research (AIR), Tsinghua University, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,Department of Computer Science and Technology,China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Department of Computer Science and Technology, Tsinghua University, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Institute for AI Industry Research (AIR), Tsinghua University, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025049450","display_name":"Hao Zhao","orcid":"https://orcid.org/0000-0001-7903-581X"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Zhao","raw_affiliation_strings":["Institute for AI Industry Research (AIR), Tsinghua University,China","Institute for AI Industry Research (AIR), Tsinghua University, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for AI Industry Research (AIR), Tsinghua University,China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Institute for AI Industry Research (AIR), Tsinghua University, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011913905","display_name":"Guyue Zhou","orcid":"https://orcid.org/0000-0002-3894-9858"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guyue Zhou","raw_affiliation_strings":["Institute for AI Industry Research (AIR), Tsinghua University,China","Institute for AI Industry Research (AIR), Tsinghua University, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for AI Industry Research (AIR), Tsinghua University,China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Institute for AI Industry Research (AIR), Tsinghua University, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100652865","display_name":"Yurong Chen","orcid":"https://orcid.org/0000-0001-9333-1746"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yurong Chen","raw_affiliation_strings":["Intel Labs,China","Intel Labs, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intel Labs,China","institution_ids":[]},{"raw_affiliation_string":"Intel Labs, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017031914","display_name":"Hongbin Zha","orcid":"https://orcid.org/0000-0001-5860-4673"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongbin Zha","raw_affiliation_strings":["Peking University,China","Peking University, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Peking University,China","institution_ids":["https://openalex.org/I20231570"]},{"raw_affiliation_string":"Peking University, China","institution_ids":["https://openalex.org/I20231570"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"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":"2803","last_page":"2810"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9990000128746033,"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":0.9990000128746033,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9990000128746033,"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"}},{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7737186551094055},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.7136485576629639},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6268994212150574},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5970149040222168},{"id":"https://openalex.org/keywords/code","display_name":"Code (set theory)","score":0.5913745760917664},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.5617591142654419},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5100880265235901},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5054280757904053},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.4913765490055084},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.4807605445384979},{"id":"https://openalex.org/keywords/supervised-learning","display_name":"Supervised learning","score":0.4734993577003479},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.46688854694366455},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.45613983273506165},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.4323294758796692},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.41909435391426086},{"id":"https://openalex.org/keywords/annotation","display_name":"Annotation","score":0.41067734360694885}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7737186551094055},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.7136485576629639},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6268994212150574},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5970149040222168},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.5913745760917664},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.5617591142654419},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5100880265235901},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5054280757904053},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4913765490055084},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.4807605445384979},{"id":"https://openalex.org/C136389625","wikidata":"https://www.wikidata.org/wiki/Q334384","display_name":"Supervised learning","level":3,"score":0.4734993577003479},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.46688854694366455},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.45613983273506165},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.4323294758796692},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.41909435391426086},{"id":"https://openalex.org/C2776321320","wikidata":"https://www.wikidata.org/wiki/Q857525","display_name":"Annotation","level":2,"score":0.41067734360694885},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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/icra48891.2023.10161273","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161273","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":0.7599999904632568,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":73,"referenced_works":["https://openalex.org/W1481823314","https://openalex.org/W1592619852","https://openalex.org/W1898543992","https://openalex.org/W2068397385","https://openalex.org/W2410627718","https://openalex.org/W2411071877","https://openalex.org/W2534523274","https://openalex.org/W2566881119","https://openalex.org/W2594519801","https://openalex.org/W2738816079","https://openalex.org/W2885364117","https://openalex.org/W2886388988","https://openalex.org/W2951970475","https://openalex.org/W2952229419","https://openalex.org/W2953070460","https://openalex.org/W2954772682","https://openalex.org/W2962963681","https://openalex.org/W2963121255","https://openalex.org/W2963591013","https://openalex.org/W2963785012","https://openalex.org/W2984353870","https://openalex.org/W2999254410","https://openalex.org/W3000471755","https://openalex.org/W3001197829","https://openalex.org/W3007533900","https://openalex.org/W3025487586","https://openalex.org/W3035057392","https://openalex.org/W3040903310","https://openalex.org/W3097432995","https://openalex.org/W3100207723","https://openalex.org/W3108800063","https://openalex.org/W3123204880","https://openalex.org/W3126899967","https://openalex.org/W3129282545","https://openalex.org/W3177015573","https://openalex.org/W3179351458","https://openalex.org/W3185592158","https://openalex.org/W3197097949","https://openalex.org/W3198731913","https://openalex.org/W3198923361","https://openalex.org/W3203821123","https://openalex.org/W3205500251","https://openalex.org/W3207033280","https://openalex.org/W3216834690","https://openalex.org/W4200604141","https://openalex.org/W4200631346","https://openalex.org/W4206188946","https://openalex.org/W4225422725","https://openalex.org/W4225539092","https://openalex.org/W4226377404","https://openalex.org/W4285102238","https://openalex.org/W4285102311","https://openalex.org/W4285102611","https://openalex.org/W4285262093","https://openalex.org/W4285392457","https://openalex.org/W4297510530","https://openalex.org/W4309630083","https://openalex.org/W4312369999","https://openalex.org/W4313031313","https://openalex.org/W4313165093","https://openalex.org/W4313168566","https://openalex.org/W6623329352","https://openalex.org/W6639895262","https://openalex.org/W6733814495","https://openalex.org/W6739778489","https://openalex.org/W6753856400","https://openalex.org/W6764051988","https://openalex.org/W6773005947","https://openalex.org/W6773713915","https://openalex.org/W6788986383","https://openalex.org/W6802864417","https://openalex.org/W6809878779","https://openalex.org/W6811536092"],"related_works":["https://openalex.org/W2361861616","https://openalex.org/W2263699433","https://openalex.org/W2377979023","https://openalex.org/W2218034408","https://openalex.org/W2392921965","https://openalex.org/W2358755282","https://openalex.org/W2625833328","https://openalex.org/W1533177136","https://openalex.org/W4380994516","https://openalex.org/W2556260348"],"abstract_inverted_index":{"Room":[0],"layout":[1,18,63,87,130],"estimation":[2,19,64],"is":[3,65],"a":[4,73,92,103,142,169],"long-existing":[5],"robotic":[6],"vision":[7],"task":[8,42],"that":[9,98],"benefits":[10],"both":[11],"environment":[12],"sensing":[13],"and":[14,78,109,122,178],"motion":[15],"planning.":[16],"However,":[17],"using":[20],"point":[21],"clouds":[22],"(PCs)":[23],"still":[24],"suffers":[25],"from":[26],"data":[27,177],"scarcity":[28],"due":[29],"to":[30,56,126,159],"annotation":[31],"difficulty.":[32],"As":[33],"such,":[34],"we":[35,71,90,153],"address":[36],"the":[37,45,57,100,138,146,156,160],"semi-supervised":[38,157],"setting":[39,158],"of":[40,47,102],"this":[41,54,69,133],"based":[43,82],"upon":[44,83],"idea":[46],"model":[48],"exponential":[49],"moving":[50],"averaging.":[51],"But":[52],"adapting":[53],"scheme":[55],"state-of-the-art":[58],"(SOTA)":[59],"solution":[60],"for":[61,86,137],"PC-based":[62],"not":[66,117,151],"straightforward.":[67],"To":[68],"end,":[70],"define":[72],"quad":[74],"set":[75],"matching":[76],"strategy":[77],"several":[79],"consistency":[80],"losses":[81],"metrics":[84],"tailored":[85],"quads.":[88],"Besides,":[89],"propose":[91],"new":[93,143],"online":[94],"pseudo-label":[95],"harvesting":[96],"algorithm":[97],"decomposes":[99],"distribution":[101],"hybrid":[104],"distance":[105],"measure":[106],"between":[107],"quads":[108,125],"PC":[110],"into":[111],"two":[112],"components.":[113],"This":[114],"technique":[115],"does":[116],"need":[118],"manual":[119],"threshold":[120],"selection":[121],"intuitively":[123],"encourages":[124],"align":[127],"with":[128],"reliable":[129],"points.":[131],"Surprisingly,":[132],"framework":[134],"also":[135,154],"works":[136],"fully-supervised":[139],"setting,":[140,163],"achieving":[141],"SOTA":[144],"on":[145,168],"ScanNet":[147],"benchmark.":[148],"Last":[149],"but":[150],"least,":[152],"push":[155],"realistic":[161],"omni-supervised":[162],"demonstrating":[164],"significantly":[165],"promoted":[166],"performance":[167],"newly":[170],"annotated":[171],"ARKitScenes":[172],"testing":[173],"set.":[174],"Our":[175],"codes,":[176],"models":[179],"are":[180],"made":[181],"publicly":[182],"available**Code:":[183],"https://github.com/AIR-DISCOVER/Omni-PQ.":[184]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":3}],"updated_date":"2026-07-27T08:26:11.824852","created_date":"2025-10-10T00:00:00"}