{"id":"https://openalex.org/W4413945683","doi":"https://doi.org/10.1109/icra55743.2025.11128388","title":"Open-Set Semantic Uncertainty Aware Metric-Semantic Graph Matching","display_name":"Open-Set Semantic Uncertainty Aware Metric-Semantic Graph Matching","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413945683","doi":"https://doi.org/10.1109/icra55743.2025.11128388"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128388","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128388","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5057765680","display_name":"Kurran Singh","orcid":"https://orcid.org/0000-0002-8097-7940"},"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":true,"raw_author_name":"Kurran Singh","raw_affiliation_strings":["Massachusetts Institute of Technology (MIT),Computer Science and Artificial Intelligence Laboratory (CSAIL),Cambridge,MA,USA,02139"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology (MIT),Computer Science and Artificial Intelligence Laboratory (CSAIL),Cambridge,MA,USA,02139","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014515347","display_name":"John Leonard","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":"John Leonard","raw_affiliation_strings":["Massachusetts Institute of Technology (MIT),Computer Science and Artificial Intelligence Laboratory (CSAIL),Cambridge,MA,USA,02139"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology (MIT),Computer Science and Artificial Intelligence Laboratory (CSAIL),Cambridge,MA,USA,02139","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5057765680"],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.13485895,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1706","last_page":"1712"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10215","display_name":"Semantic Web and Ontologies","score":0.9980000257492065,"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"}},"topics":[{"id":"https://openalex.org/T10215","display_name":"Semantic Web and Ontologies","score":0.9980000257492065,"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"}},{"id":"https://openalex.org/T11273","display_name":"Advanced Graph Neural Networks","score":0.9934999942779541,"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"}},{"id":"https://openalex.org/T12292","display_name":"Graph Theory and Algorithms","score":0.9929999709129333,"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":0.7761813402175903},{"id":"https://openalex.org/keywords/semantic-matching","display_name":"Semantic matching","score":0.593774676322937},{"id":"https://openalex.org/keywords/semantic-similarity","display_name":"Semantic similarity","score":0.5374513268470764},{"id":"https://openalex.org/keywords/semantic-computing","display_name":"Semantic computing","score":0.4958549439907074},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.460943341255188},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4470672607421875},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.43621882796287537},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.4255220293998718},{"id":"https://openalex.org/keywords/information-retrieval","display_name":"Information retrieval","score":0.4243784546852112},{"id":"https://openalex.org/keywords/semantic-web","display_name":"Semantic Web","score":0.371011346578598},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.2857453227043152},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16197124123573303},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.09813442826271057},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.08472883701324463}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7761813402175903},{"id":"https://openalex.org/C2778493491","wikidata":"https://www.wikidata.org/wiki/Q7449072","display_name":"Semantic matching","level":3,"score":0.593774676322937},{"id":"https://openalex.org/C130318100","wikidata":"https://www.wikidata.org/wiki/Q2268914","display_name":"Semantic similarity","level":2,"score":0.5374513268470764},{"id":"https://openalex.org/C511149849","wikidata":"https://www.wikidata.org/wiki/Q7449051","display_name":"Semantic computing","level":3,"score":0.4958549439907074},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.460943341255188},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4470672607421875},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.43621882796287537},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.4255220293998718},{"id":"https://openalex.org/C23123220","wikidata":"https://www.wikidata.org/wiki/Q816826","display_name":"Information retrieval","level":1,"score":0.4243784546852112},{"id":"https://openalex.org/C2129575","wikidata":"https://www.wikidata.org/wiki/Q54837","display_name":"Semantic Web","level":2,"score":0.371011346578598},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.2857453227043152},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16197124123573303},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.09813442826271057},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.08472883701324463},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations 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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11128388","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128388","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1587878450","https://openalex.org/W1968315983","https://openalex.org/W2084512390","https://openalex.org/W2108598243","https://openalex.org/W2141461755","https://openalex.org/W2166820607","https://openalex.org/W2419507445","https://openalex.org/W2945292915","https://openalex.org/W2956371155","https://openalex.org/W2962354631","https://openalex.org/W2968730217","https://openalex.org/W3132982513","https://openalex.org/W3158091578","https://openalex.org/W3159481202","https://openalex.org/W3202101816","https://openalex.org/W3205253566","https://openalex.org/W4312961455","https://openalex.org/W4389665757","https://openalex.org/W4391216062","https://openalex.org/W4392502282","https://openalex.org/W4396853083","https://openalex.org/W4401537057"],"related_works":["https://openalex.org/W1965623300","https://openalex.org/W3134365128","https://openalex.org/W2541135911","https://openalex.org/W4387489691","https://openalex.org/W2315716767","https://openalex.org/W2084010214","https://openalex.org/W2355975607","https://openalex.org/W2388581364","https://openalex.org/W2128006550","https://openalex.org/W2315308740"],"abstract_inverted_index":{"Underwater":[0],"object-level":[1,46,62],"mapping":[2],"requires":[3],"incorporating":[4],"visual":[5,36],"foundation":[6,37],"models":[7,38],"to":[8,59,158],"handle":[9],"the":[10,97,126,138,150,155],"uncommon":[11],"and":[12,41,52],"often":[13],"previously":[14],"unseen":[15],"object":[16,32,68],"classes":[17],"encountered":[18],"in":[19,86,134],"marine":[20,135],"scenarios.":[21],"In":[22],"this":[23,116],"work,":[24],"a":[25,79,90,103],"metric":[26],"of":[27,96],"semantic":[28],"uncertainty":[29,47],"for":[30,66,92,115,131,137],"open-set":[31],"detections":[33],"produced":[34],"by":[35],"is":[39,76,88,107],"calculated":[40],"then":[42],"incorporated":[43],"into":[44],"an":[45,93],"tracking":[48],"framework.":[49],"Object-level":[50],"uncertainties":[51],"geometric":[53],"relationships":[54],"between":[55],"objects":[56],"are":[57,129],"used":[58],"enable":[60],"robust":[61],"loop":[63,72,143],"closure":[64,73,144],"detection":[65,74],"unknown":[67],"classes.":[69],"The":[70],"above":[71],"problem":[75,101,106],"formulated":[77],"as":[78,102,118,120],"graph":[80,84,99,104],"matching":[81,100],"problem.":[82],"While":[83],"matching,":[85],"general,":[87],"NP-Complete,":[89],"solver":[91,117],"equivalent":[94],"formulation":[95],"proposed":[98,127],"editing":[105],"tested":[108],"on":[109,149],"multiple":[110],"challenging":[111],"underwater":[112],"scenes.":[113,161],"Results":[114],"well":[119],"three":[121],"other":[122],"solvers":[123],"demonstrate":[124,153],"that":[125,154],"methods":[128],"feasible":[130],"real-time":[132],"use":[133],"environments":[136],"robust,":[139],"open-set,":[140],"multi-object,":[141],"semantic-uncertainty-aware":[142],"detection.":[145],"Further":[146],"experimental":[147],"results":[148],"KITTI":[151],"dataset":[152],"method":[156],"generalizes":[157],"large-scale":[159],"terrestrial":[160]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
