{"id":"https://openalex.org/W4401417047","doi":"https://doi.org/10.1109/icra57147.2024.10610897","title":"Mapping High-level Semantic Regions in Indoor Environments without Object Recognition","display_name":"Mapping High-level Semantic Regions in Indoor Environments without Object Recognition","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401417047","doi":"https://doi.org/10.1109/icra57147.2024.10610897"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610897","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610897","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hdl.handle.net/11380/1332086","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5087693209","display_name":"Roberto Bigazzi","orcid":"https://orcid.org/0000-0002-6457-1860"},"institutions":[{"id":"https://openalex.org/I4210161797","display_name":"Ferrari (Italy)","ror":"https://ror.org/05p859a12","country_code":"IT","type":"company","lineage":["https://openalex.org/I4210161797"]},{"id":"https://openalex.org/I122346577","display_name":"University of Modena and Reggio Emilia","ror":"https://ror.org/02d4c4y02","country_code":"IT","type":"education","lineage":["https://openalex.org/I122346577"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Roberto Bigazzi","raw_affiliation_strings":["University of Modena and Reggio,Department of Engineering &#x201C;Enzo Ferrari&#x201D;,Emilia,Italy"],"affiliations":[{"raw_affiliation_string":"University of Modena and Reggio,Department of Engineering &#x201C;Enzo Ferrari&#x201D;,Emilia,Italy","institution_ids":["https://openalex.org/I122346577","https://openalex.org/I4210161797"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048928616","display_name":"Lorenzo Baraldi","orcid":"https://orcid.org/0000-0001-5125-4957"},"institutions":[{"id":"https://openalex.org/I4210161797","display_name":"Ferrari (Italy)","ror":"https://ror.org/05p859a12","country_code":"IT","type":"company","lineage":["https://openalex.org/I4210161797"]},{"id":"https://openalex.org/I122346577","display_name":"University of Modena and Reggio Emilia","ror":"https://ror.org/02d4c4y02","country_code":"IT","type":"education","lineage":["https://openalex.org/I122346577"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Lorenzo Baraldi","raw_affiliation_strings":["University of Modena and Reggio,Department of Engineering &#x201C;Enzo Ferrari&#x201D;,Emilia,Italy"],"affiliations":[{"raw_affiliation_string":"University of Modena and Reggio,Department of Engineering &#x201C;Enzo Ferrari&#x201D;,Emilia,Italy","institution_ids":["https://openalex.org/I122346577","https://openalex.org/I4210161797"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019247599","display_name":"Shreyas Kousik","orcid":"https://orcid.org/0000-0003-1348-7463"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shreyas Kousik","raw_affiliation_strings":["Georgia Institute of Technology,School of Mechanical Engineering,USA"],"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology,School of Mechanical Engineering,USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030948871","display_name":"Rita Cucchiara","orcid":"https://orcid.org/0000-0002-2239-283X"},"institutions":[{"id":"https://openalex.org/I4210161797","display_name":"Ferrari (Italy)","ror":"https://ror.org/05p859a12","country_code":"IT","type":"company","lineage":["https://openalex.org/I4210161797"]},{"id":"https://openalex.org/I122346577","display_name":"University of Modena and Reggio Emilia","ror":"https://ror.org/02d4c4y02","country_code":"IT","type":"education","lineage":["https://openalex.org/I122346577"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Rita Cucchiara","raw_affiliation_strings":["University of Modena and Reggio,Department of Engineering &#x201C;Enzo Ferrari&#x201D;,Emilia,Italy"],"affiliations":[{"raw_affiliation_string":"University of Modena and Reggio,Department of Engineering &#x201C;Enzo Ferrari&#x201D;,Emilia,Italy","institution_ids":["https://openalex.org/I122346577","https://openalex.org/I4210161797"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050003000","display_name":"Marco Pavone","orcid":"https://orcid.org/0000-0002-0206-4337"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Marco Pavone","raw_affiliation_strings":["Stanford University,Department of Aeronautics &#x0026; Astronautics,USA"],"affiliations":[{"raw_affiliation_string":"Stanford University,Department of Aeronautics &#x0026; Astronautics,USA","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5087693209"],"corresponding_institution_ids":["https://openalex.org/I122346577","https://openalex.org/I4210161797"],"apc_list":null,"apc_paid":null,"fwci":1.0146,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.77121668,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"7686","last_page":"7693"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.998199999332428,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9957000017166138,"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":0.7906407117843628},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.535239577293396},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5100207924842834},{"id":"https://openalex.org/keywords/cognitive-neuroscience-of-visual-object-recognition","display_name":"Cognitive neuroscience of visual object recognition","score":0.4815971553325653},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.37863409519195557}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7906407117843628},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.535239577293396},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5100207924842834},{"id":"https://openalex.org/C64876066","wikidata":"https://www.wikidata.org/wiki/Q5141226","display_name":"Cognitive neuroscience of visual object recognition","level":3,"score":0.4815971553325653},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.37863409519195557}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra57147.2024.10610897","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610897","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:iris.unimore.it:11380/1332086","is_oa":true,"landing_page_url":"https://hdl.handle.net/11380/1332086","pdf_url":null,"source":{"id":"https://openalex.org/S4306400718","display_name":"IRIS UNIMORE (University of Modena and Reggio Emilia)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122346577","host_organization_name":"University of Modena and Reggio Emilia","host_organization_lineage":["https://openalex.org/I122346577"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:iris.unimore.it:11380/1332086","is_oa":true,"landing_page_url":"https://hdl.handle.net/11380/1332086","pdf_url":null,"source":{"id":"https://openalex.org/S4306400718","display_name":"IRIS UNIMORE (University of Modena and Reggio Emilia)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122346577","host_organization_name":"University of Modena and Reggio Emilia","host_organization_lineage":["https://openalex.org/I122346577"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320315934","display_name":"Toyota Research Institute","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":60,"referenced_works":["https://openalex.org/W1566135517","https://openalex.org/W1682403713","https://openalex.org/W1901129140","https://openalex.org/W1932198206","https://openalex.org/W1957167950","https://openalex.org/W2017814585","https://openalex.org/W2033819227","https://openalex.org/W2051572211","https://openalex.org/W2116522068","https://openalex.org/W2152161678","https://openalex.org/W2194775991","https://openalex.org/W2336416123","https://openalex.org/W2402652555","https://openalex.org/W2732026016","https://openalex.org/W2798483995","https://openalex.org/W2886970679","https://openalex.org/W2890279366","https://openalex.org/W2911629530","https://openalex.org/W2941215176","https://openalex.org/W2950096400","https://openalex.org/W2953127211","https://openalex.org/W2973181288","https://openalex.org/W2990129662","https://openalex.org/W2999344697","https://openalex.org/W3001075632","https://openalex.org/W3001376538","https://openalex.org/W3007514476","https://openalex.org/W3009928773","https://openalex.org/W3033778220","https://openalex.org/W3035154952","https://openalex.org/W3036497058","https://openalex.org/W3040041096","https://openalex.org/W3090952442","https://openalex.org/W3091259027","https://openalex.org/W3095530566","https://openalex.org/W3109001458","https://openalex.org/W3116623932","https://openalex.org/W3183042936","https://openalex.org/W3199364882","https://openalex.org/W4226236972","https://openalex.org/W4283332944","https://openalex.org/W4285102466","https://openalex.org/W4285183125","https://openalex.org/W4286973470","https://openalex.org/W4287812705","https://openalex.org/W4292553532","https://openalex.org/W4310633850","https://openalex.org/W4383108599","https://openalex.org/W4385430678","https://openalex.org/W6735003056","https://openalex.org/W6743963275","https://openalex.org/W6748848655","https://openalex.org/W6754957883","https://openalex.org/W6776700526","https://openalex.org/W6780167394","https://openalex.org/W6780443396","https://openalex.org/W6791353385","https://openalex.org/W6800673378","https://openalex.org/W6802927479","https://openalex.org/W6839459284"],"related_works":["https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2772917594","https://openalex.org/W2775347418","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":{"Robots":[0],"require":[1],"a":[2,56,69,85,107,111,126,140,149,156],"semantic":[3,50,59,108],"understanding":[4,98],"of":[5,44,72,75,142],"their":[6],"surroundings":[7],"to":[8,88,130],"operate":[9],"in":[10,16,65,153,155],"an":[11,25,145],"efficient":[12],"and":[13,31,47,148],"explainable":[14],"way":[15],"human":[17],"environments.":[18],"In":[19],"the":[20,42,73,76,82,100,103],"literature,":[21],"there":[22],"has":[23,38],"been":[24,39],"extensive":[26],"focus":[27],"on":[28,41],"object":[29],"labeling":[30],"exhaustive":[32],"scene":[33,90,97,151],"graph":[34],"generation;":[35],"less":[36],"effort":[37],"focused":[40],"task":[43],"purely":[45],"identifying":[46],"mapping":[48,61,121],"large":[49],"regions.":[51],"The":[52,135],"present":[53],"work":[54],"proposes":[55],"method":[57,83,105,137],"for":[58,92],"region":[60,80,115],"via":[62],"embodied":[63],"navigation":[64,128],"indoor":[66],"environments,":[67],"generating":[68],"high-level":[70],"representation":[71],"knowledge":[74],"agent.":[77],"To":[78],"enable":[79,131],"identification,":[81],"uses":[84],"vision-to-language":[86],"model":[87],"provide":[89],"information":[91],"mapping.":[93],"By":[94],"projecting":[95],"egocentric":[96],"into":[99],"global":[101],"frame,":[102],"proposed":[104,136],"generates":[106],"map":[109,133],"as":[110],"distribution":[112],"over":[113],"possible":[114],"labels":[116],"at":[117],"each":[118],"location.":[119],"This":[120],"procedure":[122],"is":[123],"paired":[124],"with":[125],"trained":[127],"policy":[129],"autonomous":[132],"generation.":[134],"significantly":[138],"outperforms":[139],"variety":[141],"baselines,":[143],"including":[144],"object-based":[146],"system":[147],"pretrained":[150],"classifier,":[152],"experiments":[154],"photorealistic":[157],"simulator.":[158]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
