{"id":"https://openalex.org/W4401415343","doi":"https://doi.org/10.1109/icra57147.2024.10611380","title":"Perceptual Factors for Environmental Modeling in Robotic Active Perception","display_name":"Perceptual Factors for Environmental Modeling in Robotic Active Perception","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401415343","doi":"https://doi.org/10.1109/icra57147.2024.10611380"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10611380","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611380","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":"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/A5045889311","display_name":"David Morilla-Cabello","orcid":"https://orcid.org/0000-0002-7315-8138"},"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":"David Morilla-Cabello","raw_affiliation_strings":["Instituto de Investigación en Ingeniería de Aragon, Universidad de Zaragoza,Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Instituto de Investigación en Ingeniería de Aragon, Universidad de Zaragoza,Spain","institution_ids":["https://openalex.org/I255234318"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085140970","display_name":"Jonas Westheider","orcid":"https://orcid.org/0000-0003-1880-0391"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jonas Westheider","raw_affiliation_strings":["Institute of Geodesy and Geoinformation, University of Bonn,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Geodesy and Geoinformation, University of Bonn,Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072802898","display_name":"Marija Popovi\u0107","orcid":"https://orcid.org/0000-0002-8830-6033"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Marija Popovi\u0107","raw_affiliation_strings":["Institute of Geodesy and Geoinformation, University of Bonn,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Geodesy and Geoinformation, University of Bonn,Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010149148","display_name":"Eduardo Montijano","orcid":"https://orcid.org/0000-0002-5176-3767"},"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":"Eduardo Montijano","raw_affiliation_strings":["Instituto de Investigación en Ingeniería de Aragon, Universidad de Zaragoza,Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Instituto de Investigación en Ingeniería de Aragon, Universidad de Zaragoza,Spain","institution_ids":["https://openalex.org/I255234318"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.5776,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.87538649,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"4605","last_page":"4611"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11605","display_name":"Visual Attention and Saliency Detection","score":0.9739999771118164,"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/T11605","display_name":"Visual Attention and Saliency Detection","score":0.9739999771118164,"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":0.972000002861023,"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/T10427","display_name":"Visual perception and processing mechanisms","score":0.9437000155448914,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.8259109258651733},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6242908239364624},{"id":"https://openalex.org/keywords/active-perception","display_name":"Active perception","score":0.5856647491455078},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4618507921695709},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.36591482162475586},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3635983467102051},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.25858116149902344},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.1926048994064331}],"concepts":[{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.8259109258651733},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6242908239364624},{"id":"https://openalex.org/C2776010242","wikidata":"https://www.wikidata.org/wiki/Q4677575","display_name":"Active perception","level":3,"score":0.5856647491455078},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4618507921695709},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.36591482162475586},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3635983467102051},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.25858116149902344},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.1926048994064331},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10611380","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611380","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"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/13","score":0.7900000214576721,"display_name":"Climate action"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1536641845","https://openalex.org/W2605843382","https://openalex.org/W2617643478","https://openalex.org/W2791580684","https://openalex.org/W2810754063","https://openalex.org/W2868868810","https://openalex.org/W2891925059","https://openalex.org/W2967729293","https://openalex.org/W2969096657","https://openalex.org/W2973864946","https://openalex.org/W3004751533","https://openalex.org/W3010653487","https://openalex.org/W3042556338","https://openalex.org/W3100948105","https://openalex.org/W3124451778","https://openalex.org/W3165048240","https://openalex.org/W3172407388","https://openalex.org/W3173439324","https://openalex.org/W3210365086","https://openalex.org/W4231002530","https://openalex.org/W4285102651","https://openalex.org/W4288391488","https://openalex.org/W4322727877","https://openalex.org/W4367663353","https://openalex.org/W4383066195","https://openalex.org/W4383109315","https://openalex.org/W4383109351","https://openalex.org/W4389666105","https://openalex.org/W4389666779","https://openalex.org/W6677869238","https://openalex.org/W6755305357"],"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":{"Accurately":[0],"assessing":[1],"the":[2,39,49,93,96,114,118,129,136,177,183,187],"potential":[3],"value":[4],"of":[5,13,51,59,83,101,117],"new":[6,75],"sensor":[7],"observations":[8],"is":[9,20,125],"a":[10,74,99,109,151,202],"critical":[11],"aspect":[12],"planning":[14,87,130],"for":[15,168,209],"active":[16,76,211],"perception.":[17],"This":[18,123],"task":[19],"particularly":[21],"challenging":[22],"when":[23,191],"reasoning":[24],"about":[25],"high-level":[26],"scene":[27],"understanding":[28],"using":[29],"measurements":[30,40,140],"from":[31],"vision-based":[32],"neural":[33],"networks.":[34],"Due":[35],"to":[36,43,62,107,141,205],"appearance-based":[37],"reasoning,":[38],"are":[41],"susceptible":[42],"several":[44],"environmental":[45,156,169,194],"effects":[46,85,170],"such":[47],"as":[48],"presence":[50],"occluders,":[52],"variations":[53],"in":[54,64,86,150,159],"lighting":[55],"conditions,":[56],"and":[57,88,131,185],"redundancy":[58],"information":[60,124],"due":[61],"similarity":[63],"appearance":[65],"between":[66],"nearby":[67],"viewpoints.":[68,122],"To":[69],"address":[70],"this,":[71],"we":[72,175],"propose":[73],"perception":[77,212],"framework":[78],"incorporating":[79],"an":[80],"arbitrary":[81],"number":[82],"perceptual":[84,105,110,148,173],"fusion.":[89],"Our":[90,162],"method":[91],"models":[92],"correlation":[94],"with":[95,139],"environment":[97,119,153],"by":[98,134,166,180,193],"set":[100],"general":[102],"functions":[103],"termed":[104],"factors":[106],"construct":[108],"map,":[111],"which":[112],"quantifies":[113],"aggregated":[115],"influence":[116],"on":[120,201],"candidate":[121],"seamlessly":[126],"incorporated":[127],"into":[128],"fusion":[132],"processes":[133],"adjusting":[135],"uncertainty":[137],"associated":[138],"weigh":[142],"their":[143],"contributions.":[144],"We":[145,196],"evaluate":[146],"our":[147,172,199],"maps":[149],"simulated":[152],"that":[154],"reproduces":[155],"conditions":[157],"common":[158],"robotics":[160],"applications.":[161],"results":[163],"show":[164],"that,":[165],"accounting":[167],"within":[171],"maps,":[174],"improve":[176],"state":[178],"estimation":[179],"correctly":[181,190],"selecting":[182],"viewpoints":[184],"considering":[186],"measurement":[188],"noise":[189],"affected":[192],"factors.":[195],"furthermore":[197],"deploy":[198],"approach":[200],"ground":[203],"robot":[204],"showcase":[206],"its":[207],"applicability":[208],"real-world":[210],"missions.":[213]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}