{"id":"https://openalex.org/W2169528387","doi":"https://doi.org/10.1109/iros.2009.5354738","title":"Real-time shape retrieval for robotics using skip Tri-Grams","display_name":"Real-time shape retrieval for robotics using skip Tri-Grams","publication_year":2009,"publication_date":"2009-10-01","ids":{"openalex":"https://openalex.org/W2169528387","doi":"https://doi.org/10.1109/iros.2009.5354738","mag":"2169528387"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2009.5354738","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354738","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5100421812","display_name":"Yi Li","orcid":"https://orcid.org/0000-0003-4562-8208"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Li Yi","raw_affiliation_strings":["University of Maryland Institute for Advanced Computer Studies, University of Maryland, College Park 20742, USA"],"affiliations":[{"raw_affiliation_string":"University of Maryland Institute for Advanced Computer Studies, University of Maryland, College Park 20742, USA","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022514317","display_name":"Konstantinos Bitsakos","orcid":null},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Konstantinos Bitsakos","raw_affiliation_strings":["University of Maryland Institute for Advanced Computer Studies University of Maryland, College Park MD, USA"],"affiliations":[{"raw_affiliation_string":"University of Maryland Institute for Advanced Computer Studies University of Maryland, College Park MD, USA","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083553427","display_name":"Cornelia Ferm\u00fcller","orcid":"https://orcid.org/0000-0003-2044-2386"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Cornelia Fermuller","raw_affiliation_strings":["University of Maryland Institute for Advanced Computer Studies University of Maryland, College Park MD, USA"],"affiliations":[{"raw_affiliation_string":"University of Maryland Institute for Advanced Computer Studies University of Maryland, College Park MD, USA","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036912867","display_name":"Yiannis Aloimonos","orcid":"https://orcid.org/0000-0002-8152-4281"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yiannis Aloimonos","raw_affiliation_strings":["University of Maryland Institute for Advanced Computer Studies University of Maryland, College Park MD, USA"],"affiliations":[{"raw_affiliation_string":"University of Maryland Institute for Advanced Computer Studies University of Maryland, College Park MD, USA","institution_ids":["https://openalex.org/I66946132"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100421812"],"corresponding_institution_ids":["https://openalex.org/I66946132"],"apc_list":null,"apc_paid":null,"fwci":0.3236,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.64944481,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"3","issue":null,"first_page":"4731","last_page":"4738"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10824","display_name":"Image Retrieval and Classification Techniques","score":0.9995999932289124,"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/T10824","display_name":"Image Retrieval and Classification Techniques","score":0.9995999932289124,"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":0.9991000294685364,"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/T11439","display_name":"Video Analysis and Summarization","score":0.9976999759674072,"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":0.7639052271842957},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7604055404663086},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5886316299438477},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5580995678901672},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.49061575531959534},{"id":"https://openalex.org/keywords/piecewise","display_name":"Piecewise","score":0.48876214027404785},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4835736155509949},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4722515940666199},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4394165575504303},{"id":"https://openalex.org/keywords/pairwise-comparison","display_name":"Pairwise comparison","score":0.43133410811424255},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.417012482881546},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.4108971059322357},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.41046109795570374},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13767248392105103}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7639052271842957},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7604055404663086},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5886316299438477},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5580995678901672},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.49061575531959534},{"id":"https://openalex.org/C164660894","wikidata":"https://www.wikidata.org/wiki/Q2037833","display_name":"Piecewise","level":2,"score":0.48876214027404785},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4835736155509949},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4722515940666199},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4394165575504303},{"id":"https://openalex.org/C184898388","wikidata":"https://www.wikidata.org/wiki/Q1435712","display_name":"Pairwise comparison","level":2,"score":0.43133410811424255},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.417012482881546},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.4108971059322357},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.41046109795570374},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13767248392105103},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","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/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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":2,"locations":[{"id":"doi:10.1109/iros.2009.5354738","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354738","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.188.2195","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.188.2195","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.umd.edu/%7Ekbits/papers/IROS09.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W938539187","https://openalex.org/W1575129940","https://openalex.org/W1970829863","https://openalex.org/W1990061958","https://openalex.org/W1995875735","https://openalex.org/W2003938193","https://openalex.org/W2013113861","https://openalex.org/W2057175746","https://openalex.org/W2106404777","https://openalex.org/W2108927102","https://openalex.org/W2118330267","https://openalex.org/W2119295436","https://openalex.org/W2123535678","https://openalex.org/W2123602281","https://openalex.org/W2125310690","https://openalex.org/W2131529365","https://openalex.org/W2148220292","https://openalex.org/W2151458682","https://openalex.org/W2151515629","https://openalex.org/W2154204736","https://openalex.org/W2161567010","https://openalex.org/W2750727344","https://openalex.org/W6634364715","https://openalex.org/W6676267127","https://openalex.org/W6677526615","https://openalex.org/W6682264129"],"related_works":["https://openalex.org/W2487162673","https://openalex.org/W2793211469","https://openalex.org/W2949152769","https://openalex.org/W4372354731","https://openalex.org/W2942366970","https://openalex.org/W2807634898","https://openalex.org/W1692008701","https://openalex.org/W2597588799","https://openalex.org/W4360593462","https://openalex.org/W2562400057"],"abstract_inverted_index":{"The":[0,39,75,114],"real":[1],"time":[2],"requirement":[3],"is":[4,44,53,78,116],"an":[5,42,119,154],"additional":[6],"constraint":[7],"on":[8,136],"many":[9],"intelligent":[10],"applications":[11],"in":[12,59,73,131,153],"robotics,":[13],"such":[14],"as":[15],"shape":[16,141],"recognition":[17],"and":[18,167],"retrieval":[19,115,134],"using":[20,148],"a":[21,30,65,149],"mobile":[22,150],"robot":[23,151],"platform.":[24],"In":[25],"this":[26],"paper,":[27],"we":[28,168],"present":[29],"scalable":[31],"approach":[32],"for":[33,100,161],"efficiently":[34,101],"retrieving":[35,102],"closed":[36,103],"contour":[37,40,104],"shapes.":[38,113],"of":[41,68,83,92,121],"object":[43],"represented":[45],"by":[46,55],"piecewise":[47],"linear":[48],"segments.":[49],"A":[50],"skip":[51,81,96],"Tri-Gram":[52],"obtained":[54],"selecting":[56],"three":[57],"segments":[58,69,85],"the":[60,84,89,93,132,137,146],"clockwise":[61],"order":[62,120],"while":[63],"allowing":[64],"constant":[66],"number":[67],"to":[70,79,86],"be":[71],"\u00bfskipped\u00bf":[72],"between.":[74],"main":[76],"idea":[77],"use":[80],"Tri-Grams":[82,97],"implicitly":[87],"encode":[88],"distant":[90],"dependency":[91],"shape.":[94],"All":[95],"are":[98,159],"used":[99,160],"shapes":[105],"without":[106],"pairwise":[107],"matching":[108],"feature":[109],"points":[110],"from":[111,163],"two":[112],"at":[117],"least":[118],"magnitude":[122],"faster":[123],"than":[124],"other":[125],"state-of-the-art":[126],"algorithms.":[127],"We":[128,143],"score":[129],"80%":[130],"Bullseye":[133],"test":[135,145],"whole":[138],"MPEG":[139],"7":[140],"dataset.":[142],"further":[144],"algorithm":[147],"platform":[152],"indoor":[155],"environment.":[156],"8":[157],"objects":[158],"testing":[162],"different":[164],"viewing":[165],"directions,":[166],"achieve":[169],"82%":[170],"accuracy.":[171]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
