{"id":"https://openalex.org/W2101077466","doi":"https://doi.org/10.1109/iros.2009.5354759","title":"Model-based and learned semantic object labeling in 3D point cloud maps of kitchen environments","display_name":"Model-based and learned semantic object labeling in 3D point cloud maps of kitchen environments","publication_year":2009,"publication_date":"2009-10-01","ids":{"openalex":"https://openalex.org/W2101077466","doi":"https://doi.org/10.1109/iros.2009.5354759","mag":"2101077466"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2009.5354759","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354759","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/A5112225953","display_name":"Radu Bogdan Rusu","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"R.B. Rusu","raw_affiliation_strings":["Intelligent Autonomous Systems, Technische Universit\u00e4t M\u00fcnchen, Garching, Germany","Intelligent Autonomous Systems, Technische Universit\u00e4t M\u00fcnchen, Boltzmannstr. 3, Garching bei M\u00fcnchen, 85748, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems, Technische Universit\u00e4t M\u00fcnchen, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Intelligent Autonomous Systems, Technische Universit\u00e4t M\u00fcnchen, Boltzmannstr. 3, Garching bei M\u00fcnchen, 85748, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003417614","display_name":"Zolt\u00e1n-Csaba M\u00e1rton","orcid":"https://orcid.org/0000-0002-3035-493X"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Z.C. Marton","raw_affiliation_strings":["Intelligent Autonomous Systems, Technische Universit\u00e4t M\u00fcnchen, Garching, Germany","Intelligent Autonomous Systems, Technische Universit\u00e4t M\u00fcnchen, Boltzmannstr. 3, Garching bei M\u00fcnchen, 85748, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems, Technische Universit\u00e4t M\u00fcnchen, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Intelligent Autonomous Systems, Technische Universit\u00e4t M\u00fcnchen, Boltzmannstr. 3, Garching bei M\u00fcnchen, 85748, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042048088","display_name":"Nico Blodow","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"N. Blodow","raw_affiliation_strings":["Intelligent Autonomous Systems, Technische Universit\u00e4t M\u00fcnchen, Garching, Germany","Intelligent Autonomous Systems, Technische Universit\u00e4t M\u00fcnchen, Boltzmannstr. 3, Garching bei M\u00fcnchen, 85748, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems, Technische Universit\u00e4t M\u00fcnchen, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Intelligent Autonomous Systems, Technische Universit\u00e4t M\u00fcnchen, Boltzmannstr. 3, Garching bei M\u00fcnchen, 85748, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046982530","display_name":"Andreas Holzbach","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"A. Holzbach","raw_affiliation_strings":["Intelligent Autonomous Systems, Technische Universit\u00e4t M\u00fcnchen, Garching, Germany","Intelligent Autonomous Systems, Technische Universit\u00e4t M\u00fcnchen, Boltzmannstr. 3, Garching bei M\u00fcnchen, 85748, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems, Technische Universit\u00e4t M\u00fcnchen, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Intelligent Autonomous Systems, Technische Universit\u00e4t M\u00fcnchen, Boltzmannstr. 3, Garching bei M\u00fcnchen, 85748, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003274224","display_name":"Michael Beetz","orcid":"https://orcid.org/0000-0002-7888-7444"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"M. Beetz","raw_affiliation_strings":["Intelligent Autonomous Systems, Technische Universit\u00e4t M\u00fcnchen, Garching, Germany","Intelligent Autonomous Systems, Technische Universit\u00e4t M\u00fcnchen, Boltzmannstr. 3, Garching bei M\u00fcnchen, 85748, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems, Technische Universit\u00e4t M\u00fcnchen, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Intelligent Autonomous Systems, Technische Universit\u00e4t M\u00fcnchen, Boltzmannstr. 3, Garching bei M\u00fcnchen, 85748, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":299.027,"has_fulltext":false,"cited_by_count":119,"citation_normalized_percentile":{"value":0.99974,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"3601","last_page":"3608"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9995999932289124,"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/T14339","display_name":"Image Processing and 3D Reconstruction","score":0.9959999918937683,"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/point-cloud","display_name":"Point cloud","score":0.8280665874481201},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7731223702430725},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.6501484513282776},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6397340893745422},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5797477960586548},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.449806809425354},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.34453582763671875},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.06175854802131653}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.8280665874481201},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7731223702430725},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.6501484513282776},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6397340893745422},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5797477960586548},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.449806809425354},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.34453582763671875},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.06175854802131653},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2009.5354759","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354759","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:10.1.1.919.4921","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.919.4921","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"https://www.researchgate.net/profile/Zoltan_Marton2/publication/221064988_Model-based_and_learned_semantic_object_labeling_in_3D_point_cloud_maps_of_kitchen_environments/links/0f317536a115a5ec14000000.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4699999988079071,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W24617899","https://openalex.org/W68495831","https://openalex.org/W1490003351","https://openalex.org/W1561326744","https://openalex.org/W1789512913","https://openalex.org/W1964502729","https://openalex.org/W2000018820","https://openalex.org/W2046434485","https://openalex.org/W2072723786","https://openalex.org/W2083690166","https://openalex.org/W2115703234","https://openalex.org/W2119203353","https://openalex.org/W2126842639","https://openalex.org/W2132563333","https://openalex.org/W2147880316","https://openalex.org/W2154278995","https://openalex.org/W2157246496","https://openalex.org/W2157538134","https://openalex.org/W2160821342","https://openalex.org/W2171668875","https://openalex.org/W2293689839","https://openalex.org/W6602748297","https://openalex.org/W6638150210","https://openalex.org/W6679791229","https://openalex.org/W6682082992","https://openalex.org/W6685376211","https://openalex.org/W6697035539"],"related_works":["https://openalex.org/W4244478748","https://openalex.org/W4223488648","https://openalex.org/W2134969820","https://openalex.org/W2251605416","https://openalex.org/W4389340727","https://openalex.org/W4205786897","https://openalex.org/W3150465815","https://openalex.org/W2802581102","https://openalex.org/W1997222214","https://openalex.org/W2070395303"],"abstract_inverted_index":{"We":[0],"report":[1],"on":[2,104],"our":[3],"experiences":[4],"regarding":[5],"the":[6,73,122],"acquisition":[7],"of":[8,22,63,97,120],"hybrid":[9,115],"Semantic":[10],"3D":[11,24,98],"Object":[12],"Maps":[13],"for":[14,40,46,51,130],"indoor":[15],"household":[16],"environments,":[17],"in":[18,72,92,133],"particular":[19],"kitchens,":[20],"out":[21],"sensed":[23],"point":[25],"cloud":[26],"data.":[27],"Our":[28],"proposed":[29],"approach":[30],"includes":[31],"a":[32,52,114],"processing":[33,41],"pipeline,":[34],"including":[35],"geometric":[36],"mapping":[37],"and":[38,45,81,117,126],"learning,":[39],"large":[42],"input":[43],"datasets":[44],"extracting":[47],"relevant":[48],"objects":[49,64,67,125],"useful":[50],"personal":[53],"robotic":[54],"assistant":[55],"to":[56,89],"perform":[57,69],"complex":[58],"manipulation":[59,134],"tasks.":[60],"The":[61,83,108],"type":[62],"modeled":[65],"are":[66],"which":[68],"utilitarian":[70],"functions":[71],"environment":[74],"such":[75],"as":[76,113],"kitchen":[77],"appliances,":[78],"cupboards,":[79],"tables,":[80],"drawers.":[82],"resulted":[84,109],"model":[85],"is":[86,111,118],"accurate":[87],"enough":[88],"use":[90],"it":[91],"physics-based":[93],"simulations,":[94],"where":[95],"doors":[96],"containers":[99],"can":[100],"be":[101],"opened":[102],"based":[103],"their":[105],"hinge":[106],"position.":[107],"map":[110],"represented":[112],"concept":[116],"comprised":[119],"both":[121],"hierarchically":[123],"classified":[124],"triangular":[127],"meshes":[128],"used":[129],"collision":[131],"avoidance":[132],"routines.":[135]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":8},{"year":2018,"cited_by_count":11},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":10},{"year":2014,"cited_by_count":10},{"year":2013,"cited_by_count":15},{"year":2012,"cited_by_count":12}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}