{"id":"https://openalex.org/W2011158589","doi":"https://doi.org/10.1109/iros.2010.5652703","title":"Segmentation and classification of range image from an intelligent vehicle in urban environment","display_name":"Segmentation and classification of range image from an intelligent vehicle in urban environment","publication_year":2010,"publication_date":"2010-10-01","ids":{"openalex":"https://openalex.org/W2011158589","doi":"https://doi.org/10.1109/iros.2010.5652703","mag":"2011158589"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2010.5652703","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5652703","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 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/A5026890219","display_name":"Xiaolong Zhu","orcid":"https://orcid.org/0000-0002-4301-8724"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xiaolong Zhu","raw_affiliation_strings":["State Key Laboratory of Machine Perception (MOE), Peking University, China","[State Key Lab of Machine Perception (MOE), Peking University, China]"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Machine Perception (MOE), Peking University, China","institution_ids":["https://openalex.org/I20231570"]},{"raw_affiliation_string":"[State Key Lab of Machine Perception (MOE), Peking University, China]","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068983955","display_name":"Huijing Zhao","orcid":null},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huijing Zhao","raw_affiliation_strings":["State Key Laboratory of Machine Perception (MOE), Peking University, China","[State Key Lab of Machine Perception (MOE), Peking University, China]"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Machine Perception (MOE), Peking University, China","institution_ids":["https://openalex.org/I20231570"]},{"raw_affiliation_string":"[State Key Lab of Machine Perception (MOE), Peking University, China]","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086107058","display_name":"Yiming Liu","orcid":"https://orcid.org/0000-0001-8093-3633"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yiming Liu","raw_affiliation_strings":["State Key Laboratory of Machine Perception (MOE), Peking University, China","[State Key Lab of Machine Perception (MOE), Peking University, China]"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Machine Perception (MOE), Peking University, China","institution_ids":["https://openalex.org/I20231570"]},{"raw_affiliation_string":"[State Key Lab of Machine Perception (MOE), Peking University, China]","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055384209","display_name":"Yipu Zhao","orcid":"https://orcid.org/0000-0002-6757-5349"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yipu Zhao","raw_affiliation_strings":["State Key Laboratory of Machine Perception (MOE), Peking University, China","[State Key Lab of Machine Perception (MOE), Peking University, China]"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Machine Perception (MOE), Peking University, China","institution_ids":["https://openalex.org/I20231570"]},{"raw_affiliation_string":"[State Key Lab of Machine Perception (MOE), Peking University, China]","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017031914","display_name":"Hongbin Zha","orcid":"https://orcid.org/0000-0001-5860-4673"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongbin Zha","raw_affiliation_strings":["State Key Laboratory of Machine Perception (MOE), Peking University, China","[State Key Lab of Machine Perception (MOE), Peking University, China]"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Machine Perception (MOE), Peking University, China","institution_ids":["https://openalex.org/I20231570"]},{"raw_affiliation_string":"[State Key Lab of Machine Perception (MOE), Peking University, China]","institution_ids":["https://openalex.org/I20231570"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5026890219"],"corresponding_institution_ids":["https://openalex.org/I20231570"],"apc_list":null,"apc_paid":null,"fwci":111.7449,"has_fulltext":false,"cited_by_count":56,"citation_normalized_percentile":{"value":0.99816334,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1457","last_page":"1462"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9901000261306763,"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":0.7652707099914551},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.6983724236488342},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.6793087720870972},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6609682440757751},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5952561497688293},{"id":"https://openalex.org/keywords/image-segmentation","display_name":"Image segmentation","score":0.5769691467285156},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5409266948699951},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5090703368186951},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4814000129699707},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.47586649656295776},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.45862311124801636},{"id":"https://openalex.org/keywords/geometric-primitive","display_name":"Geometric primitive","score":0.43669241666793823},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.4349309504032135},{"id":"https://openalex.org/keywords/class","display_name":"Class (philosophy)","score":0.4281047582626343},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.10261175036430359},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08178651332855225},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.07241210341453552}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7652707099914551},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.6983724236488342},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.6793087720870972},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6609682440757751},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5952561497688293},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.5769691467285156},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5409266948699951},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5090703368186951},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4814000129699707},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.47586649656295776},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.45862311124801636},{"id":"https://openalex.org/C181095308","wikidata":"https://www.wikidata.org/wiki/Q1541599","display_name":"Geometric primitive","level":2,"score":0.43669241666793823},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.4349309504032135},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.4281047582626343},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.10261175036430359},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08178651332855225},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.07241210341453552},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2010.5652703","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5652703","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.714.2343","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.714.2343","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://xiaolongzhu.org/projects/rangeimage/iros2010.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.8500000238418579,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W105995943","https://openalex.org/W1999478155","https://openalex.org/W2001424961","https://openalex.org/W2036069879","https://openalex.org/W2075690349","https://openalex.org/W2102402541","https://openalex.org/W2109341802","https://openalex.org/W2110006698","https://openalex.org/W2110853643","https://openalex.org/W2114326338","https://openalex.org/W2115703234","https://openalex.org/W2116832400","https://openalex.org/W2120304347","https://openalex.org/W2121272499","https://openalex.org/W2121947440","https://openalex.org/W2124768549","https://openalex.org/W2125637308","https://openalex.org/W2131743987","https://openalex.org/W2140804075","https://openalex.org/W2144332956","https://openalex.org/W2153635508","https://openalex.org/W2156067790","https://openalex.org/W2156715992","https://openalex.org/W2170635585","https://openalex.org/W2171048379","https://openalex.org/W2174839307","https://openalex.org/W2760981468","https://openalex.org/W3120421331","https://openalex.org/W6629753204","https://openalex.org/W6664369029","https://openalex.org/W6683290661"],"related_works":["https://openalex.org/W2114282491","https://openalex.org/W3216577025","https://openalex.org/W2182520913","https://openalex.org/W2766140496","https://openalex.org/W1522196789","https://openalex.org/W2737100167","https://openalex.org/W2113239995","https://openalex.org/W3048435464","https://openalex.org/W2394553492","https://openalex.org/W2102752373"],"abstract_inverted_index":{"As":[0],"the":[1,31,38,96,106,124,131],"rapid":[2],"development":[3],"of":[4,17,30,40,70,77,89,93,98,134],"sensing":[5],"and":[6,91,120],"mapping":[7],"techniques,":[8],"it":[9],"becomes":[10],"a":[11,15,24,71,87,113,135],"well-known":[12],"technology":[13],"that":[14,109,123],"map":[16,58],"complex":[18],"environment":[19],"can":[20],"be":[21],"generated":[22],"using":[23,37],"robot":[25],"carrying":[26],"sensors.":[27],"However,":[28],"most":[29],"existing":[32],"researches":[33],"represent":[34],"environments":[35],"directly":[36],"integration":[39],"point":[41,79],"clouds":[42],"or":[43],"other":[44],"low-level":[45,57],"geometric":[46],"primitives.":[47],"It":[48],"remains":[49],"an":[50],"open":[51],"problem":[52],"to":[53,60,65,101,105],"automatically":[54],"convert":[55],"these":[56],"representations":[59],"semantic":[61,132],"descriptions":[62],"in":[63,129],"order":[64],"effectively":[66],"support":[67],"high-level":[68],"decision":[69],"robot.":[72],"Based":[73],"on":[74],"another":[75],"representation":[76],"3D":[78],"clouds,":[80],"i.e.":[81],"range":[82,94],"image,":[83,95],"this":[84],"paper":[85],"proposes":[86],"framework":[88],"segmentation":[90],"classification":[92],"objective":[97],"which":[99],"is":[100],"annotate":[102],"class":[103],"labels":[104],"data":[107],"clusters":[108],"are":[110,118],"obtained":[111],"through":[112],"graph-based":[114],"segmentation.":[115],"Experimental":[116],"results":[117],"presented":[119],"evaluated":[121],"demonstrating":[122],"proposed":[125],"algorithm":[126],"has":[127],"efficiency":[128],"understanding":[130],"knowledge":[133],"large":[136],"dynamic":[137],"urban":[138],"outdoor":[139],"environment.":[140]},"counts_by_year":[{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":9},{"year":2014,"cited_by_count":8},{"year":2013,"cited_by_count":9},{"year":2012,"cited_by_count":3}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
