{"id":"https://openalex.org/W2057981016","doi":"https://doi.org/10.1109/iros.2012.6385841","title":"Planar polygon extraction and merging from depth images","display_name":"Planar polygon extraction and merging from depth images","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W2057981016","doi":"https://doi.org/10.1109/iros.2012.6385841","mag":"2057981016"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2012.6385841","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385841","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://scholarworks.umass.edu/bitstreams/05e22558-ef80-4744-b6f3-61ae5ef7dac4/download","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5004302220","display_name":"Joydeep Biswas","orcid":"https://orcid.org/0000-0002-1211-1731"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Joydeep Biswas","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, USA"],"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088276691","display_name":"Manuela Veloso","orcid":"https://orcid.org/0000-0001-6738-238X"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Manuela Veloso","raw_affiliation_strings":["Computer Science Department, Carnegie Mellon University, Pittsburgh, PA, USA","Computer Science Department, Carnegie Mellon University,#N#Pittsburgh, PA 15213, USA"],"affiliations":[{"raw_affiliation_string":"Computer Science Department, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Computer Science Department, Carnegie Mellon University,#N#Pittsburgh, PA 15213, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5004302220"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":52.2817,"has_fulltext":true,"cited_by_count":25,"citation_normalized_percentile":{"value":0.9949677,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"1","issue":null,"first_page":"3859","last_page":"3864"},"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9997000098228455,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9997000098228455,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/polygon","display_name":"Polygon (computer graphics)","score":0.8193108439445496},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6542799472808838},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.6448724865913391},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.5584445595741272},{"id":"https://openalex.org/keywords/plane","display_name":"Plane (geometry)","score":0.5505231022834778},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5473941564559937},{"id":"https://openalex.org/keywords/polygon-mesh","display_name":"Polygon mesh","score":0.518971860408783},{"id":"https://openalex.org/keywords/clutter","display_name":"Clutter","score":0.5083562731742859},{"id":"https://openalex.org/keywords/point-in-polygon","display_name":"Point in polygon","score":0.4971647560596466},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.4883582293987274},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4877391755580902},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.46494925022125244},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.43787702918052673},{"id":"https://openalex.org/keywords/frame-rate","display_name":"Frame rate","score":0.4352579414844513},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.43355047702789307},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3665222227573395},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20248383283615112},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.1651172935962677},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.08563897013664246}],"concepts":[{"id":"https://openalex.org/C190694206","wikidata":"https://www.wikidata.org/wiki/Q3276654","display_name":"Polygon (computer graphics)","level":3,"score":0.8193108439445496},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6542799472808838},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.6448724865913391},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.5584445595741272},{"id":"https://openalex.org/C17825722","wikidata":"https://www.wikidata.org/wiki/Q17285","display_name":"Plane (geometry)","level":2,"score":0.5505231022834778},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5473941564559937},{"id":"https://openalex.org/C31487907","wikidata":"https://www.wikidata.org/wiki/Q1154597","display_name":"Polygon mesh","level":2,"score":0.518971860408783},{"id":"https://openalex.org/C132094186","wikidata":"https://www.wikidata.org/wiki/Q641585","display_name":"Clutter","level":3,"score":0.5083562731742859},{"id":"https://openalex.org/C59902600","wikidata":"https://www.wikidata.org/wiki/Q1575331","display_name":"Point in polygon","level":3,"score":0.4971647560596466},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.4883582293987274},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4877391755580902},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.46494925022125244},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.43787702918052673},{"id":"https://openalex.org/C3261483","wikidata":"https://www.wikidata.org/wiki/Q119565","display_name":"Frame rate","level":2,"score":0.4352579414844513},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.43355047702789307},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3665222227573395},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20248383283615112},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.1651172935962677},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.08563897013664246},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":6,"locations":[{"id":"doi:10.1109/iros.2012.6385841","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385841","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:scholarworks.umass.edu:cs_faculty_pubs-2331","is_oa":true,"landing_page_url":"https://scholarworks.umass.edu/cs_faculty_pubs/1331","pdf_url":"https://scholarworks.umass.edu/bitstreams/05e22558-ef80-4744-b6f3-61ae5ef7dac4/download","source":{"id":"https://openalex.org/S4306402240","display_name":"ScholarWorks@UMassAmherst (University of Massachusetts Amherst)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I24603500","host_organization_name":"University of Massachusetts Amherst","host_organization_lineage":["https://openalex.org/I24603500"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Computer Science Department Faculty Publication Series","raw_type":"text"},{"id":"pmh:oai:repository.cmu.edu:compsci-3832","is_oa":false,"landing_page_url":"http://repository.cmu.edu/cgi/viewcontent.cgi?article=3832&context=compsci","pdf_url":null,"source":{"id":"https://openalex.org/S4306400668","display_name":"Research Showcase @ Carnegie Mellon University (Carnegie Mellon University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I74973139","host_organization_name":"Carnegie Mellon University","host_organization_lineage":["https://openalex.org/I74973139"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Computer Science Department","raw_type":"text"},{"id":"pmh:doi:10.1184/r1/6608432","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Journal contribution"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.258.5219","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.258.5219","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.cmu.edu/afs/cs/user/mmv/www/papers/12iros-BiswasVeloso.pdf","raw_type":"text"},{"id":"pmh:oai:scholarworks.umass.edu:20.500.14394/9752","is_oa":false,"landing_page_url":"https://hdl.handle.net/20.500.14394/9752","pdf_url":null,"source":{"id":"https://openalex.org/S4306402057","display_name":"Scholarworks (University of Massachusetts Amherst)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I24603500","host_organization_name":"University of Massachusetts Amherst","host_organization_lineage":["https://openalex.org/I24603500"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"published","raw_type":"Article"}],"best_oa_location":{"id":"pmh:oai:scholarworks.umass.edu:cs_faculty_pubs-2331","is_oa":true,"landing_page_url":"https://scholarworks.umass.edu/cs_faculty_pubs/1331","pdf_url":"https://scholarworks.umass.edu/bitstreams/05e22558-ef80-4744-b6f3-61ae5ef7dac4/download","source":{"id":"https://openalex.org/S4306402240","display_name":"ScholarWorks@UMassAmherst (University of Massachusetts Amherst)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I24603500","host_organization_name":"University of Massachusetts Amherst","host_organization_lineage":["https://openalex.org/I24603500"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Computer Science Department Faculty Publication Series","raw_type":"text"},"sustainable_development_goals":[{"score":0.7900000214576721,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2057981016.pdf","grobid_xml":"https://content.openalex.org/works/W2057981016.grobid-xml"},"referenced_works_count":22,"referenced_works":["https://openalex.org/W155419516","https://openalex.org/W562884942","https://openalex.org/W1187244281","https://openalex.org/W1984475609","https://openalex.org/W1987648924","https://openalex.org/W1996819948","https://openalex.org/W2000018820","https://openalex.org/W2000969939","https://openalex.org/W2025299767","https://openalex.org/W2044233231","https://openalex.org/W2084595284","https://openalex.org/W2085261163","https://openalex.org/W2099576286","https://openalex.org/W2119851068","https://openalex.org/W2121272499","https://openalex.org/W2124940540","https://openalex.org/W2127418874","https://openalex.org/W2161441681","https://openalex.org/W2171363519","https://openalex.org/W4246663078","https://openalex.org/W6627862999","https://openalex.org/W6903391969"],"related_works":["https://openalex.org/W2349485377","https://openalex.org/W2383204375","https://openalex.org/W2582238625","https://openalex.org/W320048716","https://openalex.org/W4226390896","https://openalex.org/W4389454154","https://openalex.org/W4297483806","https://openalex.org/W2377445124","https://openalex.org/W2558157590","https://openalex.org/W178677162"],"abstract_inverted_index":{"There":[0],"has":[1],"been":[2],"considerable":[3],"interest":[4],"recently":[5],"in":[6,69,135,147],"building":[7],"3D":[8],"maps":[9],"of":[10,32,40,63,72,100,114,124,182,188],"environments":[11,37],"using":[12],"inexpensive":[13],"depth":[14,66,93,172],"cameras":[15],"like":[16],"the":[17,23,49,70,80,154,179,183,186,189],"Microsoft":[18],"Kinect":[19],"sensor.":[20],"We":[21,74,95,174],"exploit":[22],"fact":[24],"that":[25,56,78],"typical":[26],"indoor":[27,151],"scenes":[28],"have":[29],"an":[30,76,98],"abundance":[31],"planar":[33],"features":[34],"by":[35,193],"modeling":[36],"as":[38],"sets":[39],"plane":[41,82,116,191],"polygons.":[42],"To":[43],"this":[44],"end,":[45],"we":[46],"build":[47],"upon":[48],"Fast":[50],"Sampling":[51],"Plane":[52],"Filtering":[53],"(FSPF)":[54],"algorithm":[55,77,184],"extracts":[57],"points":[58,118],"belonging":[59],"to":[60,86,165],"local":[61],"neighborhoods":[62],"planes":[64],"from":[65,90],"images,":[67],"even":[68],"presence":[71],"clutter.":[73],"introduce":[75],"uses":[79],"FSPF-generated":[81],"filtered":[83,117],"point":[84],"clouds":[85],"generate":[87],"convex":[88],"polygons":[89,104,192],"individual":[91],"observed":[92,115,126],"images.":[94],"then":[96],"contribute":[97],"approach":[99],"merging":[101,132,158],"these":[102],"detected":[103,190],"across":[105],"successive":[106],"frames":[107],"while":[108],"accounting":[109],"for":[110],"a":[111,122,148,167],"complete":[112],"history":[113],"without":[119],"explicitly":[120],"maintaining":[121],"list":[123],"all":[125],"points.":[127],"The":[128],"FSPF":[129,155],"and":[130,156,185],"polygon":[131,157],"algorithms":[133,159],"run":[134],"real":[136,149],"time":[137],"at":[138],"full":[139],"camera":[140],"frame":[141],"rates":[142],"with":[143,195],"low":[144],"CPU":[145],"requirements:":[146],"world":[150],"environment":[152],"scene,":[153],"take":[160],"2.5":[161],"ms":[162],"on":[163],"average":[164],"process":[166],"single":[168],"640":[169],"\u00d7":[170],"480":[171],"image.":[173],"provide":[175],"experimental":[176],"results":[177],"demonstrating":[178],"computational":[180],"efficiency":[181],"accuracy":[187],"comparing":[194],"ground":[196],"truth.":[197]},"counts_by_year":[{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}