{"id":"https://openalex.org/W2059177033","doi":"https://doi.org/10.1109/iros.2012.6386212","title":"On-line semantic perception using uncertainty","display_name":"On-line semantic perception using uncertainty","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W2059177033","doi":"https://doi.org/10.1109/iros.2012.6386212","mag":"2059177033"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2012.6386212","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6386212","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":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://lirias.kuleuven.be/bitstream/123456789/356556/3/3499_final.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5000492902","display_name":"Roderick de Nijs","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":"Roderick de Nijs","raw_affiliation_strings":["Institute of Automatic Control Engineering, Technische Universit\u00e4t Munchen, Munich, Germany","Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, 80333 Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Automatic Control Engineering, Technische Universit\u00e4t Munchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, 80333 Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038017658","display_name":"Sebastian Ramos","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":"Sebastian Ramos","raw_affiliation_strings":["Institute of Automatic Control Engineering, Technische Universit\u00e4t Munchen, Munich, Germany","Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, 80333 Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Automatic Control Engineering, Technische Universit\u00e4t Munchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, 80333 Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025034643","display_name":"Gemma Roig","orcid":"https://orcid.org/0000-0002-6439-8076"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Gemma Roig","raw_affiliation_strings":["ETH Z\u00fcrich, Computer Vision Laboratory, Zurich, Switzerland","Computer Vision Laboratory, ETH Z\u00fcrich, 8092, Z\u00fcrich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Z\u00fcrich, Computer Vision Laboratory, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Computer Vision Laboratory, ETH Z\u00fcrich, 8092, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020830959","display_name":"Xavier Boix","orcid":"https://orcid.org/0000-0003-4656-3485"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Xavier Boix","raw_affiliation_strings":["ETH Z\u00fcrich, Computer Vision Laboratory, Zurich, Switzerland","Computer Vision Laboratory, ETH Z\u00fcrich, 8092, Z\u00fcrich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Z\u00fcrich, Computer Vision Laboratory, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Computer Vision Laboratory, ETH Z\u00fcrich, 8092, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001254143","display_name":"Luc Van Gool","orcid":"https://orcid.org/0000-0002-3445-5711"},"institutions":[{"id":"https://openalex.org/I2799323385","display_name":"Board of the Swiss Federal Institutes of Technology","ror":"https://ror.org/01rvn4p91","country_code":"CH","type":"government","lineage":["https://openalex.org/I2799323385"]},{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Luc Van Gool","raw_affiliation_strings":["Eidgenossische Technische Hochschule Zurich, Zurich, ZH, CH","Computer Vision Laboratory, ETH Z\u00fcrich, 8092, Z\u00fcrich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Eidgenossische Technische Hochschule Zurich, Zurich, ZH, CH","institution_ids":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]},{"raw_affiliation_string":"Computer Vision Laboratory, ETH Z\u00fcrich, 8092, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056732510","display_name":"Kolja K\u00fchnlenz","orcid":"https://orcid.org/0000-0003-1511-9381"},"institutions":[{"id":"https://openalex.org/I4210137766","display_name":"Institute for Advanced Study","ror":"https://ror.org/03xg85719","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210137766"]},{"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":"Kolja K\u00fchnlenz","raw_affiliation_strings":["Institute for Advanced Study, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, 80333 Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Advanced Study, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I4210137766","https://openalex.org/I62916508"]},{"raw_affiliation_string":"Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, 80333 Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4185","last_page":"4191"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9998999834060669,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9998999834060669,"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9987999796867371,"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":0.9976999759674072,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/crfs","display_name":"CRFS","score":0.8797037601470947},{"id":"https://openalex.org/keywords/conditional-random-field","display_name":"Conditional random field","score":0.7470780611038208},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.687866747379303},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.621350884437561},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5935280323028564},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.5831697583198547},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.5553271174430847},{"id":"https://openalex.org/keywords/pixel","display_name":"Pixel","score":0.5392635464668274},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.5275758504867554},{"id":"https://openalex.org/keywords/reliability","display_name":"Reliability (semiconductor)","score":0.5151830911636353},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4699682891368866},{"id":"https://openalex.org/keywords/line","display_name":"Line (geometry)","score":0.441896915435791},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.43440529704093933},{"id":"https://openalex.org/keywords/probability-density-function","display_name":"Probability density function","score":0.41678112745285034},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3968716561794281},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.39434105157852173},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19862475991249084},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.13007572293281555}],"concepts":[{"id":"https://openalex.org/C2775953691","wikidata":"https://www.wikidata.org/wiki/Q5013874","display_name":"CRFS","level":3,"score":0.8797037601470947},{"id":"https://openalex.org/C152565575","wikidata":"https://www.wikidata.org/wiki/Q1124538","display_name":"Conditional random field","level":2,"score":0.7470780611038208},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.687866747379303},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.621350884437561},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5935280323028564},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5831697583198547},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.5553271174430847},{"id":"https://openalex.org/C160633673","wikidata":"https://www.wikidata.org/wiki/Q355198","display_name":"Pixel","level":2,"score":0.5392635464668274},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.5275758504867554},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.5151830911636353},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4699682891368866},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.441896915435791},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.43440529704093933},{"id":"https://openalex.org/C197055811","wikidata":"https://www.wikidata.org/wiki/Q207522","display_name":"Probability density function","level":2,"score":0.41678112745285034},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3968716561794281},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.39434105157852173},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19862475991249084},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.13007572293281555},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2012.6386212","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6386212","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:lirias2repo.kuleuven.be:123456789/356556","is_oa":true,"landing_page_url":"https://lirias.kuleuven.be/bitstream/123456789/356556/3/3499_final.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S7407055369","display_name":"Lirias","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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE/RSJ international conference on intelligent robots and systems - IROS 2012, Vilamoura, Algarve, Portugal, 7-12 October 2012","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:lirias2repo.kuleuven.be:123456789/356556","is_oa":true,"landing_page_url":"https://lirias.kuleuven.be/bitstream/123456789/356556/3/3499_final.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S7407055369","display_name":"Lirias","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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE/RSJ international conference on intelligent robots and systems - IROS 2012, Vilamoura, Algarve, Portugal, 7-12 October 2012","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.8299999833106995}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W50051094","https://openalex.org/W1516029338","https://openalex.org/W1698278400","https://openalex.org/W1913356549","https://openalex.org/W1955404912","https://openalex.org/W1972702506","https://openalex.org/W1973181481","https://openalex.org/W1975862670","https://openalex.org/W1981283549","https://openalex.org/W2011953904","https://openalex.org/W2013777358","https://openalex.org/W2019085623","https://openalex.org/W2019599312","https://openalex.org/W2027480687","https://openalex.org/W2052117683","https://openalex.org/W2103846358","https://openalex.org/W2107169766","https://openalex.org/W2109235804","https://openalex.org/W2113137767","https://openalex.org/W2114316746","https://openalex.org/W2118246710","https://openalex.org/W2120294885","https://openalex.org/W2128700566","https://openalex.org/W2151103935","https://openalex.org/W2162980292","https://openalex.org/W2163747463","https://openalex.org/W2184852195","https://openalex.org/W2545985378","https://openalex.org/W4244914727","https://openalex.org/W4247044646","https://openalex.org/W4253365321","https://openalex.org/W6630946317","https://openalex.org/W6637621438","https://openalex.org/W6639824712","https://openalex.org/W6655096109","https://openalex.org/W6655383422","https://openalex.org/W6677250799","https://openalex.org/W6677919857","https://openalex.org/W6679194931","https://openalex.org/W6686418764"],"related_works":["https://openalex.org/W2356597680","https://openalex.org/W50079190","https://openalex.org/W182104056","https://openalex.org/W2111726165","https://openalex.org/W2011251309","https://openalex.org/W2511246383","https://openalex.org/W3108423214","https://openalex.org/W2796133761","https://openalex.org/W3088215229","https://openalex.org/W2184553228"],"abstract_inverted_index":{"Visual":[0],"perception":[1,27],"capabilities":[2],"are":[3,202],"still":[4],"highly":[5],"unreliable":[6],"in":[7,16,38,156],"unconstrained":[8],"settings,":[9],"and":[10,205],"solutions":[11],"might":[12],"not":[13,83],"be":[14],"accurate":[15],"all":[17],"regions":[18,197],"of":[19,23,26,60,67,90,100,107,112,145,151,159,175,186,198,216],"an":[20,108],"image.":[21,161],"Awareness":[22],"the":[24,43,58,65,75,88,91,98,105,143,146,149,152,160,166,184,188,196,199],"uncertainty":[25,44,89,144,189],"is":[28,46,57],"a":[29,39,114,118,122,169],"fundamental":[30],"requirement":[31],"for":[32,51,172,210],"proper":[33],"high":[34],"level":[35],"decision":[36],"making":[37],"robotic":[40],"system.":[41],"Yet,":[42],"measure":[45],"often":[47],"sacrificed":[48],"to":[49,73,86,104,140],"account":[50],"dependencies":[52],"between":[53],"object/region":[54],"classifiers.":[55],"This":[56,138],"case":[59],"Conditional":[61],"Random":[62,120],"Fields":[63],"(CRFs),":[64],"success":[66],"which":[68],"stems":[69],"from":[70,133],"their":[71],"ability":[72],"infer":[74],"most":[76,153],"likely":[77,154],"world":[78],"configuration,":[79],"but":[80],"they":[81],"do":[82],"directly":[84],"allow":[85],"estimate":[87],"solution.":[92],"In":[93,179],"this":[94],"paper,":[95],"we":[96,116,182],"consider":[97],"setting":[99],"assigning":[101],"semantic":[102,173],"labels":[103],"pixels":[106],"image":[109,177,200],"sequence.":[110],"Instead":[111],"using":[113],"CRF,":[115],"employ":[117],"Perturb-and-MAP":[119],"Field,":[121],"recently":[123],"introduced":[124],"probabilistic":[125],"model":[126],"that":[127,201],"allows":[128,139],"performing":[129],"fast":[130],"approximate":[131],"sampling":[132],"its":[134],"probability":[135],"density":[136],"function.":[137],"effectively":[141],"compute":[142],"solution,":[147],"indicating":[148],"reliability":[150],"labeling":[155,174],"each":[157],"region":[158],"We":[162],"report":[163],"results":[164],"on":[165,195],"CamVid":[167],"dataset,":[168],"standard":[170],"benchmark":[171],"urban":[176],"sequences.":[178],"our":[180],"experiments,":[181],"show":[183],"benefits":[185],"exploiting":[187],"by":[190],"putting":[191],"more":[192,207],"computational":[193],"effort":[194],"less":[203],"reliable,":[204],"use":[206],"efficient":[208],"techniques":[209],"other":[211],"regions,":[212],"showing":[213],"little":[214],"decrease":[215],"performance.":[217]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":3}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
