{"id":"https://openalex.org/W2074693620","doi":"https://doi.org/10.1109/iros.2014.6943157","title":"A quantitative evaluation of surface normal estimation in point clouds","display_name":"A quantitative evaluation of surface normal estimation in point clouds","publication_year":2014,"publication_date":"2014-09-01","ids":{"openalex":"https://openalex.org/W2074693620","doi":"https://doi.org/10.1109/iros.2014.6943157","mag":"2074693620"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2014.6943157","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6943157","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 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/A5041764927","display_name":"Krzysztof Jordan","orcid":null},"institutions":[{"id":"https://openalex.org/I108468826","display_name":"Stevens Institute of Technology","ror":"https://ror.org/02z43xh36","country_code":"US","type":"education","lineage":["https://openalex.org/I108468826"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Krzysztof Jordan","raw_affiliation_strings":["Department of Computer Science, Stevens Institute of Technology, Hoboken, NJ, USA","Department of Computer Science, Stevens Institute of Technology, Hoboken, NJ, 07030, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Stevens Institute of Technology, Hoboken, NJ, USA","institution_ids":["https://openalex.org/I108468826"]},{"raw_affiliation_string":"Department of Computer Science, Stevens Institute of Technology, Hoboken, NJ, 07030, USA","institution_ids":["https://openalex.org/I108468826"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024073593","display_name":"Philippos Mordohai","orcid":"https://orcid.org/0000-0002-9671-4408"},"institutions":[{"id":"https://openalex.org/I108468826","display_name":"Stevens Institute of Technology","ror":"https://ror.org/02z43xh36","country_code":"US","type":"education","lineage":["https://openalex.org/I108468826"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Philippos Mordohai","raw_affiliation_strings":["Department of Computer Science, Stevens Institute of Technology, Hoboken, NJ, USA","Department of Computer Science, Stevens Institute of Technology, Hoboken, NJ, 07030, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Stevens Institute of Technology, Hoboken, NJ, USA","institution_ids":["https://openalex.org/I108468826"]},{"raw_affiliation_string":"Department of Computer Science, Stevens Institute of Technology, Hoboken, NJ, 07030, USA","institution_ids":["https://openalex.org/I108468826"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5041764927"],"corresponding_institution_ids":["https://openalex.org/I108468826"],"apc_list":null,"apc_paid":null,"fwci":59.3466,"has_fulltext":false,"cited_by_count":54,"citation_normalized_percentile":{"value":0.99582125,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"4220","last_page":"4226"},"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/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/point-cloud","display_name":"Point cloud","score":0.8193622827529907},{"id":"https://openalex.org/keywords/normalization","display_name":"Normalization (sociology)","score":0.7230250239372253},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6665508151054382},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.5966272950172424},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.5776422023773193},{"id":"https://openalex.org/keywords/skew","display_name":"Skew","score":0.5608779788017273},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.5068495869636536},{"id":"https://openalex.org/keywords/surface","display_name":"Surface (topology)","score":0.4837374985218048},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.47390758991241455},{"id":"https://openalex.org/keywords/polygon-mesh","display_name":"Polygon mesh","score":0.4615376889705658},{"id":"https://openalex.org/keywords/normal","display_name":"Normal","score":0.4597797989845276},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.45579490065574646},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4507293403148651},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38480085134506226},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.34427958726882935},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.329464852809906},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22104889154434204},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.15970325469970703},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.13059332966804504},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.1028902530670166},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10230356454849243}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.8193622827529907},{"id":"https://openalex.org/C136886441","wikidata":"https://www.wikidata.org/wiki/Q926129","display_name":"Normalization (sociology)","level":2,"score":0.7230250239372253},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6665508151054382},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.5966272950172424},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.5776422023773193},{"id":"https://openalex.org/C43711488","wikidata":"https://www.wikidata.org/wiki/Q7534783","display_name":"Skew","level":2,"score":0.5608779788017273},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.5068495869636536},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.4837374985218048},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.47390758991241455},{"id":"https://openalex.org/C31487907","wikidata":"https://www.wikidata.org/wiki/Q1154597","display_name":"Polygon mesh","level":2,"score":0.4615376889705658},{"id":"https://openalex.org/C118732077","wikidata":"https://www.wikidata.org/wiki/Q273176","display_name":"Normal","level":3,"score":0.4597797989845276},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.45579490065574646},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4507293403148651},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38480085134506226},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.34427958726882935},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.329464852809906},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22104889154434204},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.15970325469970703},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.13059332966804504},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.1028902530670166},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10230356454849243},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0},{"id":"https://openalex.org/C144024400","wikidata":"https://www.wikidata.org/wiki/Q21201","display_name":"Sociology","level":0,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C19165224","wikidata":"https://www.wikidata.org/wiki/Q23404","display_name":"Anthropology","level":1,"score":0.0},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2014.6943157","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6943157","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.431.3356","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.431.3356","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.stevens.edu/~mordohai/public/Jordan_QuantEvaluationSurfaceNormalEstimation14.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.5199999809265137,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1525032837","https://openalex.org/W1564871316","https://openalex.org/W1986234613","https://openalex.org/W2001424961","https://openalex.org/W2007448829","https://openalex.org/W2031878977","https://openalex.org/W2036835491","https://openalex.org/W2058606296","https://openalex.org/W2059618442","https://openalex.org/W2099531331","https://openalex.org/W2099606917","https://openalex.org/W2100816864","https://openalex.org/W2102402541","https://openalex.org/W2102481828","https://openalex.org/W2115703234","https://openalex.org/W2116211213","https://openalex.org/W2120777512","https://openalex.org/W2125685777","https://openalex.org/W2130567155","https://openalex.org/W2133476816","https://openalex.org/W2140649816","https://openalex.org/W2160643963","https://openalex.org/W2160821342","https://openalex.org/W2167387804","https://openalex.org/W6631562094","https://openalex.org/W6634014874","https://openalex.org/W6680862331","https://openalex.org/W6683253545"],"related_works":["https://openalex.org/W2562256921","https://openalex.org/W2807388419","https://openalex.org/W4385921699","https://openalex.org/W3202141563","https://openalex.org/W2757636402","https://openalex.org/W4206034977","https://openalex.org/W2732611320","https://openalex.org/W2081750044","https://openalex.org/W3133812613","https://openalex.org/W4323271403"],"abstract_inverted_index":{"We":[0,90,117],"revisit":[1],"a":[2,15,122],"well-studied":[3,25],"problem":[4],"in":[5,78,112,114],"the":[6,63,67,82,97,101,115],"analysis":[7,49],"of":[8,17,46,66,96,103,125],"range":[9,47],"data:":[10],"surface":[11,53],"normal":[12,21,85],"estimation":[13,22],"for":[14],"set":[16,124],"unorganized":[18],"points.":[19],"Surface":[20],"has":[23],"been":[24,110],"initially":[26],"due":[27,35],"to":[28,36,55,87,94,135],"its":[29,37],"theoretical":[30],"appeal":[31],"and":[32,59,105],"more":[33],"recently":[34],"many":[38],"practical":[39],"applications.":[40],"The":[41],"latter":[42],"cover":[43],"several":[44],"aspects":[45,95],"data":[48],"from":[50,129],"plane":[51],"or":[52],"fitting":[54],"segmentation,":[56],"object":[57],"detection":[58],"scene":[60],"analysis.":[61],"Following":[62],"vast":[64],"majority":[65],"literature,":[68],"we":[69],"also":[70],"focus":[71],"our":[72],"attention":[73,93],"on":[74,121],"techniques":[75],"that":[76,107],"operate":[77],"small":[79],"neighborhoods":[80],"around":[81],"point":[83,126],"whose":[84],"is":[86],"be":[88],"estimated.":[89],"pay":[91],"close":[92],"implementation,":[98],"such":[99],"as":[100],"use":[102],"weights":[104],"normalization,":[106],"have":[108],"not":[109],"studied":[111],"detail":[113],"past.":[116],"perform":[118],"quantitative":[119],"evaluation":[120],"diverse":[123],"clouds":[127],"derived":[128],"3D":[130],"meshes,":[131],"which":[132],"allows":[133],"us":[134],"obtain":[136],"accurate":[137],"ground":[138],"truth.":[139]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":9},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":3}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}