{"id":"https://openalex.org/W2201312286","doi":"https://doi.org/10.1109/iros.2015.7354011","title":"Real-time and scalable incremental segmentation on dense SLAM","display_name":"Real-time and scalable incremental segmentation on dense SLAM","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W2201312286","doi":"https://doi.org/10.1109/iros.2015.7354011","mag":"2201312286"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2015.7354011","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7354011","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5030061164","display_name":"Keisuke Tateno","orcid":"https://orcid.org/0000-0002-2508-9828"},"institutions":[{"id":"https://openalex.org/I1320697193","display_name":"Canon (Japan)","ror":"https://ror.org/05gg0gh87","country_code":"JP","type":"company","lineage":["https://openalex.org/I1320697193"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Keisuke Tateno","raw_affiliation_strings":["Canon Inc., Shimomaruko, Tokyo, Japan","Chair for Computer Aided Medical Procedures (CAMP), Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Canon Inc., Shimomaruko, Tokyo, Japan","institution_ids":["https://openalex.org/I1320697193"]},{"raw_affiliation_string":"Chair for Computer Aided Medical Procedures (CAMP), Munich, Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041092666","display_name":"Federico Tombari","orcid":"https://orcid.org/0000-0001-5598-5212"},"institutions":[{"id":"https://openalex.org/I9360294","display_name":"University of Bologna","ror":"https://ror.org/01111rn36","country_code":"IT","type":"education","lineage":["https://openalex.org/I9360294"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Federico Tombari","raw_affiliation_strings":["Chair for Computer Aided Medical Procedures (CAMP), Munich, Germany","Dipartimento di Informatica: Scienza e Ingegneria (DISI), University of Bologna, Bologna, Italy"],"affiliations":[{"raw_affiliation_string":"Chair for Computer Aided Medical Procedures (CAMP), Munich, Germany","institution_ids":[]},{"raw_affiliation_string":"Dipartimento di Informatica: Scienza e Ingegneria (DISI), University of Bologna, Bologna, Italy","institution_ids":["https://openalex.org/I9360294"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5046896448","display_name":"Nassir Navab","orcid":"https://orcid.org/0000-0002-6032-5611"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Nassir Navab","raw_affiliation_strings":["Chair for Computer Aided Medical Procedures (CAMP), Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Chair for Computer Aided Medical Procedures (CAMP), Munich, Germany","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5030061164"],"corresponding_institution_ids":["https://openalex.org/I1320697193"],"apc_list":null,"apc_paid":null,"fwci":237.3608,"has_fulltext":false,"cited_by_count":113,"citation_normalized_percentile":{"value":0.99966771,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"4465","last_page":"4472"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9991000294685364,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.8161741495132446},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7733353972434998},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.7055081129074097},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6696537137031555},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.618747353553772},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.59344083070755},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5561702847480774},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.5457876920700073},{"id":"https://openalex.org/keywords/image-segmentation","display_name":"Image segmentation","score":0.5206978917121887},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.5133339762687683},{"id":"https://openalex.org/keywords/scale-space-segmentation","display_name":"Scale-space segmentation","score":0.4954942464828491},{"id":"https://openalex.org/keywords/computational-complexity-theory","display_name":"Computational complexity theory","score":0.4107632040977478},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2089739441871643},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1732378900051117},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.17224186658859253},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.08706074953079224}],"concepts":[{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.8161741495132446},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7733353972434998},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.7055081129074097},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6696537137031555},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.618747353553772},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.59344083070755},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5561702847480774},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.5457876920700073},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.5206978917121887},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.5133339762687683},{"id":"https://openalex.org/C65885262","wikidata":"https://www.wikidata.org/wiki/Q7429708","display_name":"Scale-space segmentation","level":4,"score":0.4954942464828491},{"id":"https://openalex.org/C179799912","wikidata":"https://www.wikidata.org/wiki/Q205084","display_name":"Computational complexity theory","level":2,"score":0.4107632040977478},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2089739441871643},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1732378900051117},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.17224186658859253},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.08706074953079224},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"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/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2015.7354011","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7354011","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:cris.unibo.it:11585/554030","is_oa":false,"landing_page_url":"http://hdl.handle.net/11585/554030","pdf_url":null,"source":{"id":"https://openalex.org/S4306402579","display_name":"Archivio istituzionale della ricerca (Alma Mater Studiorum Universit\u00e0 di Bologna)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210117483","host_organization_name":"Istituto di Ematologia di Bologna","host_organization_lineage":["https://openalex.org/I4210117483"],"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":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.6899999976158142,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1187244281","https://openalex.org/W1964108521","https://openalex.org/W1972671602","https://openalex.org/W1987648924","https://openalex.org/W1993804695","https://openalex.org/W1993846506","https://openalex.org/W1994075312","https://openalex.org/W1996688648","https://openalex.org/W1999478155","https://openalex.org/W2014307168","https://openalex.org/W2016285927","https://openalex.org/W2021851106","https://openalex.org/W2033998449","https://openalex.org/W2049776679","https://openalex.org/W2064451896","https://openalex.org/W2065906272","https://openalex.org/W2099244020","https://openalex.org/W2132563333","https://openalex.org/W2143769815","https://openalex.org/W2165830610","https://openalex.org/W2170764835","https://openalex.org/W2750339080","https://openalex.org/W2973978810","https://openalex.org/W6630280835"],"related_works":["https://openalex.org/W2185902295","https://openalex.org/W2103507220","https://openalex.org/W3144569342","https://openalex.org/W2945274617","https://openalex.org/W4313052709","https://openalex.org/W4205800335","https://openalex.org/W2055202857","https://openalex.org/W2022929107","https://openalex.org/W80586315","https://openalex.org/W2758994127"],"abstract_inverted_index":{"This":[0],"work":[1],"proposes":[2],"a":[3,31,36,60,102,118],"real-time":[4,131],"segmentation":[5,50,89,132],"method":[6,20,45,128],"for":[7],"3D":[8],"point":[9],"clouds":[10],"obtained":[11,24],"via":[12],"Simultaneous":[13],"Localization":[14],"And":[15],"Mapping":[16],"(SLAM).":[17],"The":[18],"proposed":[19],"incrementally":[21],"merges":[22],"segments":[23],"from":[25,40,54,133],"each":[26],"input":[27],"depth":[28],"image":[29],"in":[30,57,110],"unified":[32],"global":[33,71],"model":[34],"using":[35],"SLAM":[37,95],"framework.":[38],"Differently":[39],"all":[41],"other":[42],"approaches,":[43],"our":[44,99,127],"is":[46,78],"able":[47],"to":[48],"yield":[49],"of":[51,69,107,112,135],"scenes":[52],"reconstructed":[53],"multiple":[55],"views":[56],"real-time,":[58],"with":[59,86,104],"complexity":[61],"that":[62],"does":[63],"not":[64],"depend":[65],"on":[66,117],"the":[67,70,74,105,108],"size":[68],"model.":[72],"At":[73],"same":[75],"time,":[76],"it":[77,82],"also":[79],"general,":[80],"as":[81,91,93,121,123],"can":[83,129],"be":[84],"deployed":[85],"any":[87,94],"frame-wise":[88],"approach":[90],"well":[92,122],"algorithm.":[96],"We":[97],"validate":[98],"proposal":[100],"by":[101,124],"comparison":[103],"state":[106],"art":[109],"terms":[111],"computational":[113],"efficiency":[114],"and":[115],"accuracy":[116],"benchmark":[119],"dataset,":[120],"showing":[125],"how":[126],"enable":[130],"reconstructions":[134],"diverse":[136],"real":[137],"indoor":[138],"environments.":[139]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":16},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":11},{"year":2020,"cited_by_count":17},{"year":2019,"cited_by_count":10},{"year":2018,"cited_by_count":19},{"year":2017,"cited_by_count":14},{"year":2016,"cited_by_count":4}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}