{"id":"https://openalex.org/W2705009888","doi":"https://doi.org/10.1109/iros.2017.8206198","title":"Deep semantic classification for 3D LiDAR data","display_name":"Deep semantic classification for 3D LiDAR data","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2705009888","doi":"https://doi.org/10.1109/iros.2017.8206198","mag":"2705009888"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8206198","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206198","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1706.08355","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5049653402","display_name":"Ayush Dewan","orcid":null},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Ayush Dewan","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Germany","[Department of Computer Science at the University of Freiburg, Germany]"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"[Department of Computer Science at the University of Freiburg, Germany]","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034236726","display_name":"Gabriel L. Oliveira","orcid":"https://orcid.org/0000-0003-0099-9873"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Gabriel L. Oliveira","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Germany","[Department of Computer Science at the University of Freiburg, Germany]"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"[Department of Computer Science at the University of Freiburg, Germany]","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084499878","display_name":"Wolfram Burgard","orcid":"https://orcid.org/0000-0002-5680-6500"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Wolfram Burgard","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Germany","[Department of Computer Science at the University of Freiburg, Germany]"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"[Department of Computer Science at the University of Freiburg, Germany]","institution_ids":["https://openalex.org/I161046081"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5049653402"],"corresponding_institution_ids":["https://openalex.org/I161046081"],"apc_list":null,"apc_paid":null,"fwci":6.5185,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.97115677,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"3544","last_page":"3549"},"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9998000264167786,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9998000264167786,"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/pointwise","display_name":"Pointwise","score":0.8364794254302979},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7886917591094971},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.6993603110313416},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6829711198806763},{"id":"https://openalex.org/keywords/semantics","display_name":"Semantics (computer science)","score":0.6197090744972229},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5465804934501648},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5245559215545654},{"id":"https://openalex.org/keywords/class","display_name":"Class (philosophy)","score":0.5119439363479614},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.49529972672462463},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.49039292335510254},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.4334476590156555},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4272415339946747},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.42566725611686707},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.37754806876182556},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.32779526710510254},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07528313994407654}],"concepts":[{"id":"https://openalex.org/C2777984123","wikidata":"https://www.wikidata.org/wiki/Q9248237","display_name":"Pointwise","level":2,"score":0.8364794254302979},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7886917591094971},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.6993603110313416},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6829711198806763},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.6197090744972229},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5465804934501648},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5245559215545654},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.5119439363479614},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.49529972672462463},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.49039292335510254},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.4334476590156555},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4272415339946747},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.42566725611686707},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.37754806876182556},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.32779526710510254},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07528313994407654},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"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/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","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/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/iros.2017.8206198","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206198","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1706.08355","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1706.08355","pdf_url":"https://arxiv.org/pdf/1706.08355","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"mag:2705009888","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/1706.08355","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.1706.08355","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1706.08355","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1706.08355","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1706.08355","pdf_url":"https://arxiv.org/pdf/1706.08355","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1256919375","display_name":null,"funder_award_id":"610532","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2705009888.pdf","grobid_xml":"https://content.openalex.org/works/W2705009888.grobid-xml"},"referenced_works_count":22,"referenced_works":["https://openalex.org/W1903029394","https://openalex.org/W1905829557","https://openalex.org/W1910014366","https://openalex.org/W1973080743","https://openalex.org/W1993662509","https://openalex.org/W2027452306","https://openalex.org/W2037938259","https://openalex.org/W2150066425","https://openalex.org/W2181095272","https://openalex.org/W2184393491","https://openalex.org/W2293349265","https://openalex.org/W2417447115","https://openalex.org/W2468368736","https://openalex.org/W2505004417","https://openalex.org/W2522897152","https://openalex.org/W2550479984","https://openalex.org/W2561343020","https://openalex.org/W2563098792","https://openalex.org/W2950952351","https://openalex.org/W2963083779","https://openalex.org/W2963881378","https://openalex.org/W6637373629"],"related_works":["https://openalex.org/W2964332807","https://openalex.org/W3099342433","https://openalex.org/W2950916729","https://openalex.org/W3135809806","https://openalex.org/W3100484272","https://openalex.org/W3094548010","https://openalex.org/W3209333838","https://openalex.org/W3000681136","https://openalex.org/W2562478893","https://openalex.org/W3105820458","https://openalex.org/W2753614144","https://openalex.org/W2905683938","https://openalex.org/W3012439957","https://openalex.org/W2925199680","https://openalex.org/W2883980546","https://openalex.org/W2182527400","https://openalex.org/W2941392883","https://openalex.org/W117565186","https://openalex.org/W3198766663","https://openalex.org/W3118923280"],"abstract_inverted_index":{"Robots":[0],"are":[1],"expected":[2],"to":[3,110,137],"operate":[4],"autonomously":[5],"in":[6,72,135,146],"dynamic":[7,12,88],"environments.":[8],"Understanding":[9],"the":[10,65,73,87,102,107,112,138,147,153,158,162],"underlying":[11],"characteristics":[13],"of":[14,35,149],"objects":[15],"is":[16],"a":[17,29,96,127],"key":[18],"enabler":[19],"for":[20,31,59,85,100],"achieving":[21],"this":[22,25],"goal.":[23],"In":[24,116],"paper,":[26],"we":[27,75,90,119,142],"propose":[28,95],"method":[30],"pointwise":[32,92],"semantic":[33,104,114,154],"classification":[34,148],"3D":[36],"LiDAR":[37],"data":[38],"into":[39],"three":[40],"classes:":[41],"non-movable,":[42],"movable":[43,68],"and":[44,69,84,131],"dynamic.":[45],"We":[46,94],"concentrate":[47],"on":[48,80,126],"understanding":[49],"these":[50],"specific":[51],"semantics":[52],"because":[53],"they":[54],"characterize":[55],"important":[56],"information":[57],"required":[58,113],"an":[60,77,144],"autonomous":[61],"system.":[62],"To":[63],"learn":[64],"distinction":[66],"between":[67],"non-movable":[70],"points":[71,150],"environment,":[74],"introduce":[76],"approach":[78,122],"based":[79],"deep":[81],"neural":[82,159],"network":[83,160],"detecting":[86],"points,":[89],"estimate":[91],"motion.":[93],"Bayes":[97],"filter":[98],"framework":[99],"combining":[101,152],"learned":[103],"cues":[105,109,155],"with":[106,123,161],"motion":[108,163],"infer":[111],"classification.":[115],"extensive":[117],"experiments,":[118],"compare":[120],"our":[121],"other":[124],"methods":[125],"standard":[128],"benchmark":[129],"dataset":[130],"report":[132],"competitive":[133],"results":[134],"comparison":[136],"existing":[139],"state-of-the-art.":[140],"Furthermore,":[141],"show":[143],"improvement":[145],"by":[151],"retrieved":[156],"from":[157],"cues.":[164]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2019,"cited_by_count":2}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}
