{"id":"https://openalex.org/W2525332525","doi":"https://doi.org/10.1109/iros.2017.8206392","title":"Meaningful maps with object-oriented semantic mapping","display_name":"Meaningful maps with object-oriented semantic mapping","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2525332525","doi":"https://doi.org/10.1109/iros.2017.8206392","mag":"2525332525"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8206392","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206392","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":"conference-paper","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1609.07849","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5034957065","display_name":"Niko S\u00fcnderhauf","orcid":"https://orcid.org/0000-0001-5286-3789"},"institutions":[{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]},{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Niko Sunderhauf","raw_affiliation_strings":["Australian Centre for Robotic Vision, Queensland University of Technology (QUT), Brisbane, QLD, Australia","Queensland University of Technology (QUT), Brisbane, QLD, 4001, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Australian Centre for Robotic Vision, Queensland University of Technology (QUT), Brisbane, QLD, Australia","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I160993911"]},{"raw_affiliation_string":"Queensland University of Technology (QUT), Brisbane, QLD, 4001, Australia","institution_ids":["https://openalex.org/I160993911"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102928602","display_name":"Trung Pham","orcid":"https://orcid.org/0000-0002-8039-282X"},"institutions":[{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]},{"id":"https://openalex.org/I5681781","display_name":"The University of Adelaide","ror":"https://ror.org/00892tw58","country_code":"AU","type":"education","lineage":["https://openalex.org/I5681781"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Trung T. Pham","raw_affiliation_strings":["Australian Centre for Robotic Vision, University of Adelaide, SA, Australia","University of Adelaide , SA 5005 , Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Australian Centre for Robotic Vision, University of Adelaide, SA, Australia","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I5681781"]},{"raw_affiliation_string":"University of Adelaide , SA 5005 , Australia","institution_ids":["https://openalex.org/I5681781"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018639058","display_name":"Yasir Latif","orcid":"https://orcid.org/0000-0002-2529-5322"},"institutions":[{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]},{"id":"https://openalex.org/I5681781","display_name":"The University of Adelaide","ror":"https://ror.org/00892tw58","country_code":"AU","type":"education","lineage":["https://openalex.org/I5681781"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Yasir Latif","raw_affiliation_strings":["Australian Centre for Robotic Vision, University of Adelaide, SA, Australia","University of Adelaide , SA 5005 , Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Australian Centre for Robotic Vision, University of Adelaide, SA, Australia","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I5681781"]},{"raw_affiliation_string":"University of Adelaide , SA 5005 , Australia","institution_ids":["https://openalex.org/I5681781"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078340555","display_name":"Michael Milford","orcid":"https://orcid.org/0000-0002-5162-1793"},"institutions":[{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]},{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Michael Milford","raw_affiliation_strings":["Australian Centre for Robotic Vision, Queensland University of Technology (QUT), Brisbane, QLD, Australia","Queensland University of Technology (QUT), Brisbane, QLD, 4001, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Australian Centre for Robotic Vision, Queensland University of Technology (QUT), Brisbane, QLD, Australia","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I160993911"]},{"raw_affiliation_string":"Queensland University of Technology (QUT), Brisbane, QLD, 4001, Australia","institution_ids":["https://openalex.org/I160993911"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5089444805","display_name":"Ian Reid","orcid":"https://orcid.org/0000-0001-7790-6423"},"institutions":[{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]},{"id":"https://openalex.org/I5681781","display_name":"The University of Adelaide","ror":"https://ror.org/00892tw58","country_code":"AU","type":"education","lineage":["https://openalex.org/I5681781"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Ian Reid","raw_affiliation_strings":["Australian Centre for Robotic Vision, University of Adelaide, SA, Australia","University of Adelaide , SA 5005 , Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Australian Centre for Robotic Vision, University of Adelaide, SA, Australia","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I5681781"]},{"raw_affiliation_string":"University of Adelaide , SA 5005 , Australia","institution_ids":["https://openalex.org/I5681781"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5079","last_page":"5085"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994000196456909,"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":0.9994000196456909,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9984999895095825,"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"}},{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9984999895095825,"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/point-cloud","display_name":"Point cloud","score":0.8015123605728149},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7246299982070923},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6977334022521973},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6873550415039062},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.6145612001419067},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.6022500395774841},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5527589917182922},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5182085633277893},{"id":"https://openalex.org/keywords/semantic-mapping","display_name":"Semantic mapping","score":0.4730067849159241},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.45212674140930176},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.39570483565330505},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.13312000036239624},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09633535146713257}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.8015123605728149},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7246299982070923},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6977334022521973},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6873550415039062},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.6145612001419067},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.6022500395774841},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5527589917182922},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5182085633277893},{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.4730067849159241},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.45212674140930176},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.39570483565330505},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.13312000036239624},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09633535146713257},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/iros.2017.8206392","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206392","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:1609.07849","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1609.07849","pdf_url":"https://arxiv.org/pdf/1609.07849","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:2525332525","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/1609.07849.pdf","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":"pmh:oai:digital.library.adelaide.edu.au:2440/111586","is_oa":false,"landing_page_url":"http://hdl.handle.net/2440/111586","pdf_url":null,"source":{"id":"https://openalex.org/S4306401835","display_name":"Adelaide Research & Scholarship (AR&S) (University of Adelaide)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I5681781","host_organization_name":"The University of Adelaide","host_organization_lineage":["https://openalex.org/I5681781"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://dx.doi.org/10.1109/iros.2017.8206392","raw_type":"Conference paper"},{"id":"doi:10.48550/arxiv.1609.07849","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1609.07849","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":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1609.07849","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1609.07849","pdf_url":"https://arxiv.org/pdf/1609.07849","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":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":49,"referenced_works":["https://openalex.org/W801273237","https://openalex.org/W1483870316","https://openalex.org/W1485037422","https://openalex.org/W1536680647","https://openalex.org/W1593286969","https://openalex.org/W1861492603","https://openalex.org/W1866250967","https://openalex.org/W1903029394","https://openalex.org/W1970531977","https://openalex.org/W1999478155","https://openalex.org/W2000321478","https://openalex.org/W2033979122","https://openalex.org/W2056610823","https://openalex.org/W2073700113","https://openalex.org/W2097696373","https://openalex.org/W2102605133","https://openalex.org/W2108134361","https://openalex.org/W2117539524","https://openalex.org/W2119203353","https://openalex.org/W2131946505","https://openalex.org/W2164860858","https://openalex.org/W2167687475","https://openalex.org/W2200884210","https://openalex.org/W2250172176","https://openalex.org/W2251636096","https://openalex.org/W2295862812","https://openalex.org/W2300779272","https://openalex.org/W2339890635","https://openalex.org/W2415351208","https://openalex.org/W2435450765","https://openalex.org/W2460807593","https://openalex.org/W2517064749","https://openalex.org/W2566705929","https://openalex.org/W2580705004","https://openalex.org/W2949295283","https://openalex.org/W2949634581","https://openalex.org/W2951234442","https://openalex.org/W2951548327","https://openalex.org/W2952178720","https://openalex.org/W2953236957","https://openalex.org/W2963288928","https://openalex.org/W2964211168","https://openalex.org/W3106250896","https://openalex.org/W6620707391","https://openalex.org/W6622964371","https://openalex.org/W6639102338","https://openalex.org/W6684666713","https://openalex.org/W6685261749","https://openalex.org/W6718171111"],"related_works":["https://openalex.org/W3102330937","https://openalex.org/W2470820246","https://openalex.org/W3206627047","https://openalex.org/W2612485294","https://openalex.org/W2088287910","https://openalex.org/W2531445035","https://openalex.org/W2901397538","https://openalex.org/W2770840910","https://openalex.org/W570499549","https://openalex.org/W3206916018","https://openalex.org/W186055668","https://openalex.org/W2542744342","https://openalex.org/W3200123592","https://openalex.org/W3140398265","https://openalex.org/W2557654965","https://openalex.org/W3099059139","https://openalex.org/W3212054734","https://openalex.org/W3110824791","https://openalex.org/W3194728812","https://openalex.org/W3016915509"],"abstract_inverted_index":{"For":[0],"intelligent":[1],"robots":[2],"to":[3,29],"interact":[4],"in":[5],"meaningful":[6],"ways":[7],"with":[8],"their":[9],"environment,":[10],"they":[11],"must":[12],"understand":[13],"both":[14,57],"the":[15,21,49],"geometric":[16,40,71],"and":[17,62,83,106],"semantic":[18,42],"properties":[19],"of":[20,27,51,75,79],"scene":[22],"surrounding":[23],"them.":[24],"The":[25],"majority":[26],"research":[28],"date":[30],"has":[31],"addressed":[32],"these":[33,89],"mapping":[34],"challenges":[35],"separately,":[36],"focusing":[37],"on":[38],"either":[39],"or":[41,64],"mapping.":[43],"In":[44],"this":[45],"paper":[46],"we":[47],"address":[48],"problem":[50],"building":[52],"environmental":[53],"maps":[54],"that":[55,87],"include":[56],"semantically":[58],"meaningful,":[59],"object-level":[60],"entities":[61],"point-":[63],"mesh-based":[65],"geometrical":[66],"representations.":[67],"We":[68],"simultaneously":[69],"build":[70],"point":[72],"cloud":[73],"models":[74,91],"previously":[76],"unseen":[77],"instances":[78],"known":[80],"object":[81,90,104],"classes":[82],"create":[84],"a":[85],"map":[86],"contains":[88],"as":[92],"central":[93],"entities.":[94],"Our":[95],"system":[96],"leverages":[97],"sparse,":[98],"feature-based":[99],"RGB-D":[100],"SLAM,":[101],"image-based":[102],"deep-learning":[103],"detection":[105],"3D":[107],"unsupervised":[108],"segmentation.":[109]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":4}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
