{"id":"https://openalex.org/W2950538710","doi":"https://doi.org/10.1109/iros.2018.8594391","title":"Incremental Object Database: Building 3D Models from Multiple Partial Observations","display_name":"Incremental Object Database: Building 3D Models from Multiple Partial Observations","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2950538710","doi":"https://doi.org/10.1109/iros.2018.8594391","mag":"2950538710"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8594391","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594391","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"preprint","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/A5076445011","display_name":"Fadri Furrer","orcid":"https://orcid.org/0000-0002-6070-1760"},"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":true,"raw_author_name":"Fadri Furrer","raw_affiliation_strings":["Autonomous Systems Lab, ETH, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007761314","display_name":"Ton\u010di Novkovi\u0107","orcid":"https://orcid.org/0000-0003-0209-5915"},"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":"Tonci Novkovic","raw_affiliation_strings":["Autonomous Systems Lab, ETH, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029172184","display_name":"Marius Fehr","orcid":"https://orcid.org/0000-0003-3276-4067"},"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":"Marius Fehr","raw_affiliation_strings":["Autonomous Systems Lab, ETH, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027083332","display_name":"Abel Gawel","orcid":"https://orcid.org/0000-0003-2919-4040"},"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":"Abel Gawel","raw_affiliation_strings":["Autonomous Systems Lab, ETH, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028157709","display_name":"Margarita Grinvald","orcid":"https://orcid.org/0000-0003-0253-1801"},"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":"Margarita Grinvald","raw_affiliation_strings":["Autonomous Systems Lab, ETH, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011683384","display_name":"Torsten Sattler","orcid":"https://orcid.org/0000-0001-9760-4553"},"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":"Torsten Sattler","raw_affiliation_strings":["Deparment of Computer Science, ETH, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Deparment of Computer Science, ETH, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083003222","display_name":"Roland Siegwart","orcid":"https://orcid.org/0000-0002-2760-7983"},"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":"Roland Siegwart","raw_affiliation_strings":["Autonomous Systems Lab, ETH, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059792297","display_name":"Juan Nieto","orcid":"https://orcid.org/0000-0003-4808-0831"},"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":"Juan Nieto","raw_affiliation_strings":["Autonomous Systems Lab, ETH, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5076445011"],"corresponding_institution_ids":["https://openalex.org/I35440088"],"apc_list":null,"apc_paid":null,"fwci":5.24918535,"has_fulltext":false,"cited_by_count":34,"citation_normalized_percentile":{"value":0.96227649,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"6835","last_page":"6842"},"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":0.9993000030517578,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9984999895095825,"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/computer-science","display_name":"Computer science","score":0.8211389780044556},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.7595449686050415},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.723396897315979},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6147875189781189},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6104906797409058},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.5762075781822205},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5399430394172668},{"id":"https://openalex.org/keywords/database","display_name":"Database","score":0.3937346339225769},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.3213614225387573}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8211389780044556},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.7595449686050415},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.723396897315979},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6147875189781189},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6104906797409058},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.5762075781822205},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5399430394172668},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.3937346339225769},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.3213614225387573},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2018.8594391","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594391","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.6499999761581421,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W64813323","https://openalex.org/W1509835260","https://openalex.org/W1565402342","https://openalex.org/W1603728330","https://openalex.org/W1953319329","https://openalex.org/W1989625560","https://openalex.org/W1993804695","https://openalex.org/W1999478155","https://openalex.org/W2005756025","https://openalex.org/W2009422376","https://openalex.org/W2020682184","https://openalex.org/W2033998449","https://openalex.org/W2049776679","https://openalex.org/W2067956279","https://openalex.org/W2085261163","https://openalex.org/W2097696373","https://openalex.org/W2160821342","https://openalex.org/W2165830610","https://openalex.org/W2170208355","https://openalex.org/W2201312286","https://openalex.org/W2415351208","https://openalex.org/W2516114310","https://openalex.org/W2559882727","https://openalex.org/W2563685048","https://openalex.org/W2570343428","https://openalex.org/W2607968634","https://openalex.org/W2610207162","https://openalex.org/W2794149315","https://openalex.org/W2962851944","https://openalex.org/W2963150697","https://openalex.org/W2963648573","https://openalex.org/W2973978810","https://openalex.org/W3102129812","https://openalex.org/W3106250896","https://openalex.org/W4233857083","https://openalex.org/W6602631698","https://openalex.org/W6633727509","https://openalex.org/W6636236729","https://openalex.org/W6726273544","https://openalex.org/W6785652829"],"related_works":["https://openalex.org/W2517104666","https://openalex.org/W2005437358","https://openalex.org/W1669643531","https://openalex.org/W2975200075","https://openalex.org/W2008656436","https://openalex.org/W2007544051","https://openalex.org/W2134924024","https://openalex.org/W2023558673","https://openalex.org/W1967061043","https://openalex.org/W2019566805"],"abstract_inverted_index":{"Collecting":[0],"3D":[1,24],"object":[2,33,120,145],"data":[3],"sets":[4],"involves":[5],"a":[6,23,46,51,56,60,80,100,151,169],"large":[7],"amount":[8],"of":[9,19,31,53,68,91,136,153,181],"manual":[10],"work":[11],"and":[12,106,118,125,167,189],"is":[13,85],"time":[14],"consuming.":[15],"Getting":[16],"complete":[17],"models":[18,121,130],"objects":[20,54,183],"either":[21],"requires":[22,64],"scanner":[25],"that":[26,48],"covers":[27],"all":[28],"the":[29,69,73,89,123,137,182],"surfaces":[30],"an":[32],"or":[34],"one":[35,164],"needs":[36],"to":[37,40,116,126,131],"rotate":[38],"it":[39,156],"completely":[41],"observe":[42],"it.":[43],"We":[44,159],"present":[45,71],"system":[47],"incrementally":[49],"builds":[50],"database":[52,140],"as":[55],"mobile":[57],"agent":[58],"traverses":[59],"scene.":[61,74,138],"Our":[62],"approach":[63],"no":[65],"prior":[66],"knowledge":[67],"shapes":[70],"in":[72,99],"Object-like":[75],"segments":[76,96],"are":[77,97],"extracted":[78],"from":[79],"global":[81],"segmentation":[82],"map,":[83],"which":[84],"built":[86],"online":[87],"using":[88],"input":[90],"segmented":[92],"RGB-D":[93],"images.":[94],"These":[95],"stored":[98],"database,":[101],"matched":[102],"among":[103],"each":[104,142],"other,":[105],"merged":[107,129],"with":[108,150,163,179],"other":[109],"previously":[110],"observed":[111],"instances.":[112],"This":[113],"allows":[114],"us":[115],"create":[117],"improve":[119],"on":[122,168],"fly":[124],"use":[127],"these":[128],"reconstruct":[132],"also":[133],"unobserved":[134],"parts":[135],"The":[139],"contains":[141],"(potentially":[143],"merged)":[144],"model":[146],"only":[147],"once,":[148],"together":[149],"set":[152],"poses":[154],"where":[155],"was":[157],"observed.":[158],"evaluate":[160],"our":[161],"pipeline":[162],"public":[165],"dataset,":[166],"newly":[170],"created":[171],"Google":[172],"Tango":[173],"dataset":[174],"containing":[175],"four":[176],"indoor":[177],"scenes":[178],"some":[180],"appearing":[184],"multiple":[185],"times,":[186],"both":[187],"within":[188],"across":[190],"scenes.":[191]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
