{"id":"https://openalex.org/W3133385195","doi":"https://doi.org/10.1109/iros45743.2020.9340870","title":"Multi-Task Deep Learning for Depth-based Person Perception in Mobile Robotics","display_name":"Multi-Task Deep Learning for Depth-based Person Perception in Mobile Robotics","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3133385195","doi":"https://doi.org/10.1109/iros45743.2020.9340870","mag":"3133385195"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9340870","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9340870","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 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/A5077353311","display_name":"Daniel Seichter","orcid":"https://orcid.org/0000-0002-3828-2926"},"institutions":[{"id":"https://openalex.org/I119449181","display_name":"Technische Universit\u00e4t Ilmenau","ror":"https://ror.org/01weqhp73","country_code":"DE","type":"education","lineage":["https://openalex.org/I119449181"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Daniel Seichter","raw_affiliation_strings":["Neuroinformatics and Cognitive Robotics Lab, Technische Universit\u00a4at Ilmenau, Ilmenau, Germany"],"affiliations":[{"raw_affiliation_string":"Neuroinformatics and Cognitive Robotics Lab, Technische Universit\u00a4at Ilmenau, Ilmenau, Germany","institution_ids":["https://openalex.org/I119449181"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079049282","display_name":"Benjamin Lewandowski","orcid":null},"institutions":[{"id":"https://openalex.org/I119449181","display_name":"Technische Universit\u00e4t Ilmenau","ror":"https://ror.org/01weqhp73","country_code":"DE","type":"education","lineage":["https://openalex.org/I119449181"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Benjamin Lewandowski","raw_affiliation_strings":["Neuroinformatics and Cognitive Robotics Lab, Technische Universit\u00a4at Ilmenau, Ilmenau, Germany"],"affiliations":[{"raw_affiliation_string":"Neuroinformatics and Cognitive Robotics Lab, Technische Universit\u00a4at Ilmenau, Ilmenau, Germany","institution_ids":["https://openalex.org/I119449181"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078649794","display_name":"Dominik Hochemer","orcid":null},"institutions":[{"id":"https://openalex.org/I119449181","display_name":"Technische Universit\u00e4t Ilmenau","ror":"https://ror.org/01weqhp73","country_code":"DE","type":"education","lineage":["https://openalex.org/I119449181"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dominik Hochemer","raw_affiliation_strings":["Neuroinformatics and Cognitive Robotics Lab, Technische Universit\u00a4at Ilmenau, Ilmenau, Germany"],"affiliations":[{"raw_affiliation_string":"Neuroinformatics and Cognitive Robotics Lab, Technische Universit\u00a4at Ilmenau, Ilmenau, Germany","institution_ids":["https://openalex.org/I119449181"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036688169","display_name":"Tim Wengefeld","orcid":null},"institutions":[{"id":"https://openalex.org/I119449181","display_name":"Technische Universit\u00e4t Ilmenau","ror":"https://ror.org/01weqhp73","country_code":"DE","type":"education","lineage":["https://openalex.org/I119449181"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Tim Wengefeld","raw_affiliation_strings":["Neuroinformatics and Cognitive Robotics Lab, Technische Universit\u00a4at Ilmenau, Ilmenau, Germany"],"affiliations":[{"raw_affiliation_string":"Neuroinformatics and Cognitive Robotics Lab, Technische Universit\u00a4at Ilmenau, Ilmenau, Germany","institution_ids":["https://openalex.org/I119449181"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075114390","display_name":"Horst\u2013Michael Gro\u00df","orcid":"https://orcid.org/0000-0001-9712-0225"},"institutions":[{"id":"https://openalex.org/I119449181","display_name":"Technische Universit\u00e4t Ilmenau","ror":"https://ror.org/01weqhp73","country_code":"DE","type":"education","lineage":["https://openalex.org/I119449181"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Horst-Michael Gross","raw_affiliation_strings":["Neuroinformatics and Cognitive Robotics Lab, Technische Universit\u00a4at Ilmenau, Ilmenau, Germany"],"affiliations":[{"raw_affiliation_string":"Neuroinformatics and Cognitive Robotics Lab, Technische Universit\u00a4at Ilmenau, Ilmenau, Germany","institution_ids":["https://openalex.org/I119449181"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5077353311"],"corresponding_institution_ids":["https://openalex.org/I119449181"],"apc_list":null,"apc_paid":null,"fwci":0.8793,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.77172817,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"10497","last_page":"10504"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9998999834060669,"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"}},{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9987000226974487,"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":0.8112730979919434},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.741805911064148},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6952974200248718},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.5669757127761841},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5558938980102539},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.5542669296264648},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.532896876335144},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5236789584159851},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.49083858728408813},{"id":"https://openalex.org/keywords/task-analysis","display_name":"Task analysis","score":0.47848623991012573},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.4579107165336609},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4520856440067291},{"id":"https://openalex.org/keywords/mobile-device","display_name":"Mobile device","score":0.42424076795578003},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3533242642879486},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3310585021972656},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.08832895755767822}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8112730979919434},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.741805911064148},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6952974200248718},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.5669757127761841},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5558938980102539},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.5542669296264648},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.532896876335144},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5236789584159851},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.49083858728408813},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.47848623991012573},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4579107165336609},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4520856440067291},{"id":"https://openalex.org/C186967261","wikidata":"https://www.wikidata.org/wiki/Q5082128","display_name":"Mobile device","level":2,"score":0.42424076795578003},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3533242642879486},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3310585021972656},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.08832895755767822},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros45743.2020.9340870","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9340870","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":68,"referenced_works":["https://openalex.org/W582134693","https://openalex.org/W639708223","https://openalex.org/W1522301498","https://openalex.org/W1536680647","https://openalex.org/W1686810756","https://openalex.org/W1896424170","https://openalex.org/W2044339004","https://openalex.org/W2077513643","https://openalex.org/W2099570340","https://openalex.org/W2110750157","https://openalex.org/W2161969291","https://openalex.org/W2168195382","https://openalex.org/W2168356304","https://openalex.org/W2275395544","https://openalex.org/W2302255633","https://openalex.org/W2515603221","https://openalex.org/W2549139847","https://openalex.org/W2549143551","https://openalex.org/W2559085405","https://openalex.org/W2583585015","https://openalex.org/W2607613081","https://openalex.org/W2613718673","https://openalex.org/W2617039999","https://openalex.org/W2624871570","https://openalex.org/W2738279610","https://openalex.org/W2739384622","https://openalex.org/W2765534921","https://openalex.org/W2767434619","https://openalex.org/W2796347433","https://openalex.org/W2905699341","https://openalex.org/W2913340405","https://openalex.org/W2920951410","https://openalex.org/W2955425717","https://openalex.org/W2962743139","https://openalex.org/W2962835968","https://openalex.org/W2962962024","https://openalex.org/W2963150697","https://openalex.org/W2963163009","https://openalex.org/W2963377935","https://openalex.org/W2963430933","https://openalex.org/W2963479781","https://openalex.org/W2963498646","https://openalex.org/W2963677766","https://openalex.org/W2963877604","https://openalex.org/W2964059111","https://openalex.org/W2964121744","https://openalex.org/W2968214893","https://openalex.org/W2969125763","https://openalex.org/W2970971581","https://openalex.org/W2981089360","https://openalex.org/W3003772167","https://openalex.org/W3004200304","https://openalex.org/W4293584584","https://openalex.org/W4295312788","https://openalex.org/W6617145748","https://openalex.org/W6620707391","https://openalex.org/W6631190155","https://openalex.org/W6637373629","https://openalex.org/W6639495226","https://openalex.org/W6698183232","https://openalex.org/W6738279954","https://openalex.org/W6738491513","https://openalex.org/W6739365718","https://openalex.org/W6745995898","https://openalex.org/W6749781174","https://openalex.org/W6750227808","https://openalex.org/W6762718338","https://openalex.org/W6766978945"],"related_works":["https://openalex.org/W1508899372","https://openalex.org/W3034529322","https://openalex.org/W2039460805","https://openalex.org/W4250956039","https://openalex.org/W2113597336","https://openalex.org/W2115913271","https://openalex.org/W4240485100","https://openalex.org/W2155505549","https://openalex.org/W2357479218","https://openalex.org/W1819546284"],"abstract_inverted_index":{"Efficient":[0],"and":[1,48,89,111,137,151,171,181],"robust":[2],"person":[3,25,79],"perception":[4,61],"is":[5,56,194],"one":[6],"of":[7,82,142,187],"the":[8,102,113,120,161,199],"most":[9],"basic":[10],"skills":[11],"a":[12,52,75,83,97,125,133,182],"mobile":[13,53],"robot":[14],"must":[15],"have":[16],"to":[17,24,40,58,131,146,165,198],"ensure":[18],"intuitive":[19],"human-machine":[20],"interaction.":[21],"In":[22],"addition":[23],"detection,":[26],"this":[27],"also":[28],"includes":[29],"estimating":[30],"various":[31,148],"attributes,":[32],"like":[33],"posture":[34],"or":[35],"body":[36,109,115],"orientation,":[37],"in":[38,144],"order":[39,145],"achieve":[41],"user-adaptive":[42],"behavior.":[43],"However,":[44],"given":[45],"limited":[46],"computing":[47],"battery":[49],"capabilities":[50],"on":[51],"robot,":[54],"it":[55],"inefficient":[57],"solve":[59],"all":[60],"tasks":[62],"separately,":[63],"especially":[64],"when":[65],"using":[66],"computationally":[67],"expensive":[68],"deep":[69,93],"neural":[70,94],"networks.":[71],"Therefore,":[72],"we":[73,173],"propose":[74],"multi-task":[76,135,158],"system":[77,103],"for":[78,178],"perception,":[80],"comprising":[81],"fast,":[84],"depth-":[85],"based":[86],"region":[87],"proposal":[88],"an":[90,139,175],"efficient,":[91],"lightweight":[92],"network.":[95,127],"Using":[96],"single":[98],"network":[99,149],"forward":[100],"pass,":[101],"simultaneously":[104],"detects":[105],"persons,":[106],"classifies":[107],"their":[108,166],"postures,":[110],"estimates":[112],"upper":[114],"orientations":[116],"while":[117],"retaining":[118],"almost":[119],"same":[121],"computation":[122],"time":[123],"as":[124],"single-task":[126,167],"We":[128,154],"describe":[129],"how":[130],"handle":[132],"real-world":[134],"scenario":[136],"conduct":[138],"extensive":[140],"series":[141],"experiments":[143],"compare":[147],"architectures":[150],"task":[152],"weightings.":[153],"further":[155],"show":[156],"that":[157,193],"learning":[159],"improves":[160],"networks'":[162],"performance":[163],"compared":[164],"baselines.":[168],"For":[169],"training":[170],"evaluation,":[172],"combine":[174],"existing":[176],"dataset":[177],"orientation":[179],"estimation":[180],"new,":[183],"self-recorded":[184],"dataset,":[185],"consisting":[186],"more":[188],"than":[189],"235,000":[190],"depth":[191],"patches":[192],"made":[195],"publicly":[196],"available":[197],"research":[200],"community.":[201]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}