{"id":"https://openalex.org/W3129596473","doi":"https://doi.org/10.1109/iros45743.2020.9341228","title":"A Bottom-up Framework for Construction of Structured Semantic 3D Scene Graph","display_name":"A Bottom-up Framework for Construction of Structured Semantic 3D Scene Graph","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3129596473","doi":"https://doi.org/10.1109/iros45743.2020.9341228","mag":"3129596473"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341228","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341228","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/A5018242998","display_name":"Bangguo Yu","orcid":"https://orcid.org/0000-0001-9423-8885"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bangguo Yu","raw_affiliation_strings":["Shandong University,School of Control Science and Engineering,Jinan,P.R. China,250061"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shandong University,School of Control Science and Engineering,Jinan,P.R. China,250061","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006515067","display_name":"Chongyu Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chongyu Chen","raw_affiliation_strings":["DarkMatter AI Research,Guangzhou,P.R. China,511458"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DarkMatter AI Research,Guangzhou,P.R. China,511458","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085317250","display_name":"Fengyu Zhou","orcid":"https://orcid.org/0000-0001-5140-7036"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fengyu Zhou","raw_affiliation_strings":["Shandong University,School of Control Science and Engineering,Jinan,P.R. China,250061"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shandong University,School of Control Science and Engineering,Jinan,P.R. China,250061","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102863597","display_name":"Fang Wan","orcid":"https://orcid.org/0000-0003-1198-3551"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fang Wan","raw_affiliation_strings":["Shandong University,School of Control Science and Engineering,Jinan,P.R. China,250061"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shandong University,School of Control Science and Engineering,Jinan,P.R. China,250061","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080238029","display_name":"Wenmi Zhuang","orcid":null},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenmi Zhuang","raw_affiliation_strings":["Shandong University,School of Control Science and Engineering,Jinan,P.R. China,250061"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shandong University,School of Control Science and Engineering,Jinan,P.R. China,250061","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026250307","display_name":"Yang Zhao","orcid":"https://orcid.org/0000-0001-7809-6514"},"institutions":[{"id":"https://openalex.org/I152269853","display_name":"Qilu University of Technology","ror":"https://ror.org/04hyzq608","country_code":"CN","type":"education","lineage":["https://openalex.org/I152269853"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Zhao","raw_affiliation_strings":["Qilu University of Technology (Shandong academy of sciences),School of Electrical Engineering and Automation,Jinan,P.R. China,250353"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Qilu University of Technology (Shandong academy of sciences),School of Electrical Engineering and Automation,Jinan,P.R. China,250353","institution_ids":["https://openalex.org/I152269853"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.4895,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.67588946,"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":"8224","last_page":"8230"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","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/T11714","display_name":"Multimodal Machine Learning Applications","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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9993000030517578,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9991999864578247,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8477984666824341},{"id":"https://openalex.org/keywords/scene-graph","display_name":"Scene graph","score":0.8273836374282837},{"id":"https://openalex.org/keywords/parsing","display_name":"Parsing","score":0.7558790445327759},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.6413506269454956},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5975679755210876},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5935312509536743},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.570262610912323},{"id":"https://openalex.org/keywords/prior-probability","display_name":"Prior probability","score":0.5695391297340393},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.5516409277915955},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.49015936255455017},{"id":"https://openalex.org/keywords/semantics","display_name":"Semantics (computer science)","score":0.4451446235179901},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.4102165102958679},{"id":"https://openalex.org/keywords/natural-language-processing","display_name":"Natural language processing","score":0.3826982378959656},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.35967355966567993},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.34920692443847656},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3436574637889862},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.1721307933330536},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.11711856722831726},{"id":"https://openalex.org/keywords/bayesian-probability","display_name":"Bayesian probability","score":0.10802331566810608},{"id":"https://openalex.org/keywords/rendering","display_name":"Rendering (computer graphics)","score":0.09382385015487671}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8477984666824341},{"id":"https://openalex.org/C179372163","wikidata":"https://www.wikidata.org/wiki/Q1406181","display_name":"Scene graph","level":3,"score":0.8273836374282837},{"id":"https://openalex.org/C186644900","wikidata":"https://www.wikidata.org/wiki/Q194152","display_name":"Parsing","level":2,"score":0.7558790445327759},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.6413506269454956},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5975679755210876},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5935312509536743},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.570262610912323},{"id":"https://openalex.org/C177769412","wikidata":"https://www.wikidata.org/wiki/Q278090","display_name":"Prior probability","level":3,"score":0.5695391297340393},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5516409277915955},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.49015936255455017},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.4451446235179901},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.4102165102958679},{"id":"https://openalex.org/C204321447","wikidata":"https://www.wikidata.org/wiki/Q30642","display_name":"Natural language processing","level":1,"score":0.3826982378959656},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.35967355966567993},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.34920692443847656},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3436574637889862},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.1721307933330536},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.11711856722831726},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.10802331566810608},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.09382385015487671},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros45743.2020.9341228","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341228","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":[{"score":0.4699999988079071,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W639708223","https://openalex.org/W1612997784","https://openalex.org/W2020762599","https://openalex.org/W2077069816","https://openalex.org/W2099972257","https://openalex.org/W2115499947","https://openalex.org/W2277195237","https://openalex.org/W2411093439","https://openalex.org/W2565233142","https://openalex.org/W2796347433","https://openalex.org/W2798622261","https://openalex.org/W2887564721","https://openalex.org/W2919379406","https://openalex.org/W2950989657","https://openalex.org/W2963150791","https://openalex.org/W2963536419","https://openalex.org/W2963938081","https://openalex.org/W2967353954","https://openalex.org/W2990129662","https://openalex.org/W2990222759","https://openalex.org/W2990666075","https://openalex.org/W3102330937","https://openalex.org/W3103648783","https://openalex.org/W3104842437","https://openalex.org/W4205969993","https://openalex.org/W4293584584","https://openalex.org/W6750227808"],"related_works":["https://openalex.org/W2580650124","https://openalex.org/W4386190339","https://openalex.org/W2968424575","https://openalex.org/W3142333283","https://openalex.org/W3122088529","https://openalex.org/W2085259108","https://openalex.org/W2754155766","https://openalex.org/W2963192850","https://openalex.org/W4287854977","https://openalex.org/W2769151336"],"abstract_inverted_index":{"For":[0],"high-level":[1,174],"human-robot":[2,175],"interaction":[3,176],"tasks,":[4],"3D":[5,24,35,68,90,104],"scene":[6,25,57,69,91,126,145],"understanding":[7],"is":[8,26,140,165],"important":[9],"and":[10,17,37,56,64,77,100,123,162],"non-trivial":[11],"for":[12,41,62,88],"autonomous":[13],"robots.":[14],"However,":[15],"parsing":[16,63],"utilizing":[18],"effective":[19],"environment":[20,36,106],"information":[21,76,122],"of":[22,33,66,102,160],"the":[23,31,34,38,59,67,97,103,111,120,130,144,151,169,185],"not":[27],"trivial":[28],"due":[29],"to":[30,72,118,128,142,167,173],"complexity":[32],"limited":[39],"ability":[40],"reasoning":[42],"about":[43],"our":[44],"visual":[45,116],"world.":[46],"Although":[47],"there":[48],"have":[49],"been":[50],"great":[51],"efforts":[52],"on":[53],"semantic":[54,75,121],"detection":[55],"analysis,":[58],"existing":[60,156],"solutions":[61],"representation":[65],"still":[70],"fail":[71],"preserve":[73],"accurate":[74],"equip":[78],"sufficient":[79],"applicability.":[80],"This":[81],"study":[82],"proposes":[83],"a":[84,163],"bottomup":[85],"construction":[86],"framework":[87,153],"structured":[89,108],"graph":[92],"generation,":[93],"which":[94],"efficiently":[95],"describes":[96],"objects,":[98],"relations":[99],"attributes":[101],"indoor":[105],"with":[107],"representation.":[109],"In":[110],"proposed":[112,152],"method,":[113],"we":[114],"adopt":[115],"perception":[117],"capture":[119],"inference":[124],"from":[125],"priors":[127],"calculate":[129],"optimal":[131],"parse":[132],"graph.":[133],"Afterwards,":[134],"an":[135],"improved":[136],"probabilistic":[137],"grammar":[138],"model":[139],"used":[141],"represent":[143],"priors.":[146],"Experiment":[147],"results":[148],"demonstrate":[149],"that":[150],"significantly":[154],"outperforms":[155],"methods":[157],"in":[158,171],"terms":[159],"accuracy,":[161],"demonstration":[164],"provided":[166],"verify":[168],"applicability":[170],"applying":[172],"tasks.":[177],"The":[178],"supplementary":[179],"video":[180],"can":[181],"be":[182],"accessed":[183],"at":[184],"following":[186],"link:":[187],"https://youtu.be/vEWNxnSwmKI.":[188]},"counts_by_year":[{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
