{"id":"https://openalex.org/W4200354727","doi":"https://doi.org/10.1109/iros51168.2021.9635930","title":"Plane Segmentation Using Depth-Dependent Flood Fill","display_name":"Plane Segmentation Using Depth-Dependent Flood Fill","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W4200354727","doi":"https://doi.org/10.1109/iros51168.2021.9635930"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9635930","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9635930","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 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/A5081883428","display_name":"Arindam RoyChoudhury","orcid":"https://orcid.org/0000-0003-4045-0973"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Arindam Roychoudhury","raw_affiliation_strings":["Humanoid Robots Lab, University of Bonn, Germany"],"affiliations":[{"raw_affiliation_string":"Humanoid Robots Lab, University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058697263","display_name":"Marceli Missura","orcid":null},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Marceli Missura","raw_affiliation_strings":["Humanoid Robots Lab, University of Bonn, Germany"],"affiliations":[{"raw_affiliation_string":"Humanoid Robots Lab, University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103231515","display_name":"Maren Bennewitz","orcid":"https://orcid.org/0000-0003-4343-3028"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Maren Bennewitz","raw_affiliation_strings":["Humanoid Robots Lab, University of Bonn, Germany"],"affiliations":[{"raw_affiliation_string":"Humanoid Robots Lab, University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5081883428"],"corresponding_institution_ids":["https://openalex.org/I135140700"],"apc_list":null,"apc_paid":null,"fwci":2.0858,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.87830897,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"2210","last_page":"2216"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9987999796867371,"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":0.9987999796867371,"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":0.9980000257492065,"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":0.9961000084877014,"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":0.8609961271286011},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7390234470367432},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.7308179140090942},{"id":"https://openalex.org/keywords/pixel","display_name":"Pixel","score":0.6375085115432739},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6364811062812805},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6198756098747253},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.5556617379188538},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.49342718720436096},{"id":"https://openalex.org/keywords/plane","display_name":"Plane (geometry)","score":0.488698273897171},{"id":"https://openalex.org/keywords/image-segmentation","display_name":"Image segmentation","score":0.4737456738948822},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.41029423475265503},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.33667898178100586},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18256184458732605},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.09765446186065674}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.8609961271286011},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7390234470367432},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.7308179140090942},{"id":"https://openalex.org/C160633673","wikidata":"https://www.wikidata.org/wiki/Q355198","display_name":"Pixel","level":2,"score":0.6375085115432739},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6364811062812805},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6198756098747253},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.5556617379188538},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.49342718720436096},{"id":"https://openalex.org/C17825722","wikidata":"https://www.wikidata.org/wiki/Q17285","display_name":"Plane (geometry)","level":2,"score":0.488698273897171},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.4737456738948822},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.41029423475265503},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.33667898178100586},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18256184458732605},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.09765446186065674}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros51168.2021.9635930","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9635930","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.550000011920929,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W13946776","https://openalex.org/W24904180","https://openalex.org/W1519594923","https://openalex.org/W1637459849","https://openalex.org/W1964365496","https://openalex.org/W1994075312","https://openalex.org/W1999889655","https://openalex.org/W2000018820","https://openalex.org/W2041094000","https://openalex.org/W2075690349","https://openalex.org/W2085261163","https://openalex.org/W2108402667","https://openalex.org/W2108569747","https://openalex.org/W2120092048","https://openalex.org/W2150722677","https://openalex.org/W2152864241","https://openalex.org/W2171363519","https://openalex.org/W2172282149","https://openalex.org/W2175812528","https://openalex.org/W2198760274","https://openalex.org/W2437153906","https://openalex.org/W2611946301","https://openalex.org/W2745471877","https://openalex.org/W2792670657","https://openalex.org/W2895040125","https://openalex.org/W2903886717","https://openalex.org/W2905260191","https://openalex.org/W2963710007","https://openalex.org/W2964043193","https://openalex.org/W3127328072","https://openalex.org/W3205872680","https://openalex.org/W6631325901","https://openalex.org/W6636617412"],"related_works":["https://openalex.org/W2899084033","https://openalex.org/W4389574804","https://openalex.org/W3135697610","https://openalex.org/W2085033728","https://openalex.org/W3016928466","https://openalex.org/W4285411112","https://openalex.org/W2936725271","https://openalex.org/W2171299904","https://openalex.org/W3150655618","https://openalex.org/W3108295644"],"abstract_inverted_index":{"The":[0],"detection":[1],"of":[2,16,39,60,69,90,134,149,197,204,207],"planar":[3],"surfaces":[4,20,40],"in":[5,53,94,141,165,177],"a":[6,10,58,66,78,98,160,202,217],"point":[7,50,92],"cloud":[8,51],"is":[9,45],"popular":[11],"technique":[12],"for":[13,22,145],"the":[14,37,49,87,106,138,150,156,169,187,205,210],"extraction":[15,38],"drivable":[17],"or":[18],"walkable":[19],"and":[21,31,131,190,225],"tabletop":[23],"segmentation.":[24],"Unfortunately,":[25],"RGB-D":[26,91],"sensors":[27],"are":[28,123,184],"quite":[29],"noisy":[30],"provide":[32],"incomplete":[33],"data,":[34],"which":[35,56],"makes":[36],"more":[41,193],"challenging.":[42],"Also,":[43],"it":[44],"desirable":[46],"to":[47,96,109,112,137,143,175,186,191],"process":[48],"data":[52],"real":[54,79],"time,":[55],"at":[57,152],"rate":[59],"approximately":[61],"30":[62],"Hz,":[63],"leaves":[64],"only":[65],"small":[67],"amount":[68],"computation":[70],"time":[71],"per":[72],"frame.":[73],"We":[74,158,215],"have":[75],"already":[76],"developed":[77],"time-capable":[80],"plane":[81,163],"segmentation":[82,211],"method":[83],"[1]":[84],"that":[85,183],"exploits":[86],"organized":[88],"structure":[89],"clouds":[93],"order":[95,142],"implement":[97,192],"computationally":[99],"efficient":[100],"region":[101],"growing":[102],"algorithm.":[103],"It":[104],"uses":[105],"point-plane":[107],"distance":[108],"assign":[110],"points":[111,151],"their":[113],"segments":[114],"rather":[115],"than":[116],"inherently":[117],"unreliable":[118],"surface":[119],"normals.":[120],"Now":[121],"we":[122,128],"presenting":[124],"an":[125,146],"improvement":[126],"where":[127],"adapt":[129],"thresholds":[130],"other":[132,226],"parameters":[133],"our":[135,208,220,222],"algorithm":[136],"measured":[139,170,188],"depth":[140,189],"account":[144],"increasing":[147],"scatter":[148],"larger":[153,181],"distances":[154],"from":[155,201],"camera.":[157],"estimate":[159],"minimum":[161],"detectable":[162],"size":[164],"pixels":[166],"dependent":[167],"on":[168,230],"depth.":[171],"This":[172],"enables":[173],"us":[174],"stride":[176],"pixel":[178],"coordinates":[179],"with":[180],"steps":[182],"adaptive":[185],"robust":[194],"sanity":[195],"checks":[196],"depth-dependent":[198],"size.":[199],"Apart":[200],"speed-up":[203],"runtime":[206],"algorithm,":[209],"quality":[212],"also":[213],"increased.":[214],"show":[216],"comparison":[218],"between":[219],"improvement,":[221],"previous":[223],"version,":[224],"state-of-the-art":[227],"methods":[228],"evaluated":[229],"multiple":[231],"commonly":[232],"available":[233],"datasets.":[234]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}