{"id":"https://openalex.org/W4200430846","doi":"https://doi.org/10.1109/iros51168.2021.9636318","title":"Unsupervised Traffic Scene Generation with Synthetic 3D Scene Graphs","display_name":"Unsupervised Traffic Scene Generation with Synthetic 3D Scene Graphs","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W4200430846","doi":"https://doi.org/10.1109/iros51168.2021.9636318"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9636318","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636318","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":"conference-paper","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2303.08473","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5071554545","display_name":"Artem Savkin","orcid":"https://orcid.org/0000-0002-4767-7153"},"institutions":[{"id":"https://openalex.org/I1283382300","display_name":"BMW (Germany)","ror":"https://ror.org/05vs9tj88","country_code":"DE","type":"company","lineage":["https://openalex.org/I1283382300","https://openalex.org/I4210156768"]},{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Artem Savkin","raw_affiliation_strings":["BMW AG, Munich, Germany","TUM, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"BMW AG, Munich, Germany","institution_ids":["https://openalex.org/I1283382300"]},{"raw_affiliation_string":"TUM, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008507533","display_name":"Rachid Ellouze","orcid":null},"institutions":[{"id":"https://openalex.org/I1283382300","display_name":"BMW (Germany)","ror":"https://ror.org/05vs9tj88","country_code":"DE","type":"company","lineage":["https://openalex.org/I1283382300","https://openalex.org/I4210156768"]},{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Rachid Ellouze","raw_affiliation_strings":["BMW AG, Munich, Germany","TUM, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"BMW AG, Munich, Germany","institution_ids":["https://openalex.org/I1283382300"]},{"raw_affiliation_string":"TUM, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046896448","display_name":"Nassir Navab","orcid":"https://orcid.org/0000-0002-6032-5611"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]},{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"Nassir Navab","raw_affiliation_strings":["JHU, Baltimore, MD, United States","TUM, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"JHU, Baltimore, MD, United States","institution_ids":["https://openalex.org/I145311948"]},{"raw_affiliation_string":"TUM, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041092666","display_name":"Federico Tombari","orcid":"https://orcid.org/0000-0001-5598-5212"},"institutions":[{"id":"https://openalex.org/I4210100430","display_name":"Google (Switzerland)","ror":"https://ror.org/014f9c269","country_code":"CH","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210100430","https://openalex.org/I4210128969"]},{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["CH","DE"],"is_corresponding":false,"raw_author_name":"Federico Tombari","raw_affiliation_strings":["Google, Zurich, Switzerland","TUM, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Google, Zurich, Switzerland","institution_ids":["https://openalex.org/I4210100430"]},{"raw_affiliation_string":"TUM, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":12,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1229","last_page":"1235"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10775","display_name":"Generative Adversarial Networks and Image Synthesis","score":0.9995999932289124,"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/T10775","display_name":"Generative Adversarial Networks and Image Synthesis","score":0.9995999932289124,"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/T10481","display_name":"Computer Graphics and Visualization Techniques","score":0.9980000257492065,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"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/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9936000108718872,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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":0.7941855192184448},{"id":"https://openalex.org/keywords/rendering","display_name":"Rendering (computer graphics)","score":0.7890354990959167},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6734092235565186},{"id":"https://openalex.org/keywords/synthetic-data","display_name":"Synthetic data","score":0.6007102131843567},{"id":"https://openalex.org/keywords/view-synthesis","display_name":"View synthesis","score":0.5218545198440552},{"id":"https://openalex.org/keywords/graphics","display_name":"Graphics","score":0.5061172842979431},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5050962567329407},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4636105000972748},{"id":"https://openalex.org/keywords/image-synthesis","display_name":"Image synthesis","score":0.4600098133087158},{"id":"https://openalex.org/keywords/image-based-modeling-and-rendering","display_name":"Image-based modeling and rendering","score":0.4459567070007324},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics","score":0.4416516125202179},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.43323153257369995},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.4175899028778076},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.35232603549957275},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.2678014636039734}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7941855192184448},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.7890354990959167},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6734092235565186},{"id":"https://openalex.org/C160920958","wikidata":"https://www.wikidata.org/wiki/Q7662746","display_name":"Synthetic data","level":2,"score":0.6007102131843567},{"id":"https://openalex.org/C2776449333","wikidata":"https://www.wikidata.org/wiki/Q7928781","display_name":"View synthesis","level":3,"score":0.5218545198440552},{"id":"https://openalex.org/C21442007","wikidata":"https://www.wikidata.org/wiki/Q1027879","display_name":"Graphics","level":2,"score":0.5061172842979431},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5050962567329407},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4636105000972748},{"id":"https://openalex.org/C2989087649","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Image synthesis","level":3,"score":0.4600098133087158},{"id":"https://openalex.org/C44185422","wikidata":"https://www.wikidata.org/wiki/Q6002064","display_name":"Image-based modeling and rendering","level":3,"score":0.4459567070007324},{"id":"https://openalex.org/C77660652","wikidata":"https://www.wikidata.org/wiki/Q150971","display_name":"Computer graphics","level":2,"score":0.4416516125202179},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.43323153257369995},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4175899028778076},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.35232603549957275},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.2678014636039734},{"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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros51168.2021.9636318","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636318","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"},{"id":"pmh:oai:arXiv.org:2303.08473","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2303.08473","pdf_url":"https://arxiv.org/pdf/2303.08473","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2303.08473","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2303.08473","pdf_url":"https://arxiv.org/pdf/2303.08473","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.6200000047683716,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320323803","display_name":"Bundesministerium f\u00fcr Wirtschaft und Energie","ror":"https://ror.org/02vgg2808"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4200430846.pdf","grobid_xml":"https://content.openalex.org/works/W4200430846.grobid-xml"},"referenced_works_count":57,"referenced_works":["https://openalex.org/W1493730910","https://openalex.org/W2037227137","https://openalex.org/W2077069816","https://openalex.org/W2152790380","https://openalex.org/W2277195237","https://openalex.org/W2340897893","https://openalex.org/W2397830550","https://openalex.org/W2431874326","https://openalex.org/W2615547864","https://openalex.org/W2629538667","https://openalex.org/W2767011576","https://openalex.org/W2780351918","https://openalex.org/W2786559811","https://openalex.org/W2787928077","https://openalex.org/W2897093520","https://openalex.org/W2950776302","https://openalex.org/W2952716587","https://openalex.org/W2962793481","https://openalex.org/W2962974533","https://openalex.org/W2963073614","https://openalex.org/W2963184176","https://openalex.org/W2963373786","https://openalex.org/W2963444790","https://openalex.org/W2963522749","https://openalex.org/W2963800363","https://openalex.org/W2963840672","https://openalex.org/W2963890275","https://openalex.org/W2964024144","https://openalex.org/W2964047820","https://openalex.org/W2987919422","https://openalex.org/W3005680577","https://openalex.org/W3016101116","https://openalex.org/W3016121695","https://openalex.org/W3035574324","https://openalex.org/W3108316907","https://openalex.org/W4244473079","https://openalex.org/W4295521014","https://openalex.org/W4295719664","https://openalex.org/W4296979096","https://openalex.org/W4320013936","https://openalex.org/W6682948231","https://openalex.org/W6696085341","https://openalex.org/W6712616374","https://openalex.org/W6718379498","https://openalex.org/W6729482032","https://openalex.org/W6735913928","https://openalex.org/W6737769214","https://openalex.org/W6739930931","https://openalex.org/W6745935785","https://openalex.org/W6748312029","https://openalex.org/W6748733227","https://openalex.org/W6750298367","https://openalex.org/W6755271026","https://openalex.org/W6755312952","https://openalex.org/W6774314701","https://openalex.org/W6776110894","https://openalex.org/W6780903180"],"related_works":["https://openalex.org/W2539134624","https://openalex.org/W2611780867","https://openalex.org/W4200370824","https://openalex.org/W2073038808","https://openalex.org/W2181483861","https://openalex.org/W4386076254","https://openalex.org/W4353007366","https://openalex.org/W2731344982","https://openalex.org/W2139363746","https://openalex.org/W3035116386"],"abstract_inverted_index":{"Image":[0],"synthesis":[1],"driven":[2],"by":[3],"computer":[4],"graphics":[5],"achieved":[6],"recently":[7],"a":[8,19,38,52],"remarkable":[9],"realism,":[10],"yet":[11],"synthetic":[12,44,71,92],"image":[13],"data":[14,45],"generated":[15],"this":[16],"way":[17],"reveals":[18],"significant":[20],"domain":[21],"gap":[22],"with":[23,95],"respect":[24],"to":[25,59],"real-world":[26],"data.":[27],"This":[28],"is":[29],"especially":[30],"true":[31],"in":[32],"autonomous":[33],"driving":[34],"scenarios,":[35],"which":[36],"represent":[37],"critical":[39],"aspect":[40],"for":[41,46,85],"over-coming":[42],"utilizing":[43],"training":[47],"neural":[48,82],"networks.":[49],"We":[50,90],"propose":[51],"method":[53],"based":[54],"on":[55,70],"domain-invariant":[56],"scene":[57,63,72,88,93,100,109],"representation":[58,77],"directly":[60],"synthesize":[61],"traffic":[62,87],"imagery":[64],"without":[65],"rendering.":[66],"Specifically,":[67],"we":[68],"rely":[69],"graphs":[73,94],"as":[74],"our":[75,106],"internal":[76],"and":[78,101],"introduce":[79],"an":[80],"unsupervised":[81],"network":[83],"architecture":[84],"realistic":[86],"synthesis.":[89],"enhance":[91],"spatial":[96],"information":[97],"about":[98],"the":[99,103],"demonstrate":[102],"effectiveness":[104],"of":[105],"approach":[107],"through":[108],"manipulation.":[110]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":5}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}