{"id":"https://openalex.org/W4389665478","doi":"https://doi.org/10.1109/iros55552.2023.10342071","title":"Baking in the Feature: Accelerating Volumetric Segmentation by Rendering Feature Maps","display_name":"Baking in the Feature: Accelerating Volumetric Segmentation by Rendering Feature Maps","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389665478","doi":"https://doi.org/10.1109/iros55552.2023.10342071"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10342071","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10342071","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5069885247","display_name":"Kenneth Blomqvist","orcid":"https://orcid.org/0000-0002-6897-3795"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Kenneth Blomqvist","raw_affiliation_strings":["Swiss Federal Institute of Technology in,Autonomous Systems Lab,Z&#x00FC;rich,Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Swiss Federal Institute of Technology in,Autonomous Systems Lab,Z&#x00FC;rich,Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033725695","display_name":"Lionel Ott","orcid":"https://orcid.org/0000-0001-6554-0575"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Lionel Ott","raw_affiliation_strings":["Swiss Federal Institute of Technology in,Autonomous Systems Lab,Z&#x00FC;rich,Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Swiss Federal Institute of Technology in,Autonomous Systems Lab,Z&#x00FC;rich,Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009492797","display_name":"Jen Jen Chung","orcid":"https://orcid.org/0000-0001-7828-0741"},"institutions":[{"id":"https://openalex.org/I165143802","display_name":"The University of Queensland","ror":"https://ror.org/00rqy9422","country_code":"AU","type":"education","lineage":["https://openalex.org/I165143802"]},{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["AU","CH"],"is_corresponding":false,"raw_author_name":"Jen Jen Chung","raw_affiliation_strings":["Swiss Federal Institute of Technology in,Autonomous Systems Lab,Z&#x00FC;rich,Switzerland","School of ITEE, The University of Queensland, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Swiss Federal Institute of Technology in,Autonomous Systems Lab,Z&#x00FC;rich,Switzerland","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"School of ITEE, The University of Queensland, Australia","institution_ids":["https://openalex.org/I165143802"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083003222","display_name":"Roland Siegwart","orcid":"https://orcid.org/0000-0002-2760-7983"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Roland Siegwart","raw_affiliation_strings":["Swiss Federal Institute of Technology in,Autonomous Systems Lab,Z&#x00FC;rich,Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Swiss Federal Institute of Technology in,Autonomous Systems Lab,Z&#x00FC;rich,Switzerland","institution_ids":["https://openalex.org/I5124864"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"7629","last_page":"7634"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9994000196456909,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9994000196456909,"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":0.9988999962806702,"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/T10775","display_name":"Generative Adversarial Networks and Image Synthesis","score":0.9983999729156494,"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":0.8209418058395386},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7979591488838196},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.756907045841217},{"id":"https://openalex.org/keywords/rendering","display_name":"Rendering (computer graphics)","score":0.692396879196167},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.6000871658325195},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.596213698387146},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.526913583278656},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.5077829957008362},{"id":"https://openalex.org/keywords/image-segmentation","display_name":"Image segmentation","score":0.5052304863929749},{"id":"https://openalex.org/keywords/pixel","display_name":"Pixel","score":0.5010573863983154},{"id":"https://openalex.org/keywords/radiance","display_name":"Radiance","score":0.476875364780426},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.44377321004867554},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.055867135524749756}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8209418058395386},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7979591488838196},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.756907045841217},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.692396879196167},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.6000871658325195},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.596213698387146},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.526913583278656},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.5077829957008362},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.5052304863929749},{"id":"https://openalex.org/C160633673","wikidata":"https://www.wikidata.org/wiki/Q355198","display_name":"Pixel","level":2,"score":0.5010573863983154},{"id":"https://openalex.org/C23690007","wikidata":"https://www.wikidata.org/wiki/Q1411145","display_name":"Radiance","level":2,"score":0.476875364780426},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.44377321004867554},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.055867135524749756},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","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/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/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros55552.2023.10342071","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10342071","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1861492603","https://openalex.org/W1903029394","https://openalex.org/W2124351162","https://openalex.org/W2471962767","https://openalex.org/W2769833683","https://openalex.org/W2967153639","https://openalex.org/W3034603747","https://openalex.org/W3094502228","https://openalex.org/W3108857005","https://openalex.org/W3109585842","https://openalex.org/W3131310651","https://openalex.org/W3132316063","https://openalex.org/W3159481202","https://openalex.org/W3206993488","https://openalex.org/W3207164068","https://openalex.org/W3207755626","https://openalex.org/W3210613940","https://openalex.org/W3216840732","https://openalex.org/W4221151978","https://openalex.org/W4221155806","https://openalex.org/W4281905095","https://openalex.org/W4308482859","https://openalex.org/W4312433568","https://openalex.org/W4312932121","https://openalex.org/W4312969460","https://openalex.org/W4319299970","https://openalex.org/W4321512561","https://openalex.org/W4321512591","https://openalex.org/W6745749443","https://openalex.org/W6764040762","https://openalex.org/W6784333009","https://openalex.org/W6785344231","https://openalex.org/W6803754133","https://openalex.org/W6804722138","https://openalex.org/W6839087412"],"related_works":["https://openalex.org/W2896728493","https://openalex.org/W2043512367","https://openalex.org/W2392142157","https://openalex.org/W4321518006","https://openalex.org/W2331836163","https://openalex.org/W2005276308","https://openalex.org/W2349443037","https://openalex.org/W1994657804","https://openalex.org/W2347721387","https://openalex.org/W4231554694"],"abstract_inverted_index":{"Methods":[0],"have":[1],"recently":[2],"been":[3],"proposed":[4],"that":[5,120,139],"densely":[6],"segment":[7],"3D":[8],"volumes":[9],"into":[10,98,125],"classes":[11],"using":[12],"only":[13,52],"color":[14],"images":[15],"and":[16,39,109],"expert":[17],"supervision":[18,38],"in":[19,47],"the":[20,54,57,126,130],"form":[21],"of":[22,37,157],"sparse":[23],"semantically":[24],"annotated":[25],"pixels.":[26],"While":[27],"impressive,":[28],"these":[29],"methods":[30,152],"still":[31],"require":[32],"a":[33,99,154],"relatively":[34],"large":[35,83],"amount":[36],"segmenting":[40],"an":[41],"object":[42],"can":[43],"take":[44],"several":[45],"minutes":[46],"practice.":[48],"Such":[49],"systems":[50],"typically":[51],"optimize":[53],"representation":[55,97,124],"on":[56,82,90,111],"scene":[58],"they":[59],"are":[60],"fitting,":[61],"without":[62],"leveraging":[63],"prior":[64],"information":[65],"from":[66,114],"previously":[67],"seen":[68],"images.":[69],"In":[70],"this":[71,95,123],"paper,":[72],"we":[73,128],"propose":[74],"to":[75,86],"use":[76],"features":[77,112],"extracted":[78,113],"with":[79,146],"models":[80],"pre-trained":[81],"existing":[84,151],"datasets":[85],"improve":[87],"segmentation":[88,144],"performance":[89],"novel":[91],"scenes.":[92,158],"We":[93,118],"bake":[94],"feature":[96,107],"Neural":[100],"Radiance":[101],"Field":[102],"(NeRF)":[103],"by":[104,121],"volu-metrically":[105],"rendering":[106],"maps":[108],"supervising":[110],"each":[115],"input":[116],"image.":[117],"show":[119,138],"baking":[122],"NeRF,":[127],"make":[129],"subsequent":[131],"classification":[132],"task":[133],"much":[134],"easier.":[135],"Our":[136],"experiments":[137],"our":[140],"method":[141],"achieves":[142],"higher":[143],"accuracy":[145],"fewer":[147],"semantic":[148],"annotations":[149],"than":[150],"over":[153],"wide":[155],"range":[156]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
