{"id":"https://openalex.org/W4389667251","doi":"https://doi.org/10.1109/iros55552.2023.10342356","title":"ElC-OIS: Ellipsoidal Clustering for Open-World Instance Segmentation on LiDAR Data","display_name":"ElC-OIS: Ellipsoidal Clustering for Open-World Instance Segmentation on LiDAR Data","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389667251","doi":"https://doi.org/10.1109/iros55552.2023.10342356"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10342356","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10342356","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":"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/A5089298010","display_name":"Wenbang Deng","orcid":"https://orcid.org/0000-0002-3928-603X"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenbang Deng","raw_affiliation_strings":["College of Intelligence Science and Technology, National University of Defense Technology,Changsha,China","College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology,Changsha,China","institution_ids":["https://openalex.org/I170215575"]},{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100608030","display_name":"Kaihong Huang","orcid":"https://orcid.org/0000-0002-2424-8524"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kaihong Huang","raw_affiliation_strings":["College of Intelligence Science and Technology, National University of Defense Technology,Changsha,China","College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology,Changsha,China","institution_ids":["https://openalex.org/I170215575"]},{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101195318","display_name":"Qinghua Yu","orcid":null},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qinghua Yu","raw_affiliation_strings":["College of Intelligence Science and Technology, National University of Defense Technology,Changsha,China","College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology,Changsha,China","institution_ids":["https://openalex.org/I170215575"]},{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019035804","display_name":"Huimin Lu","orcid":"https://orcid.org/0000-0001-9794-3221"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huimin Lu","raw_affiliation_strings":["College of Intelligence Science and Technology, National University of Defense Technology,Changsha,China","College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology,Changsha,China","institution_ids":["https://openalex.org/I170215575"]},{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100346729","display_name":"Zhiqiang Zheng","orcid":"https://orcid.org/0000-0003-2656-6689"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiqiang Zheng","raw_affiliation_strings":["College of Intelligence Science and Technology, National University of Defense Technology,Changsha,China","College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology,Changsha,China","institution_ids":["https://openalex.org/I170215575"]},{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032262344","display_name":"Xieyuanli Chen","orcid":"https://orcid.org/0000-0003-0955-6681"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xieyuanli Chen","raw_affiliation_strings":["College of Intelligence Science and Technology, National University of Defense Technology,Changsha,China","College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology,Changsha,China","institution_ids":["https://openalex.org/I170215575"]},{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.9052,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.94207913,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"7606","last_page":"7613"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9991999864578247,"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"}},"topics":[{"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"}},{"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9977999925613403,"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/computer-science","display_name":"Computer science","score":0.8263064622879028},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.7909891605377197},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.7134891152381897},{"id":"https://openalex.org/keywords/cluster-analysis","display_name":"Cluster analysis","score":0.6730953454971313},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.6685003638267517},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6472336053848267},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4639078974723816},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4529132843017578},{"id":"https://openalex.org/keywords/image-segmentation","display_name":"Image segmentation","score":0.4406163990497589},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.42205026745796204},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.41572141647338867},{"id":"https://openalex.org/keywords/segmentation-based-object-categorization","display_name":"Segmentation-based object categorization","score":0.41174501180648804},{"id":"https://openalex.org/keywords/scale-space-segmentation","display_name":"Scale-space segmentation","score":0.40549471974372864},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.32658514380455017},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.08526340126991272}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8263064622879028},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.7909891605377197},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7134891152381897},{"id":"https://openalex.org/C73555534","wikidata":"https://www.wikidata.org/wiki/Q622825","display_name":"Cluster analysis","level":2,"score":0.6730953454971313},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6685003638267517},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6472336053848267},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4639078974723816},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4529132843017578},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.4406163990497589},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.42205026745796204},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.41572141647338867},{"id":"https://openalex.org/C25694479","wikidata":"https://www.wikidata.org/wiki/Q7446278","display_name":"Segmentation-based object categorization","level":5,"score":0.41174501180648804},{"id":"https://openalex.org/C65885262","wikidata":"https://www.wikidata.org/wiki/Q7429708","display_name":"Scale-space segmentation","level":4,"score":0.40549471974372864},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.32658514380455017},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.08526340126991272},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros55552.2023.10342356","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10342356","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":40,"referenced_works":["https://openalex.org/W151377110","https://openalex.org/W2089815405","https://openalex.org/W2132360065","https://openalex.org/W2152845613","https://openalex.org/W2152864241","https://openalex.org/W2157497352","https://openalex.org/W2167387804","https://openalex.org/W2565029242","https://openalex.org/W2600687292","https://openalex.org/W2737444374","https://openalex.org/W2790597870","https://openalex.org/W2991216808","https://openalex.org/W2991512114","https://openalex.org/W3000575179","https://openalex.org/W3003437478","https://openalex.org/W3003651427","https://openalex.org/W3003991701","https://openalex.org/W3080432947","https://openalex.org/W3082486589","https://openalex.org/W3091155238","https://openalex.org/W3134921046","https://openalex.org/W3137532436","https://openalex.org/W3158120491","https://openalex.org/W3161855852","https://openalex.org/W3167522598","https://openalex.org/W3168181468","https://openalex.org/W3168659596","https://openalex.org/W3169200952","https://openalex.org/W3174527233","https://openalex.org/W3177266689","https://openalex.org/W3207776935","https://openalex.org/W3211391682","https://openalex.org/W4206778101","https://openalex.org/W4285109785","https://openalex.org/W4313171305","https://openalex.org/W4313189668","https://openalex.org/W4315783786","https://openalex.org/W4386075951","https://openalex.org/W6637131181","https://openalex.org/W6769247266"],"related_works":["https://openalex.org/W3144569342","https://openalex.org/W2945274617","https://openalex.org/W2185902295","https://openalex.org/W2103507220","https://openalex.org/W2055202857","https://openalex.org/W2371519352","https://openalex.org/W4205800335","https://openalex.org/W2386644571","https://openalex.org/W2372421320","https://openalex.org/W2551987074"],"abstract_inverted_index":{"Open-world":[0],"Instance":[1],"Segmentation":[2],"(OIS)":[3],"is":[4,34,103,124],"a":[5,49,97,120,180],"challenging":[6],"task":[7],"that":[8,59,102,172],"aims":[9],"to":[10,81,106,126,146],"accurately":[11,61],"segment":[12,62],"every":[13],"object":[14],"instance":[15,72,165],"appearing":[16],"in":[17,29,133,183],"the":[18,30,86,107,128,134,138,161],"current":[19,175],"observation,":[20],"regardless":[21],"of":[22,109,116,140,189],"whether":[23],"these":[24,141],"instances":[25,67],"have":[26],"been":[27],"labeled":[28],"training":[31],"set.":[32],"This":[33],"important":[35],"for":[36,55,150],"safety-critical":[37],"applications":[38],"such":[39],"as":[40],"robust":[41],"autonomous":[42],"navigation.":[43],"In":[44],"this":[45],"paper,":[46],"we":[47,95,143],"present":[48],"flexible":[50],"and":[51,65,70,84,112,153],"effective":[52],"OIS":[53],"framework":[54],"LiDAR":[56,110,164],"point":[57],"cloud":[58],"can":[60],"both":[63,151],"known":[64,82,135,152],"unknown":[66,117,154],"(i.e.,":[68],"seen":[69],"unseen":[71],"categories":[73],"during":[74],"training).":[75],"It":[76],"first":[77],"identifies":[78],"points":[79],"belonging":[80],"classes":[83],"removes":[85],"back-ground":[87],"by":[88],"leveraging":[89],"close-set":[90],"panoptic":[91],"segmentation":[92,115,149,166],"networks.":[93],"Then,":[94],"propose":[96],"novel":[98],"ellipsoidal":[99],"clustering":[100],"method":[101,123,159,191],"more":[104],"adapted":[105],"characteristic":[108],"scans":[111],"allows":[113],"precise":[114],"instances.":[118,136,155],"Furthermore,":[119],"diffuse":[121],"searching":[122],"proposed":[125],"handle":[127],"common":[129],"over-segmentation":[130],"problem":[131],"presented":[132],"With":[137],"combination":[139],"techniques,":[142],"are":[144],"able":[145],"achieve":[147],"accurate":[148],"We":[156],"evaluated":[157],"our":[158,190],"on":[160],"SemanticKITTI":[162],"open-world":[163],"dataset.":[167],"The":[168,186],"experimental":[169],"results":[170],"suggest":[171],"it":[173],"outperforms":[174],"state-of-the-art":[176],"methods,":[177],"especially":[178],"with":[179],"10.0%":[181],"improvement":[182],"association":[184],"quality.":[185],"source":[187],"code":[188],"will":[192],"be":[193],"publicly":[194],"available":[195],"at":[196],"https://github.com/nubot-nudt/ElC-OIS.":[197]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}