{"id":"https://openalex.org/W4405785238","doi":"https://doi.org/10.1109/iros58592.2024.10801841","title":"OV-MAP : Open-Vocabulary Zero-Shot 3D Instance Segmentation Map for Robots","display_name":"OV-MAP : Open-Vocabulary Zero-Shot 3D Instance Segmentation Map for Robots","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405785238","doi":"https://doi.org/10.1109/iros58592.2024.10801841"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10801841","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801841","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2506.11585","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5024866431","display_name":"Juno Kim","orcid":"https://orcid.org/0000-0003-1300-9875"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Juno Kim","raw_affiliation_strings":["Seoul National University,Interdisciplinary Program in AI"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Seoul National University,Interdisciplinary Program in AI","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yesol Park","orcid":null},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Yesol Park","raw_affiliation_strings":["Seoul National University,Interdisciplinary Program in AI"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Seoul National University,Interdisciplinary Program in AI","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009471318","display_name":"Hye\u2010Jung Yoon","orcid":"https://orcid.org/0000-0002-3534-3295"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hye-Jung Yoon","raw_affiliation_strings":["Seoul National University,Interdisciplinary Program in AI"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Seoul National University,Interdisciplinary Program in AI","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102414288","display_name":"Byoung-Tak Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Byoung-Tak Zhang","raw_affiliation_strings":["Seoul National University,Interdisciplinary Program in AI"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Seoul National University,Interdisciplinary Program in AI","institution_ids":["https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.3287,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.58325574,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"13780","last_page":"13786"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9988999962806702,"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"}},"topics":[{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9988999962806702,"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"}},{"id":"https://openalex.org/T14339","display_name":"Image Processing and 3D Reconstruction","score":0.9962999820709229,"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":0.9957000017166138,"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":0.6835047006607056},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6096941232681274},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.607010006904602},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5858343839645386},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5579532384872437},{"id":"https://openalex.org/keywords/shot","display_name":"Shot (pellet)","score":0.5142611861228943},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4837374985218048},{"id":"https://openalex.org/keywords/zero","display_name":"Zero (linguistics)","score":0.46470847725868225},{"id":"https://openalex.org/keywords/image-segmentation","display_name":"Image segmentation","score":0.4419138431549072},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.05448922514915466}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6835047006607056},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6096941232681274},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.607010006904602},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5858343839645386},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5579532384872437},{"id":"https://openalex.org/C2778344882","wikidata":"https://www.wikidata.org/wiki/Q278938","display_name":"Shot (pellet)","level":2,"score":0.5142611861228943},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4837374985218048},{"id":"https://openalex.org/C2780813799","wikidata":"https://www.wikidata.org/wiki/Q3274237","display_name":"Zero (linguistics)","level":2,"score":0.46470847725868225},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.4419138431549072},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.05448922514915466},{"id":"https://openalex.org/C191897082","wikidata":"https://www.wikidata.org/wiki/Q11467","display_name":"Metallurgy","level":1,"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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros58592.2024.10801841","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801841","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2506.11585","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2506.11585","pdf_url":"https://arxiv.org/pdf/2506.11585","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2506.11585","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2506.11585","pdf_url":"https://arxiv.org/pdf/2506.11585","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"display_name":"Quality Education","id":"https://metadata.un.org/sdg/4","score":0.46000000834465027}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1999478155","https://openalex.org/W2594519801","https://openalex.org/W2740924709","https://openalex.org/W2949830259","https://openalex.org/W3017210109","https://openalex.org/W4226452378","https://openalex.org/W4288055738","https://openalex.org/W4312649925","https://openalex.org/W4312912313","https://openalex.org/W4379961490","https://openalex.org/W4382173244","https://openalex.org/W4383108296","https://openalex.org/W4383109105","https://openalex.org/W4385431115","https://openalex.org/W4386065742","https://openalex.org/W4386065874","https://openalex.org/W4386066076","https://openalex.org/W4386075561","https://openalex.org/W4390873847","https://openalex.org/W4390874575","https://openalex.org/W6764040762","https://openalex.org/W6791353385","https://openalex.org/W6811433417","https://openalex.org/W6841082114","https://openalex.org/W6853430630","https://openalex.org/W6854061876"],"related_works":["https://openalex.org/W2074502265","https://openalex.org/W4214877189","https://openalex.org/W2773965352","https://openalex.org/W2381179799","https://openalex.org/W2980279061","https://openalex.org/W2334685461","https://openalex.org/W2366718574","https://openalex.org/W2359774528","https://openalex.org/W4298312966","https://openalex.org/W1522196789"],"abstract_inverted_index":{"We":[0,102],"introduce":[1],"OV-MAP,":[2],"a":[3,53,66,84],"novel":[4],"approach":[5],"to":[6,19,57,135,144],"open-world":[7],"3D":[8,17,62,85,92,98],"mapping":[9],"for":[10],"mobile":[11],"robots":[12],"by":[13,51,71],"integrating":[14],"open-features":[15],"into":[16,61],"maps":[18],"enhance":[20],"object":[21],"recognition":[22],"capabilities.":[23],"A":[24],"significant":[25],"challenge":[26],"arises":[27],"when":[28,142],"overlapping":[29],"features":[30,38],"from":[31,77],"adjacent":[32],"voxels":[33],"reduce":[34],"instance-level":[35],"precision,":[36],"as":[37,116],"spill":[39],"over":[40],"voxel":[41],"boundaries,":[42],"blending":[43],"neighboring":[44],"regions":[45],"together.":[46],"Our":[47],"method":[48,108],"overcomes":[49],"this":[50],"employing":[52],"class-agnostic":[54],"segmentation":[55,94,100],"model":[56],"project":[58],"2D":[59],"masks":[60],"space,":[63],"combined":[64],"with":[65,83],"supplemented":[67],"depth":[68,76],"image":[69],"created":[70],"merging":[72],"raw":[73],"and":[74,118,125,140],"synthetic":[75],"point":[78],"clouds.":[79],"This":[80],"approach,":[81],"along":[82],"mask":[86],"voting":[87],"mechanism,":[88],"enables":[89],"accurate":[90],"zero-shot":[91,122],"instance":[93],"without":[95],"relying":[96],"on":[97,112],"supervised":[99],"models.":[101],"assess":[103],"the":[104],"effectiveness":[105],"of":[106],"our":[107,137],"through":[109],"comprehensive":[110],"experiments":[111,134],"public":[113],"datasets":[114],"such":[115],"ScanNet200":[117],"Replica,":[119],"demonstrating":[120],"superior":[121],"performance,":[123],"robustness,":[124],"adaptability":[126,139],"across":[127],"diverse":[128,145],"environments.":[129,147],"Additionally,":[130],"we":[131],"conducted":[132],"real-world":[133,146],"demonstrate":[136],"method\u2019s":[138],"robustness":[141],"applied":[143]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
