{"id":"https://openalex.org/W4405778970","doi":"https://doi.org/10.1109/iros58592.2024.10802589","title":"SceneSense: Diffusion Models for 3D Occupancy Synthesis from Partial Observation","display_name":"SceneSense: Diffusion Models for 3D Occupancy Synthesis from Partial Observation","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405778970","doi":"https://doi.org/10.1109/iros58592.2024.10802589"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802589","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802589","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":"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/A5111150360","display_name":"Alec Reed","orcid":null},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alec Reed","raw_affiliation_strings":["University of Colorado Boulder,Intelligent Robotics Laboratory,Department of Computer Science"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Colorado Boulder,Intelligent Robotics Laboratory,Department of Computer Science","institution_ids":["https://openalex.org/I188538660","https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5094196383","display_name":"Brendan Crowe","orcid":null},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Brendan Crowe","raw_affiliation_strings":["University of Colorado Boulder,Intelligent Robotics Laboratory,Department of Computer Science"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Colorado Boulder,Intelligent Robotics Laboratory,Department of Computer Science","institution_ids":["https://openalex.org/I188538660","https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111132034","display_name":"Doncey Albin","orcid":null},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Doncey Albin","raw_affiliation_strings":["University of Colorado Boulder,Intelligent Robotics Laboratory,Department of Computer Science"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Colorado Boulder,Intelligent Robotics Laboratory,Department of Computer Science","institution_ids":["https://openalex.org/I188538660","https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5094196384","display_name":"Lorin Achey","orcid":null},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lorin Achey","raw_affiliation_strings":["University of Colorado Boulder,Intelligent Robotics Laboratory,Department of Computer Science"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Colorado Boulder,Intelligent Robotics Laboratory,Department of Computer Science","institution_ids":["https://openalex.org/I188538660","https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5094196385","display_name":"Bradley Hayes","orcid":null},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bradley Hayes","raw_affiliation_strings":["University of Colorado Boulder,Intelligent Robotics Laboratory,Department of Computer Science"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Colorado Boulder,Intelligent Robotics Laboratory,Department of Computer Science","institution_ids":["https://openalex.org/I188538660","https://openalex.org/I4210116723"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009328815","display_name":"Christoffer Heckman","orcid":"https://orcid.org/0000-0002-9651-6866"},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Christoffer Heckman","raw_affiliation_strings":["University of Colorado Boulder,Intelligent Robotics Laboratory,Department of Computer Science"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Colorado Boulder,Intelligent Robotics Laboratory,Department of Computer Science","institution_ids":["https://openalex.org/I188538660","https://openalex.org/I4210116723"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.3813,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.77504817,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"7383","last_page":"7390"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10481","display_name":"Computer Graphics and Visualization Techniques","score":0.977400004863739,"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"}},"topics":[{"id":"https://openalex.org/T10481","display_name":"Computer Graphics and Visualization Techniques","score":0.977400004863739,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9739000201225281,"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/T10052","display_name":"Medical Image Segmentation Techniques","score":0.9487000107765198,"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/occupancy","display_name":"Occupancy","score":0.7614567279815674},{"id":"https://openalex.org/keywords/diffusion","display_name":"Diffusion","score":0.6245750784873962},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5386971831321716},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10138669610023499},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09556841850280762},{"id":"https://openalex.org/keywords/thermodynamics","display_name":"Thermodynamics","score":0.060043275356292725},{"id":"https://openalex.org/keywords/architectural-engineering","display_name":"Architectural engineering","score":0.05244329571723938}],"concepts":[{"id":"https://openalex.org/C160331591","wikidata":"https://www.wikidata.org/wiki/Q7075743","display_name":"Occupancy","level":2,"score":0.7614567279815674},{"id":"https://openalex.org/C69357855","wikidata":"https://www.wikidata.org/wiki/Q163214","display_name":"Diffusion","level":2,"score":0.6245750784873962},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5386971831321716},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10138669610023499},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09556841850280762},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.060043275356292725},{"id":"https://openalex.org/C170154142","wikidata":"https://www.wikidata.org/wiki/Q150737","display_name":"Architectural engineering","level":1,"score":0.05244329571723938}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10802589","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802589","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W2557465155","https://openalex.org/W3034868495","https://openalex.org/W3098650412","https://openalex.org/W3109585842","https://openalex.org/W3138270694","https://openalex.org/W4205481600","https://openalex.org/W4239863109","https://openalex.org/W4281487633","https://openalex.org/W4304099317","https://openalex.org/W4312694728","https://openalex.org/W4312933868","https://openalex.org/W4313154783","https://openalex.org/W4317597422","https://openalex.org/W4320056905","https://openalex.org/W4360884927","https://openalex.org/W4383066393","https://openalex.org/W4385245566","https://openalex.org/W4387195417","https://openalex.org/W4390872147","https://openalex.org/W4390873752","https://openalex.org/W6679045638","https://openalex.org/W6679621375","https://openalex.org/W6687483927","https://openalex.org/W6739778489","https://openalex.org/W6765779288","https://openalex.org/W6774125049","https://openalex.org/W6779823529","https://openalex.org/W6780373310","https://openalex.org/W6798447524","https://openalex.org/W6800673378","https://openalex.org/W6809885388","https://openalex.org/W6810940779","https://openalex.org/W6838483015","https://openalex.org/W6840155194","https://openalex.org/W6840815571","https://openalex.org/W6846451010","https://openalex.org/W6851256025","https://openalex.org/W6853081569","https://openalex.org/W6857383478"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W4282043467","https://openalex.org/W2105697914","https://openalex.org/W2202433167","https://openalex.org/W3093197249","https://openalex.org/W1540010871","https://openalex.org/W3023979140","https://openalex.org/W3177545769"],"abstract_inverted_index":{"When":[0],"exploring":[1],"new":[2],"areas,":[3],"robotic":[4],"systems":[5],"generally":[6],"exclusively":[7],"plan":[8],"and":[9,73,82,167],"execute":[10],"controls":[11],"over":[12],"geometry":[13,90,99],"that":[14,33,58,109,163,183],"has":[15],"been":[16],"directly":[17],"measured.":[18],"This":[19],"planning":[20,72],"paradigm":[21],"can":[22,225],"lead":[23],"to":[24,87,142,155,157,189,204],"unintuitive":[25],"exploration":[26,215],"or":[27,63,102,115,171],"replanning":[28],"latency":[29],"when":[30,97],"entering":[31],"areas":[32],"were":[34],"previous":[35],"obstructed":[36],"from":[37,55,200],"view.":[38,105],"To":[39],"address":[40],"this":[41],"we":[42],"present":[43],"SceneSense,":[44],"a":[45,78,83,146],"real-time":[46],"3D":[47,52],"diffusion":[48],"model":[49],"for":[50,68],"synthesizing":[51],"occupancy":[53,80,193,198,210,220],"information":[54,194],"partial":[56],"observations":[57],"effectively":[59],"predicts":[60],"these":[61],"occluded":[62,101],"out":[64,103],"of":[65,104,122,130],"view":[66],"geometries":[67],"use":[69],"in":[70,177],"future":[71],"control":[74],"frameworks.":[75],"SceneSense":[76,110,126,139,184,201],"uses":[77],"running":[79,219],"map":[81],"single":[84,147],"RGB-D":[85,148],"camera":[86],"generate":[88],"predicted":[89],"around":[91],"the":[92,98,120,123,128,132,150,207,213,218],"platform":[93],"at":[94,195],"runtime,":[95],"even":[96],"is":[100,140,152,185],"Our":[106],"architecture":[107],"ensures":[108],"never":[111],"overwrites":[112],"observed":[113,124,133,178],"free":[114],"occupied":[116],"space.":[117],"By":[118],"preserving":[119],"integrity":[121],"map,":[125],"mitigates":[127],"risk":[129],"corrupting":[131],"space":[134],"with":[135],"generative":[136],"predictions.":[137],"While":[138],"shown":[141,203],"operate":[143],"well":[144],"using":[145],"camera,":[149],"framework":[151],"flexible":[153],"enough":[154],"extend":[156],"additional":[158],"modalities.":[159],"Unlike":[160],"existing":[161],"models":[162],"necessitate":[164],"multiple":[165],"views":[166],"offline":[168],"scene":[169],"synthesis,":[170],"are":[172,202],"focused":[173],"on":[174,228],"filling":[175],"gaps":[176],"data,":[179],"our":[180,229],"findings":[181],"demonstrate":[182],"an":[186],"effective":[187],"approach":[188],"estimating":[190],"unobserved":[191],"local":[192],"runtime.":[196],"Local":[197],"predictions":[199],"better":[205],"represent":[206],"ground":[208],"truth":[209],"distribution":[211],"during":[212],"test":[214],"trajectories":[216],"than":[217],"map.":[221],"The":[222],"source":[223],"code":[224],"be":[226],"found":[227],"website:":[230],"https://arpg.github.io/scenesense/":[231]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}