{"id":"https://openalex.org/W4405785499","doi":"https://doi.org/10.1109/iros58592.2024.10803059","title":"AutoInst: Automatic Instance-Based Segmentation of LiDAR 3D Scans","display_name":"AutoInst: Automatic Instance-Based Segmentation of LiDAR 3D Scans","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405785499","doi":"https://doi.org/10.1109/iros58592.2024.10803059"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10803059","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10803059","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":["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/A5094255537","display_name":"Cedric Perauer","orcid":null},"institutions":[{"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":true,"raw_author_name":"Cedric Perauer","raw_affiliation_strings":["Technical University of Munich,Garching,Germany"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Garching,Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005451627","display_name":"Laurenz Adrian Heidrich","orcid":null},"institutions":[{"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":"Laurenz Adrian Heidrich","raw_affiliation_strings":["Technical University of Munich,Garching,Germany"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Garching,Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112973848","display_name":"Haifan Zhang","orcid":null},"institutions":[{"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":"Haifan Zhang","raw_affiliation_strings":["Technical University of Munich,Garching,Germany"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Garching,Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088583491","display_name":"Matthias Nie\u00dfner","orcid":"https://orcid.org/0000-0001-6093-5199"},"institutions":[{"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":"Matthias Nie\u00dfner","raw_affiliation_strings":["Technical University of Munich,Garching,Germany"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Garching,Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101950882","display_name":"Anastasiia Kornilova","orcid":"https://orcid.org/0000-0002-2267-9689"},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Anastasiia Kornilova","raw_affiliation_strings":["Skolkovo Institute of Science and Technology,Moscow,Russia"],"affiliations":[{"raw_affiliation_string":"Skolkovo Institute of Science and Technology,Moscow,Russia","institution_ids":["https://openalex.org/I125989756"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039460497","display_name":"Alexey Artemov","orcid":"https://orcid.org/0000-0001-5451-7492"},"institutions":[{"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":"Alexey Artemov","raw_affiliation_strings":["Technical University of Munich,Garching,Germany"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Garching,Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5094255537"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.36154215,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"12340","last_page":"12347"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12111","display_name":"Industrial Vision Systems and Defect Detection","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T12111","display_name":"Industrial Vision Systems and Defect Detection","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9965999722480774,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental 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":0.9965999722480774,"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/lidar","display_name":"Lidar","score":0.748335599899292},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.688930094242096},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.5840651988983154},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4867739677429199},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.41769590973854065},{"id":"https://openalex.org/keywords/image-segmentation","display_name":"Image segmentation","score":0.4155004620552063},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.26857951283454895},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.18866229057312012}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.748335599899292},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.688930094242096},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.5840651988983154},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4867739677429199},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.41769590973854065},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.4155004620552063},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.26857951283454895},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.18866229057312012}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10803059","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10803059","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W2009070339","https://openalex.org/W2089815405","https://openalex.org/W2121947440","https://openalex.org/W2594519801","https://openalex.org/W2601243251","https://openalex.org/W2737444374","https://openalex.org/W2805521962","https://openalex.org/W2963125977","https://openalex.org/W2991216808","https://openalex.org/W3091155238","https://openalex.org/W3161855852","https://openalex.org/W3168822201","https://openalex.org/W3177330511","https://openalex.org/W3183042936","https://openalex.org/W3183229916","https://openalex.org/W3198790326","https://openalex.org/W3200068634","https://openalex.org/W3202082537","https://openalex.org/W3207776935","https://openalex.org/W3210375496","https://openalex.org/W4200005482","https://openalex.org/W4206778101","https://openalex.org/W4285109785","https://openalex.org/W4312376118","https://openalex.org/W4312403179","https://openalex.org/W4312903773","https://openalex.org/W4315783786","https://openalex.org/W4383097438","https://openalex.org/W4383109105","https://openalex.org/W4386065252","https://openalex.org/W4386075951","https://openalex.org/W4386113253","https://openalex.org/W4389819300","https://openalex.org/W4390873101","https://openalex.org/W4390874575","https://openalex.org/W4402667898","https://openalex.org/W4402727277","https://openalex.org/W4402727720","https://openalex.org/W4403889366","https://openalex.org/W4404722414","https://openalex.org/W6631190155","https://openalex.org/W6740005241","https://openalex.org/W6798837711","https://openalex.org/W6851800889","https://openalex.org/W6853430630","https://openalex.org/W6853787859"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Recently,":[0],"progress":[1],"in":[2,66,78,172],"acquisition":[3],"equipment":[4],"such":[5,20,27],"as":[6,28],"LiDAR":[7],"sensors":[8],"has":[9],"enabled":[10],"sensing":[11],"increasingly":[12],"spacious":[13],"outdoor":[14],"3D":[15,21,31,76,128,139,167,183,193],"environments.":[16],"Making":[17],"sense":[18],"of":[19,96,175,215],"acquisitions":[22],"requires":[23,45],"fine-grained":[24],"scene":[25,32],"understanding,":[26],"constructing":[29],"instance-based":[30],"segmentations.":[33,205],"Commonly,":[34],"a":[35,48,92,100,110,134,160,166,198],"neural":[36],"network":[37],"is":[38,54,237],"trained":[39],"for":[40,75,103,113],"this":[41,44,64,67,88],"task;":[42],"however,":[43],"access":[46],"to":[47,57,60,71,116,152,180,189,201,231],"large,":[49],"densely":[50],"annotated":[51],"dataset,":[52],"which":[53],"widely":[55],"known":[56],"be":[58],"challenging":[59,209],"obtain.":[61],"To":[62,87,125,178],"address":[63],"issue,":[65],"work":[68],"we":[69,90,132,185],"propose":[70],"predict":[72],"instance":[73,114,129,168,204],"segmentations":[74],"scenes":[77],"an":[79],"unsupervised":[80,106],"way,":[81],"without":[82],"relying":[83],"on":[84,159,191,207],"ground-truth":[85],"annotations.":[86],"end,":[89],"construct":[91,133,197],"learning":[93],"framework":[94],"consisting":[95],"two":[97],"components:":[98],"(1)":[99],"pseudo-annotation":[101],"scheme":[102],"generating":[104,127],"initial":[105,122,176],"pseudo-labels;":[107],"and":[108,149,164,196,225],"(2)":[109],"self-training":[111],"algorithm":[112,188],"segmentation":[115,169],"fit":[117],"robust,":[118],"accurate":[119],"instances":[120],"from":[121],"noisy":[123],"proposals.":[124,177],"enable":[126],"mask":[130],"proposals,":[131],"weighted":[135],"proxy-graph":[136],"by":[137],"connecting":[138],"points":[140],"with":[141],"edges":[142],"integrating":[143],"multi-modal":[144],"image-and":[145],"point-based":[146,162],"self-supervised":[147],"features,":[148],"perform":[150],"graphcuts":[151],"isolate":[153],"individual":[154],"pseudo-instances.":[155],"We":[156],"then":[157],"build":[158],"state-of-the-art":[161],"architecture":[163],"train":[165],"model,":[170],"resulting":[171],"significant":[173],"refinement":[174],"scale":[179],"arbitrary":[181],"complexity":[182],"scenes,":[184],"design":[186],"our":[187,216],"operate":[190],"local":[192],"point":[194],"chunks":[195],"merging":[199],"step":[200],"generate":[202],"scene-level":[203],"Experiments":[206],"the":[208,213,232],"SemanticKITTI":[210],"benchmark":[211],"demonstrate":[212],"potential":[214],"approach,":[217],"where":[218],"it":[219],"attains":[220],"13.3%":[221],"higher":[222,227],"Average":[223],"Precision":[224],"9.1%":[226],"F1":[228],"score":[229],"compared":[230],"best-performing":[233],"baseline.":[234],"The":[235],"code":[236],"publicly":[238],"available":[239],"at":[240],"https://github.com/artonson/autoinst.":[241]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
