{"id":"https://openalex.org/W2210040239","doi":"https://doi.org/10.1109/lra.2015.2506118","title":"Enhancing Semantic Segmentation for Robotics: The Power of 3-D Entangled Forests","display_name":"Enhancing Semantic Segmentation for Robotics: The Power of 3-D Entangled Forests","publication_year":2015,"publication_date":"2015-12-08","ids":{"openalex":"https://openalex.org/W2210040239","doi":"https://doi.org/10.1109/lra.2015.2506118","mag":"2210040239"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2015.2506118","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2015.2506118","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5072912490","display_name":"Daniel Wolf","orcid":"https://orcid.org/0000-0002-8584-5189"},"institutions":[{"id":"https://openalex.org/I129774422","display_name":"University of Vienna","ror":"https://ror.org/03prydq77","country_code":"AT","type":"education","lineage":["https://openalex.org/I129774422"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Daniel Wolf","raw_affiliation_strings":["Vision4Robotics Group at the Automation and Control Institute, Technical University of Vienna, Vienna, Austria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Vision4Robotics Group at the Automation and Control Institute, Technical University of Vienna, Vienna, Austria","institution_ids":["https://openalex.org/I129774422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049409847","display_name":"Johann Prankl","orcid":null},"institutions":[{"id":"https://openalex.org/I129774422","display_name":"University of Vienna","ror":"https://ror.org/03prydq77","country_code":"AT","type":"education","lineage":["https://openalex.org/I129774422"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Johann Prankl","raw_affiliation_strings":["Vision4Robotics Group at the Automation and Control Institute, Technical University of Vienna, Vienna, Austria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Vision4Robotics Group at the Automation and Control Institute, Technical University of Vienna, Vienna, Austria","institution_ids":["https://openalex.org/I129774422"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013565399","display_name":"Markus Vincze","orcid":"https://orcid.org/0000-0002-2799-491X"},"institutions":[{"id":"https://openalex.org/I129774422","display_name":"University of Vienna","ror":"https://ror.org/03prydq77","country_code":"AT","type":"education","lineage":["https://openalex.org/I129774422"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Markus Vincze","raw_affiliation_strings":["Vision4Robotics Group at the Automation and Control Institute, Technical University of Vienna, Vienna, Austria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Vision4Robotics Group at the Automation and Control Institute, Technical University of Vienna, Vienna, Austria","institution_ids":["https://openalex.org/I129774422"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I129774422"],"apc_list":null,"apc_paid":null,"fwci":161.1446,"has_fulltext":false,"cited_by_count":45,"citation_normalized_percentile":{"value":0.9988714,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"1","issue":"1","first_page":"49","last_page":"56"},"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":0.9984999895095825,"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/T12549","display_name":"Image and Object Detection Techniques","score":0.9955000281333923,"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":0.7709083557128906},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.713427722454071},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.7040114998817444},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.6870450377464294},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.6429169178009033},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6252680420875549},{"id":"https://openalex.org/keywords/smoothing","display_name":"Smoothing","score":0.564441978931427},{"id":"https://openalex.org/keywords/classifier","display_name":"Classifier (UML)","score":0.48831889033317566},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.47483116388320923},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4200909435749054},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.36126551032066345},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.34788668155670166},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.32122522592544556},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.2791432738304138}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7709083557128906},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.713427722454071},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7040114998817444},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.6870450377464294},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.6429169178009033},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6252680420875549},{"id":"https://openalex.org/C3770464","wikidata":"https://www.wikidata.org/wiki/Q775963","display_name":"Smoothing","level":2,"score":0.564441978931427},{"id":"https://openalex.org/C95623464","wikidata":"https://www.wikidata.org/wiki/Q1096149","display_name":"Classifier (UML)","level":2,"score":0.48831889033317566},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.47483116388320923},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4200909435749054},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.36126551032066345},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.34788668155670166},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.32122522592544556},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2791432738304138},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"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/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2015.2506118","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2015.2506118","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life in Land","score":0.47999998927116394,"id":"https://metadata.un.org/sdg/15"}],"awards":[{"id":"https://openalex.org/G5015084029","display_name":"Autonomous Learning of the Meaning of Objects","funder_award_id":"ANR-14-CHR2-0002","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"}],"funders":[{"id":"https://openalex.org/F4320320883","display_name":"Agence Nationale de la Recherche","ror":"https://ror.org/00rbzpz17"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W125693051","https://openalex.org/W129501612","https://openalex.org/W137456267","https://openalex.org/W1528144695","https://openalex.org/W1565402342","https://openalex.org/W1568207135","https://openalex.org/W1577931413","https://openalex.org/W1903029394","https://openalex.org/W2022153165","https://openalex.org/W2033979122","https://openalex.org/W2065533005","https://openalex.org/W2066813062","https://openalex.org/W2067912884","https://openalex.org/W2085411191","https://openalex.org/W2101297579","https://openalex.org/W2104266970","https://openalex.org/W2122422695","https://openalex.org/W2135249503","https://openalex.org/W2152864241","https://openalex.org/W2171481071","https://openalex.org/W2911964244","https://openalex.org/W2952632681","https://openalex.org/W2963038646","https://openalex.org/W6629098493","https://openalex.org/W6631760055","https://openalex.org/W6633727509","https://openalex.org/W6640054144","https://openalex.org/W6666899075","https://openalex.org/W6678040607","https://openalex.org/W6685392126"],"related_works":["https://openalex.org/W2997512100","https://openalex.org/W2331043530","https://openalex.org/W4233452137","https://openalex.org/W2618719410","https://openalex.org/W4382465657","https://openalex.org/W3200179079","https://openalex.org/W2044507188","https://openalex.org/W2556319748","https://openalex.org/W4282018961","https://openalex.org/W2616769016"],"abstract_inverted_index":{"We":[0],"present":[1],"a":[2,77,81,89,103,116,128],"novel,":[3],"fast,":[4],"and":[5,22,30,93,142],"compact":[6],"method":[7,85],"to":[8,20,47,56,62,65,119],"improve":[9],"semantic":[10,152],"segmentation":[11],"of":[12,41,80,135,145,151],"three-dimensional":[13],"(3-D)":[14],"point":[15,49,82],"clouds,":[16,50],"which":[17,58,71],"is":[18],"able":[19],"learn":[21],"exploit":[23],"common":[24],"contextual":[25],"relations":[26],"between":[27],"observed":[28],"structures":[29],"objects.":[31],"Introducing":[32],"3-D":[33,48,138],"Entangled":[34],"Forests":[35],"(3-DEF),":[36],"we":[37,131],"extend":[38],"the":[39,52,98,133,143,149],"concept":[40],"entangled":[42,139],"features":[43],"for":[44,112,121],"decision":[45],"trees":[46],"enabling":[51],"classifier":[53],"not":[54,87],"only":[55],"learn,":[57],"labels":[59],"are":[60],"likely":[61],"occur":[63],"close":[64],"each":[66],"other,":[67],"but":[68],"also":[69],"in":[70,102,109,148],"specific":[72],"geometric":[73],"configuration.":[74],"Operating":[75],"on":[76,97,124],"plane-based":[78],"representation":[79],"cloud,":[83],"our":[84,136],"does":[86],"require":[88],"final":[90],"smoothing":[91],"step":[92],"achieves":[94],"state-of-the-art":[95],"results":[96],"NYU":[99],"Depth":[100],"Dataset":[101],"single":[104],"inference":[105],"step.":[106],"This":[107],"compactness":[108],"turn":[110],"allows":[111],"fast":[113],"processing":[114],"times,":[115],"crucial":[117],"factor":[118],"consider":[120],"online":[122],"applications":[123],"robotic":[125],"platforms.":[126],"In":[127],"thorough":[129],"evaluation,":[130],"demonstrate":[132],"expressiveness":[134],"new":[137],"feature":[140],"set":[141],"importance":[144],"spatial":[146],"context":[147],"scope":[150],"segmentation.":[153]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":8},{"year":2018,"cited_by_count":7},{"year":2017,"cited_by_count":13},{"year":2016,"cited_by_count":1}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}