{"id":"https://openalex.org/W2560491685","doi":"https://doi.org/10.1109/lra.2016.2637444","title":"Learning Depth-Aware Deep Representations for Robotic Perception","display_name":"Learning Depth-Aware Deep Representations for Robotic Perception","publication_year":2016,"publication_date":"2016-12-08","ids":{"openalex":"https://openalex.org/W2560491685","doi":"https://doi.org/10.1109/lra.2016.2637444","mag":"2560491685"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2016.2637444","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2016.2637444","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":true,"oa_status":"green","oa_url":"https://upcommons.upc.edu/bitstreams/bb0584ea-47fe-4644-be7e-053577bed07e/download","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5082732256","display_name":"Lorenzo Porzi","orcid":"https://orcid.org/0000-0001-9331-2908"},"institutions":[{"id":"https://openalex.org/I2277624104","display_name":"Fondazione Bruno Kessler","ror":"https://ror.org/01j33xk10","country_code":"IT","type":"facility","lineage":["https://openalex.org/I2277624104"]},{"id":"https://openalex.org/I27483092","display_name":"University of Perugia","ror":"https://ror.org/00x27da85","country_code":"IT","type":"education","lineage":["https://openalex.org/I27483092"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Lorenzo Porzi","raw_affiliation_strings":["Fondazione Bruno Kessler, Trento, Italy","University of Perugia, Perugia, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fondazione Bruno Kessler, Trento, Italy","institution_ids":["https://openalex.org/I2277624104"]},{"raw_affiliation_string":"University of Perugia, Perugia, Italy","institution_ids":["https://openalex.org/I27483092"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073916921","display_name":"Samuel Rota Bul\u00f2","orcid":"https://orcid.org/0000-0002-2372-1367"},"institutions":[{"id":"https://openalex.org/I2277624104","display_name":"Fondazione Bruno Kessler","ror":"https://ror.org/01j33xk10","country_code":"IT","type":"facility","lineage":["https://openalex.org/I2277624104"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Samuel Rota Bulo","raw_affiliation_strings":["Fondazione Bruno Kessler, Trento, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fondazione Bruno Kessler, Trento, Italy","institution_ids":["https://openalex.org/I2277624104"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023962259","display_name":"Adri\u00e1n Pe\u00f1ate-S\u00e1nchez","orcid":"https://orcid.org/0000-0003-2876-3301"},"institutions":[{"id":"https://openalex.org/I45129253","display_name":"University College London","ror":"https://ror.org/02jx3x895","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I45129253"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Adrian Penate-Sanchez","raw_affiliation_strings":["University College London, London, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University College London, London, U.K","institution_ids":["https://openalex.org/I45129253"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065059558","display_name":"Elisa Ricci","orcid":"https://orcid.org/0000-0002-0228-1147"},"institutions":[{"id":"https://openalex.org/I2277624104","display_name":"Fondazione Bruno Kessler","ror":"https://ror.org/01j33xk10","country_code":"IT","type":"facility","lineage":["https://openalex.org/I2277624104"]},{"id":"https://openalex.org/I27483092","display_name":"University of Perugia","ror":"https://ror.org/00x27da85","country_code":"IT","type":"education","lineage":["https://openalex.org/I27483092"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Elisa Ricci","raw_affiliation_strings":["Fondazione Bruno Kessler, Trento, Italy","University of Perugia, Perugia, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fondazione Bruno Kessler, Trento, Italy","institution_ids":["https://openalex.org/I2277624104"]},{"raw_affiliation_string":"University of Perugia, Perugia, Italy","institution_ids":["https://openalex.org/I27483092"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5106691454","display_name":"Francesc Moreno-Noguer","orcid":"https://orcid.org/0000-0002-8640-684X"},"institutions":[{"id":"https://openalex.org/I4210093282","display_name":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial","ror":"https://ror.org/00mcdyn90","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210093282","https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Francesc Moreno-Noguer","raw_affiliation_strings":["Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, Barcelona, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, Barcelona, Spain","institution_ids":["https://openalex.org/I4210093282"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":104.2096,"has_fulltext":true,"cited_by_count":31,"citation_normalized_percentile":{"value":0.99781575,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"2","issue":"2","first_page":"468","last_page":"475"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9993000030517578,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9993000030517578,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.828034520149231},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7848004102706909},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.740016758441925},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.7082561254501343},{"id":"https://openalex.org/keywords/block","display_name":"Block (permutation group theory)","score":0.6820523738861084},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6481488347053528},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.6308945417404175},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.6087473630905151},{"id":"https://openalex.org/keywords/affordance","display_name":"Affordance","score":0.5719491839408875},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5319144129753113},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4895270764827728},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.4881642460823059},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.4596237242221832},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4248265027999878},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.36514025926589966},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.35476571321487427},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.17463478446006775}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.828034520149231},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7848004102706909},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.740016758441925},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.7082561254501343},{"id":"https://openalex.org/C2777210771","wikidata":"https://www.wikidata.org/wiki/Q4927124","display_name":"Block (permutation group theory)","level":2,"score":0.6820523738861084},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6481488347053528},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.6308945417404175},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.6087473630905151},{"id":"https://openalex.org/C194995250","wikidata":"https://www.wikidata.org/wiki/Q531136","display_name":"Affordance","level":2,"score":0.5719491839408875},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5319144129753113},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4895270764827728},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.4881642460823059},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.4596237242221832},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4248265027999878},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.36514025926589966},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.35476571321487427},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.17463478446006775},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/lra.2016.2637444","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2016.2637444","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"},{"id":"pmh:oai:upcommons.upc.edu:2117/116548","is_oa":true,"landing_page_url":"https://hdl.handle.net/2117/116548","pdf_url":"https://upcommons.upc.edu/bitstreams/bb0584ea-47fe-4644-be7e-053577bed07e/download","source":{"id":"https://openalex.org/S4377196262","display_name":"UPCommons institutional repository (Universitat Polit\u00e8cnica de Catalunya)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I9617848","host_organization_name":"Universitat Polit\u00e8cnica de Catalunya","host_organization_lineage":["https://openalex.org/I9617848"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"pmh:oai:digital.csic.es:10261/166761","is_oa":false,"landing_page_url":"http://hdl.handle.net/10261/166761","pdf_url":null,"source":{"id":"https://openalex.org/S4306400616","display_name":"DIGITAL.CSIC (Spanish National Research Council (CSIC))","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I134820265","host_organization_name":"Consejo Superior de Investigaciones Cient\u00edficas","host_organization_lineage":["https://openalex.org/I134820265"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"http://purl.org/coar/resource_type/c_6501"},{"id":"pmh:oai:iris.unitn.it:11572/194234","is_oa":false,"landing_page_url":"http://hdl.handle.net/11572/194234","pdf_url":null,"source":{"id":"https://openalex.org/S4377196320","display_name":"Iris (University of Trento)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I193223587","host_organization_name":"University of Trento","host_organization_lineage":["https://openalex.org/I193223587"],"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":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:upcommons.upc.edu:2117/116548","is_oa":true,"landing_page_url":"https://hdl.handle.net/2117/116548","pdf_url":"https://upcommons.upc.edu/bitstreams/bb0584ea-47fe-4644-be7e-053577bed07e/download","source":{"id":"https://openalex.org/S4377196262","display_name":"UPCommons institutional repository (Universitat Polit\u00e8cnica de Catalunya)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I9617848","host_organization_name":"Universitat Polit\u00e8cnica de Catalunya","host_organization_lineage":["https://openalex.org/I9617848"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2560491685.pdf","grobid_xml":"https://content.openalex.org/works/W2560491685.grobid-xml"},"referenced_works_count":62,"referenced_works":["https://openalex.org/W125693051","https://openalex.org/W132147841","https://openalex.org/W360623563","https://openalex.org/W603908379","https://openalex.org/W845365781","https://openalex.org/W1162411702","https://openalex.org/W1524405667","https://openalex.org/W1565402342","https://openalex.org/W1588488905","https://openalex.org/W1610060839","https://openalex.org/W1686810756","https://openalex.org/W1836465849","https://openalex.org/W1855641990","https://openalex.org/W1905829557","https://openalex.org/W1909903157","https://openalex.org/W1910657905","https://openalex.org/W1928298130","https://openalex.org/W1949568868","https://openalex.org/W1969868017","https://openalex.org/W1990444762","https://openalex.org/W2072072671","https://openalex.org/W2109255472","https://openalex.org/W2110158442","https://openalex.org/W2129587342","https://openalex.org/W2136026194","https://openalex.org/W2165140157","https://openalex.org/W2171740948","https://openalex.org/W2179352600","https://openalex.org/W2207044458","https://openalex.org/W2211722331","https://openalex.org/W2215578878","https://openalex.org/W2340427832","https://openalex.org/W2411071877","https://openalex.org/W2412051338","https://openalex.org/W2415309533","https://openalex.org/W2485911221","https://openalex.org/W2550305219","https://openalex.org/W2951234442","https://openalex.org/W2962724911","https://openalex.org/W2962835968","https://openalex.org/W2962891704","https://openalex.org/W2962970253","https://openalex.org/W2963024893","https://openalex.org/W2963038646","https://openalex.org/W2963956866","https://openalex.org/W3103919331","https://openalex.org/W4251033893","https://openalex.org/W6605121731","https://openalex.org/W6605377543","https://openalex.org/W6618372016","https://openalex.org/W6629098493","https://openalex.org/W6633727509","https://openalex.org/W6637373629","https://openalex.org/W6638667902","https://openalex.org/W6639780620","https://openalex.org/W6676338569","https://openalex.org/W6680137543","https://openalex.org/W6684414868","https://openalex.org/W6685176027","https://openalex.org/W6685261749","https://openalex.org/W6714598060","https://openalex.org/W6729265838"],"related_works":["https://openalex.org/W1972718289","https://openalex.org/W1791514435","https://openalex.org/W2346831895","https://openalex.org/W2248634132","https://openalex.org/W2295809616","https://openalex.org/W3049116993","https://openalex.org/W2070708245","https://openalex.org/W1541884709","https://openalex.org/W2589081601","https://openalex.org/W2226037301"],"abstract_inverted_index":{"Exploiting":[0],"RGB-D":[1,33,100],"data":[2,34],"by":[3,35,61],"means":[4],"of":[5,14,17,55,81,86,104,111],"convolutional":[6],"neural":[7],"networks":[8],"(CNNs)":[9],"is":[10],"at":[11],"the":[12,45,53,79,109,112],"core":[13],"a":[15,64,84],"number":[16],"robotics":[18,87],"applications,":[19],"including":[20],"object":[21,93],"detection,":[22,92],"scene":[23],"semantic":[24],"segmentation,":[25],"and":[26,96,115],"grasping.":[27],"Most":[28],"existing":[29,123],"approaches,":[30],"however,":[31],"exploit":[32],"simply":[36],"considering":[37],"depth":[38,71],"as":[39],"an":[40],"additional":[41],"input":[42],"channel":[43],"for":[44],"network.":[46],"In":[47,102],"this":[48],"paper":[49],"we":[50,107],"show":[51,108],"that":[52],"performance":[54],"deep":[56],"architectures":[57],"can":[58,118],"be":[59,119],"boosted":[60],"introducing":[62],"DaConv,":[63],"novel,":[65],"general-purpose":[66],"CNN":[67,124],"block":[68,114],"which":[69],"exploits":[70],"to":[72],"learn":[73],"scale-aware":[74],"feature":[75],"representations.":[76],"We":[77],"demonstrate":[78],"benefits":[80],"DaConv":[82],"on":[83],"variety":[85],"oriented":[88],"tasks,":[89],"involving":[90],"affordance":[91],"coordinate":[94],"regression,":[95],"contour":[97],"detection":[98],"in":[99],"images.":[101],"each":[103],"these":[105],"experiments":[106],"potential":[110],"proposed":[113],"how":[116],"it":[117],"readily":[120],"integrated":[121],"into":[122],"architectures.":[125]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":7},{"year":2017,"cited_by_count":7}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2016-12-16T00:00:00"}