{"id":"https://openalex.org/W2919379406","doi":"https://doi.org/10.1109/lra.2019.2923960","title":"Volumetric Instance-Aware Semantic Mapping and 3D Object Discovery","display_name":"Volumetric Instance-Aware Semantic Mapping and 3D Object Discovery","publication_year":2019,"publication_date":"2019-06-19","ids":{"openalex":"https://openalex.org/W2919379406","doi":"https://doi.org/10.1109/lra.2019.2923960","mag":"2919379406"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2019.2923960","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2923960","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1903.00268","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Margarita Grinvald","orcid":"https://orcid.org/0000-0003-0253-1801"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Margarita Grinvald","raw_affiliation_strings":["Autonomous Systems Lab, ETH Zurich, Zurich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0003-0253-1801","affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Fadri Furrer","orcid":"https://orcid.org/0000-0002-6070-1760"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Fadri Furrer","raw_affiliation_strings":["Autonomous Systems Lab, ETH Zurich, Zurich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-6070-1760","affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Tonci Novkovic","orcid":"https://orcid.org/0000-0003-0209-5915"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Tonci Novkovic","raw_affiliation_strings":["Autonomous Systems Lab, ETH Zurich, Zurich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0003-0209-5915","affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jen Jen Chung","orcid":"https://orcid.org/0000-0001-7828-0741"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Jen Jen Chung","raw_affiliation_strings":["Autonomous Systems Lab, ETH Zurich, Zurich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0001-7828-0741","affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Cesar Cadena","orcid":"https://orcid.org/0000-0002-2972-6011"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Cesar Cadena","raw_affiliation_strings":["Autonomous Systems Lab, ETH Zurich, Zurich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-2972-6011","affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Roland Siegwart","orcid":"https://orcid.org/0000-0002-2760-7983"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Roland Siegwart","raw_affiliation_strings":["Autonomous Systems Lab, ETH Zurich, Zurich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-2760-7983","affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":null,"display_name":"Juan Nieto","orcid":"https://orcid.org/0000-0003-4808-0831"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Juan Nieto","raw_affiliation_strings":["Autonomous Systems Lab, ETH Zurich, Zurich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0003-4808-0831","affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I35440088"],"apc_list":null,"apc_paid":null,"fwci":158.0744,"has_fulltext":false,"cited_by_count":218,"citation_normalized_percentile":{"value":0.99956854,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"4","issue":"3","first_page":"3037","last_page":"3044"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.659500002861023,"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":0.659500002861023,"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/T10719","display_name":"3D Shape Modeling and Analysis","score":0.13570000231266022,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.04859999939799309,"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/semantic-mapping","display_name":"Semantic mapping","score":0.9060999751091003},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6172999739646912},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.5586000084877014},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5370000004768372},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.5273000001907349},{"id":"https://openalex.org/keywords/class","display_name":"Class (philosophy)","score":0.49630001187324524},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.47940000891685486},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.477400004863739}],"concepts":[{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.9060999751091003},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7732999920845032},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6579999923706055},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6172999739646912},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.5586000084877014},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5370000004768372},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.5273000001907349},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.49630001187324524},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.47940000891685486},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.477400004863739},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.45989999175071716},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.4560999870300293},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.45239999890327454},{"id":"https://openalex.org/C90312973","wikidata":"https://www.wikidata.org/wiki/Q7449052","display_name":"Semantic data model","level":2,"score":0.3666999936103821},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.35670000314712524},{"id":"https://openalex.org/C142853389","wikidata":"https://www.wikidata.org/wiki/Q744778","display_name":"Association (psychology)","level":2,"score":0.3481000065803528},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.34630000591278076},{"id":"https://openalex.org/C137314826","wikidata":"https://www.wikidata.org/wiki/Q2330408","display_name":"Data mapping","level":2,"score":0.34360000491142273},{"id":"https://openalex.org/C135981907","wikidata":"https://www.wikidata.org/wiki/Q188056","display_name":"Triangulation","level":2,"score":0.2777999937534332},{"id":"https://openalex.org/C64876066","wikidata":"https://www.wikidata.org/wiki/Q5141226","display_name":"Cognitive neuroscience of visual object recognition","level":3,"score":0.2635999917984009},{"id":"https://openalex.org/C23123220","wikidata":"https://www.wikidata.org/wiki/Q816826","display_name":"Information retrieval","level":1,"score":0.2630000114440918},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.2621000111103058},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.25839999318122864}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2019.2923960","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2923960","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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:arXiv.org:1903.00268","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1903.00268","pdf_url":"https://arxiv.org/pdf/1903.00268","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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:1903.00268","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1903.00268","pdf_url":"https://arxiv.org/pdf/1903.00268","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320924","display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung","ror":"https://ror.org/00yjd3n13"},{"id":"https://openalex.org/F4320328192","display_name":"ABB Corporate Research","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W639708223","https://openalex.org/W2024676408","https://openalex.org/W2065906272","https://openalex.org/W2097696373","https://openalex.org/W2201312286","https://openalex.org/W2415351208","https://openalex.org/W2523049145","https://openalex.org/W2563685048","https://openalex.org/W2570343428","https://openalex.org/W2607968634","https://openalex.org/W2770176163","https://openalex.org/W2784112303","https://openalex.org/W2806845529","https://openalex.org/W2888144883","https://openalex.org/W2904866373","https://openalex.org/W2950538710","https://openalex.org/W2963150697","https://openalex.org/W2963277584","https://openalex.org/W2963357556","https://openalex.org/W2963837081","https://openalex.org/W2963921921","https://openalex.org/W2964032623","https://openalex.org/W2964226622","https://openalex.org/W6633068743","https://openalex.org/W6639102338","https://openalex.org/W6742137223"],"related_works":["https://openalex.org/W2384888906","https://openalex.org/W2144190808","https://openalex.org/W2101955803","https://openalex.org/W2376314740","https://openalex.org/W2366644548","https://openalex.org/W2469626427","https://openalex.org/W2357241418","https://openalex.org/W2119214692","https://openalex.org/W2115485936","https://openalex.org/W2086064646"],"abstract_inverted_index":{"To":[0],"autonomously":[1],"navigate":[2],"and":[3,16],"plan":[4],"interactions":[5],"in":[6],"real-world":[7,173],"environments,":[8],"robots":[9],"require":[10],"the":[11,28,32,41,44,108,112,144,182,186],"ability":[12],"to":[13,62,90,160],"robustly":[14],"perceive":[15],"map":[17,117],"complex,":[18],"unstructured":[19],"surrounding":[20],"scenes.":[21],"Besides":[22],"building":[23,148],"an":[24,60,82],"internal":[25],"representation":[26],"of":[27,40,46,163,185],"observed":[29],"scene":[30,94],"geometry,":[31],"key":[33],"insight":[34],"toward":[35],"a":[36,72,77,103,116,133,138,172],"truly":[37],"functional":[38],"understanding":[39],"environment":[42],"is":[43,152,168,189],"usage":[45],"higher":[47],"level":[48],"entities":[49],"during":[50,68],"mapping,":[51],"such":[52],"as":[53,96,98],"individual":[54],"object":[55],"instances.":[56],"This":[57],"work":[58],"presents":[59],"approach":[61,85,146],"incrementally":[63],"build":[64],"volumetric":[65],"object-centric":[66],"maps":[67,151],"online":[69,183],"scanning":[70],"with":[71,86,154],"localized":[73],"RGB-D":[74],"camera.":[75],"First,":[76],"per-frame":[78],"segmentation":[79],"scheme":[80],"combines":[81],"unsupervised":[83],"geometric":[84],"instance-aware":[87],"semantic":[88,130,150],"predictions":[89],"detect":[91],"both":[92],"recognized":[93],"elements":[95],"well":[97],"previously":[99],"unseen":[100,164],"objects.":[101],"Next,":[102],"data":[104],"association":[105],"step":[106],"tracks":[107],"predicted":[109],"instances":[110],"across":[111],"different":[113],"frames.":[114],"Finally,":[115],"integration":[118],"strategy":[119],"fuses":[120],"information":[121],"about":[122],"their":[123],"3D":[124],"shape,":[125],"location,":[126],"and,":[127],"if":[128],"available,":[129],"class":[131],"into":[132],"global":[134],"volume.":[135],"Evaluation":[136],"on":[137],"publicly":[139],"available":[140,190],"dataset":[141],"shows":[142],"that":[143],"proposed":[145],"for":[147,177],"instance-level":[149],"competitive":[153],"state-of-theart":[155],"methods,":[156],"while":[157],"additionally":[158],"able":[159],"discover":[161],"objects":[162],"categories.":[165],"The":[166],"system":[167],"further":[169],"evaluated":[170],"within":[171],"robotic":[174],"mapping":[175],"setup,":[176],"which":[178],"qualitative":[179],"results":[180],"highlight":[181],"nature":[184],"method.":[187],"Code":[188],"athttps://github.com/":[191],"ethz-asl/voxblox-plusplus.":[192]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":31},{"year":2024,"cited_by_count":40},{"year":2023,"cited_by_count":56},{"year":2022,"cited_by_count":38},{"year":2021,"cited_by_count":28},{"year":2020,"cited_by_count":17},{"year":2019,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2019-03-11T00:00:00"}