{"id":"https://openalex.org/W3044828450","doi":"https://doi.org/10.1109/lra.2020.3010443","title":"GeoFusion: Geometric Consistency Informed Scene Estimation in Dense Clutter","display_name":"GeoFusion: Geometric Consistency Informed Scene Estimation in Dense Clutter","publication_year":2020,"publication_date":"2020-07-20","ids":{"openalex":"https://openalex.org/W3044828450","doi":"https://doi.org/10.1109/lra.2020.3010443","mag":"3044828450"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.3010443","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.3010443","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/2003.12610","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5015418959","display_name":"Zhiqiang Sui","orcid":"https://orcid.org/0000-0003-1286-9734"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Zhiqiang Sui","raw_affiliation_strings":["Robotics Institute, University of Michigan, Ann Arbor, USA","Department of Electrical Engineering and Computer Sci-ence, Robotics Institute, University of Michigan, Ann Arbor, MI, USA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, University of Michigan, Ann Arbor, USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sci-ence, Robotics Institute, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103173214","display_name":"Haonan Chang","orcid":"https://orcid.org/0000-0001-5733-4536"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Haonan Chang","raw_affiliation_strings":["Robotics Institute, University of Michigan, Ann Arbor, USA","Department of Electrical Engineering and Computer Sci-ence, Robotics Institute, University of Michigan, Ann Arbor, MI, USA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, University of Michigan, Ann Arbor, USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sci-ence, Robotics Institute, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113354555","display_name":"Ning Xu","orcid":"https://orcid.org/0000-0002-2554-4309"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ning Xu","raw_affiliation_strings":["Robotics Institute, University of Michigan, Ann Arbor, USA","Department of Electrical Engineering and Computer Sci-ence, Robotics Institute, University of Michigan, Ann Arbor, MI, USA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, University of Michigan, Ann Arbor, USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sci-ence, Robotics Institute, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071106238","display_name":"Odest Chadwicke Jenkins","orcid":"https://orcid.org/0000-0003-3750-7334"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Odest Chadwicke Jenkins","raw_affiliation_strings":["Robotics Institute, University of Michigan, Ann Arbor, USA","Department of Electrical Engineering and Computer Sci-ence, Robotics Institute, University of Michigan, Ann Arbor, MI, USA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, University of Michigan, Ann Arbor, USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sci-ence, Robotics Institute, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5015418959"],"corresponding_institution_ids":["https://openalex.org/I27837315"],"apc_list":null,"apc_paid":null,"fwci":1.0806,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.79891575,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"5","issue":"4","first_page":"5913","last_page":"5920"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9998999834060669,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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/T10481","display_name":"Computer Graphics and Visualization Techniques","score":0.9986000061035156,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/clutter","display_name":"Clutter","score":0.8629583120346069},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.6907569169998169},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5591581463813782},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5572336316108704},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5280141234397888},{"id":"https://openalex.org/keywords/estimation","display_name":"Estimation","score":0.5188461542129517},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.1324741244316101},{"id":"https://openalex.org/keywords/economics","display_name":"Economics","score":0.11026906967163086},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.05652719736099243}],"concepts":[{"id":"https://openalex.org/C132094186","wikidata":"https://www.wikidata.org/wiki/Q641585","display_name":"Clutter","level":3,"score":0.8629583120346069},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.6907569169998169},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5591581463813782},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5572336316108704},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5280141234397888},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.5188461542129517},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.1324741244316101},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.11026906967163086},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.05652719736099243},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2020.3010443","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.3010443","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:2003.12610","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2003.12610","pdf_url":"https://arxiv.org/pdf/2003.12610","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:2003.12610","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2003.12610","pdf_url":"https://arxiv.org/pdf/2003.12610","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":[{"score":0.4000000059604645,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W639708223","https://openalex.org/W1612997784","https://openalex.org/W1861492603","https://openalex.org/W1867138996","https://openalex.org/W1903029394","https://openalex.org/W1987648924","https://openalex.org/W2097696373","https://openalex.org/W2099175885","https://openalex.org/W2143776582","https://openalex.org/W2161808137","https://openalex.org/W2162731263","https://openalex.org/W2165824947","https://openalex.org/W2182229738","https://openalex.org/W2250172176","https://openalex.org/W2265661972","https://openalex.org/W2419056630","https://openalex.org/W2564125379","https://openalex.org/W2570352092","https://openalex.org/W2576665611","https://openalex.org/W2605206714","https://openalex.org/W2745881055","https://openalex.org/W2746349752","https://openalex.org/W2756627269","https://openalex.org/W2810014040","https://openalex.org/W2888144883","https://openalex.org/W2962694681","https://openalex.org/W2963150697","https://openalex.org/W2963177347","https://openalex.org/W2963188159","https://openalex.org/W3004136920","https://openalex.org/W3090386798","https://openalex.org/W3103648783","https://openalex.org/W3106250896","https://openalex.org/W4210678508","https://openalex.org/W4245570267","https://openalex.org/W4289489637","https://openalex.org/W4308909683","https://openalex.org/W4361866702","https://openalex.org/W6681031197","https://openalex.org/W6685664056","https://openalex.org/W6754677871","https://openalex.org/W6768533785","https://openalex.org/W6785652829"],"related_works":["https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2772917594","https://openalex.org/W2775347418","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":{"We":[0,154],"propose":[1],"GeoFusion,":[2],"a":[3,59,95,162],"SLAM-based":[4],"scene":[5],"estimation":[6,178],"method":[7,158],"for":[8,128],"building":[9],"an":[10],"object-level":[11],"semantic":[12,152],"map":[13],"in":[14,23,68,103],"dense":[15,18],"clutter.":[16],"In":[17],"clutter,":[19],"objects":[20],"are":[21],"often":[22],"close":[24],"contact":[25],"and":[26,34,74,88,132,137,146],"severe":[27],"occlusions,":[28],"which":[29],"brings":[30],"more":[31,130],"false":[32,101,173],"detections":[33],"noisy":[35,151],"pose":[36,177],"estimates":[37,174],"from":[38,149,161,179],"existing":[39],"perception":[40],"methods.":[41],"To":[42],"solve":[43],"these":[44],"problems,":[45],"our":[46,157],"key":[47],"insight":[48],"is":[49,66],"to":[50,98],"consider":[51],"geometric":[52,64,71,75,78,107,115,122],"consistency":[53,65,72,79],"at":[54],"the":[55,82,110,125,140,180],"object":[56,85,141,144],"level":[57],"within":[58],"general":[60],"SLAM":[61],"framework.":[62],"The":[63,77,106,121],"defined":[67],"two":[69],"parts:":[70],"score":[73,80],"relation.":[76],"describes":[81],"compatibility":[83],"between":[84,114],"geometry":[86],"model":[87],"observation":[89],"point":[90],"cloud.":[91],"Meanwhile,":[92],"it":[93],"provides":[94],"reliable":[96],"measure":[97],"filter":[99],"out":[100],"positives":[102],"data":[104],"association.":[105],"relation":[108,123],"represents":[109],"relationship":[111],"(e.g.,":[112,117],"contact)":[113],"features":[116],"planes)":[118],"among":[119],"objects.":[120],"makes":[124],"graph":[126],"optimization":[127],"poses":[129],"robust":[131],"accurate.":[133],"GeoFusion":[134],"can":[135],"robustly":[136],"efficiently":[138],"infer":[139],"labels,":[142],"6D":[143],"poses,":[145],"spatial":[147],"relations":[148],"continuous":[150],"measurements.":[153],"quantitatively":[155],"evaluate":[156],"using":[159],"observations":[160],"Fetch":[163],"mobile":[164],"manipulation":[165],"robot.":[166],"Our":[167],"results":[168],"demonstrate":[169],"greater":[170],"robustness":[171],"against":[172],"than":[175],"frame-by-frame":[176],"state-of-the-art":[181],"convolutional":[182],"neural":[183],"network.":[184]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2}],"updated_date":"2026-03-10T16:38:18.471706","created_date":"2025-10-10T00:00:00"}
