{"id":"https://openalex.org/W4285155183","doi":"https://doi.org/10.1109/lra.2022.3180444","title":"Unsupervised 3D Link Segmentation of Articulated Objects With a Mixture of Coherent Point Drift","display_name":"Unsupervised 3D Link Segmentation of Articulated Objects With a Mixture of Coherent Point Drift","publication_year":2022,"publication_date":"2022-06-08","ids":{"openalex":"https://openalex.org/W4285155183","doi":"https://doi.org/10.1109/lra.2022.3180444"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3180444","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3180444","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/A5055966164","display_name":"Jaegoo Choy","orcid":"https://orcid.org/0000-0002-1222-4971"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jaegoo Choy","raw_affiliation_strings":["Department of Electrical and Computer Engineering and ASRI, Seoul National University, Seoul, Korea"],"raw_orcid":"https://orcid.org/0000-0002-1222-4971","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering and ASRI, Seoul National University, Seoul, Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051789113","display_name":"Geonho Cha","orcid":"https://orcid.org/0000-0002-3008-4642"},"institutions":[{"id":"https://openalex.org/I60922564","display_name":"Naver (South Korea)","ror":"https://ror.org/04nzrnx83","country_code":"KR","type":"company","lineage":["https://openalex.org/I60922564"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Geonho Cha","raw_affiliation_strings":["Clova AI, NAVER Corp, Seongnam, Korea"],"raw_orcid":"https://orcid.org/0000-0002-3008-4642","affiliations":[{"raw_affiliation_string":"Clova AI, NAVER Corp, Seongnam, Korea","institution_ids":["https://openalex.org/I60922564"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033764106","display_name":"Songhwai Oh","orcid":"https://orcid.org/0000-0002-9781-2018"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Songhwai Oh","raw_affiliation_strings":["Department of Electrical and Computer Engineering and ASRI, Seoul National University, Seoul, Korea"],"raw_orcid":"https://orcid.org/0000-0002-9781-2018","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering and ASRI, Seoul National University, Seoul, Korea","institution_ids":["https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.1399,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.33602011,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"7","issue":"3","first_page":"7124","last_page":"7131"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9994999766349792,"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"}},"topics":[{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9994999766349792,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9986000061035156,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.996999979019165,"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/segmentation","display_name":"Segmentation","score":0.8042250275611877},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6698986291885376},{"id":"https://openalex.org/keywords/regularization","display_name":"Regularization (linguistics)","score":0.6166520118713379},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5707113146781921},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5183661580085754},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4742642641067505},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.46524322032928467},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4604492783546448},{"id":"https://openalex.org/keywords/scale-space-segmentation","display_name":"Scale-space segmentation","score":0.45410287380218506},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.42207399010658264},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.42121583223342896},{"id":"https://openalex.org/keywords/image-segmentation","display_name":"Image segmentation","score":0.37808117270469666},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3763786554336548},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3292900025844574},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22468113899230957}],"concepts":[{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.8042250275611877},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6698986291885376},{"id":"https://openalex.org/C2776135515","wikidata":"https://www.wikidata.org/wiki/Q17143721","display_name":"Regularization (linguistics)","level":2,"score":0.6166520118713379},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5707113146781921},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5183661580085754},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4742642641067505},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.46524322032928467},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4604492783546448},{"id":"https://openalex.org/C65885262","wikidata":"https://www.wikidata.org/wiki/Q7429708","display_name":"Scale-space segmentation","level":4,"score":0.45410287380218506},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.42207399010658264},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.42121583223342896},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.37808117270469666},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3763786554336548},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3292900025844574},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22468113899230957},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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":2,"locations":[{"id":"doi:10.1109/lra.2022.3180444","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3180444","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:s-space.snu.ac.kr:10371/185299","is_oa":false,"landing_page_url":"https://hdl.handle.net/10371/185299","pdf_url":null,"source":{"id":"https://openalex.org/S4306401345","display_name":"Seoul National University Open Repository (Seoul National University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I139264467","host_organization_name":"Seoul National University","host_organization_lineage":["https://openalex.org/I139264467"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1548836129","https://openalex.org/W1645374371","https://openalex.org/W1920022804","https://openalex.org/W2049981393","https://openalex.org/W2076756823","https://openalex.org/W2118104180","https://openalex.org/W2134236847","https://openalex.org/W2158782408","https://openalex.org/W2159461149","https://openalex.org/W2294729144","https://openalex.org/W2510568036","https://openalex.org/W2553307952","https://openalex.org/W2786036844","https://openalex.org/W2961368225","https://openalex.org/W2986893563","https://openalex.org/W2989673842","https://openalex.org/W2990613095","https://openalex.org/W3035398346","https://openalex.org/W3035536783","https://openalex.org/W3137211359","https://openalex.org/W4230231730","https://openalex.org/W4394671432","https://openalex.org/W6636807858","https://openalex.org/W6687484953","https://openalex.org/W6739778489","https://openalex.org/W6747827861","https://openalex.org/W6763422710"],"related_works":["https://openalex.org/W2185902295","https://openalex.org/W2103507220","https://openalex.org/W3144569342","https://openalex.org/W2945274617","https://openalex.org/W4313052709","https://openalex.org/W2022929107","https://openalex.org/W2055202857","https://openalex.org/W4205800335","https://openalex.org/W2758994127","https://openalex.org/W2386644571"],"abstract_inverted_index":{"In":[0,103],"this":[1],"letter,":[2],"we":[3,59,110,144],"address":[4],"the":[5,24,77,90,94,100,107,124,132,136,172],"3D":[6,50,173],"link":[7,174],"segmentation":[8,52,108,175],"problem":[9,87],"of":[10,30,64,93,120],"articulated":[11,65],"objects":[12],"using":[13,99],"multiple":[14,159],"point":[15,28,37,78,95,151,160],"sets":[16,38,161],"with":[17,39,116,166],"different":[18,40,167],"configurations.":[19],"We":[20,75,122],"are":[21,68],"motivated":[22],"by":[23,42],"fact":[25],"that":[26,131],"a":[27,61,83,112,117],"set":[29,79,96],"an":[31,147,163],"object":[32,165],"can":[33,154],"be":[34,155],"aligned":[35],"to":[36,46,105,140,157,169],"configurations":[41,168],"applying":[43],"rigid":[44],"transformations":[45],"links.":[47],"Since":[48],"existing":[49],"part":[51],"datasets":[53],"do":[54],"not":[55],"provide":[56],"motion-based":[57],"annotations,":[58],"propose":[60,111,146],"novel":[62],"dataset":[63],"objects,":[66],"which":[67,153],"annotated":[69],"based":[70],"on":[71,127],"its":[72],"kinematic":[73],"models.":[74],"define":[76],"alignment":[80],"process":[81],"as":[82],"probability":[84],"density":[85],"estimation":[86],"and":[88,97],"find":[89],"optimal":[91],"decomposition":[92],"deformations":[98],"EM":[101],"algorithm.":[102],"addition,":[104],"improve":[106],"performance,":[109],"regularization":[113],"loss":[114],"designed":[115],"physical":[118],"prior":[119],"decomposition.":[121],"evaluate":[123],"proposed":[125,133],"method":[126,134],"our":[128],"dataset,":[129],"demonstrating":[130],"achieves":[135],"state-of-the-art":[137],"performance":[138],"compared":[139],"baseline":[141],"methods.":[142],"Finally,":[143],"also":[145],"effective":[148],"target":[149],"manipulating":[150],"proposer,":[152],"applied":[156],"collect":[158],"from":[162],"unknown":[164],"better":[170],"solve":[171],"problem.":[176]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}