{"id":"https://openalex.org/W4401385967","doi":"https://doi.org/10.1109/lra.2023.3271527","title":"SupeRGB-D: Zero-Shot Instance Segmentation in Cluttered Indoor Environments","display_name":"SupeRGB-D: Zero-Shot Instance Segmentation in Cluttered Indoor Environments","publication_year":2023,"publication_date":"2023-06-01","ids":{"openalex":"https://openalex.org/W4401385967","doi":"https://doi.org/10.1109/lra.2023.3271527"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3271527","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3271527","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":["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/A5057089169","display_name":"Evin P\u0131nar \u00d6rnek","orcid":"https://orcid.org/0000-0003-1023-2852"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Evin Pnar \u00d6rnek","raw_affiliation_strings":["Technical University of Munich, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035133232","display_name":"Aravindhan K Krishnan","orcid":null},"institutions":[{"id":"https://openalex.org/I1311688040","display_name":"Amazon (United States)","ror":"https://ror.org/04mv4n011","country_code":"US","type":"company","lineage":["https://openalex.org/I1311688040"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aravindhan K Krishnan","raw_affiliation_strings":["Amazon Inc., Sunnyvale, CA, USA"],"affiliations":[{"raw_affiliation_string":"Amazon Inc., Sunnyvale, CA, USA","institution_ids":["https://openalex.org/I1311688040"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053446578","display_name":"Shreekant Gayaka","orcid":null},"institutions":[{"id":"https://openalex.org/I1311688040","display_name":"Amazon (United States)","ror":"https://ror.org/04mv4n011","country_code":"US","type":"company","lineage":["https://openalex.org/I1311688040"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shreekant Gayaka","raw_affiliation_strings":["Amazon Inc., Sunnyvale, CA, USA"],"affiliations":[{"raw_affiliation_string":"Amazon Inc., Sunnyvale, CA, USA","institution_ids":["https://openalex.org/I1311688040"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5105792706","display_name":"Cheng-Hao Kuo","orcid":null},"institutions":[{"id":"https://openalex.org/I1311688040","display_name":"Amazon (United States)","ror":"https://ror.org/04mv4n011","country_code":"US","type":"company","lineage":["https://openalex.org/I1311688040"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Cheng-Hao Kuo","raw_affiliation_strings":["Amazon Inc., Sunnyvale, CA, USA"],"affiliations":[{"raw_affiliation_string":"Amazon Inc., Sunnyvale, CA, USA","institution_ids":["https://openalex.org/I1311688040"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053890173","display_name":"Arnie Sen","orcid":null},"institutions":[{"id":"https://openalex.org/I1311688040","display_name":"Amazon (United States)","ror":"https://ror.org/04mv4n011","country_code":"US","type":"company","lineage":["https://openalex.org/I1311688040"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Arnie Sen","raw_affiliation_strings":["Amazon Inc., Sunnyvale, CA, USA"],"affiliations":[{"raw_affiliation_string":"Amazon Inc., Sunnyvale, CA, USA","institution_ids":["https://openalex.org/I1311688040"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046896448","display_name":"Nassir Navab","orcid":"https://orcid.org/0000-0002-6032-5611"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Nassir Navab","raw_affiliation_strings":["Technical University of Munich, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041092666","display_name":"Federico Tombari","orcid":"https://orcid.org/0000-0001-5598-5212"},"institutions":[{"id":"https://openalex.org/I4210100430","display_name":"Google (Switzerland)","ror":"https://ror.org/014f9c269","country_code":"CH","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210100430","https://openalex.org/I4210128969"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Federico Tombari","raw_affiliation_strings":["Google, 8002, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Google, 8002, Zurich, Switzerland","institution_ids":["https://openalex.org/I4210100430"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5057089169"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":1.2282,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.82330643,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"8","issue":"6","first_page":"3709","last_page":"3716"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12357","display_name":"Digital Media Forensic Detection","score":0.8133000135421753,"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/T12357","display_name":"Digital Media Forensic Detection","score":0.8133000135421753,"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/shot","display_name":"Shot (pellet)","score":0.6703400611877441},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.6296781301498413},{"id":"https://openalex.org/keywords/zero","display_name":"Zero (linguistics)","score":0.6224713921546936},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5528532862663269},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5522013306617737},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5354585647583008},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3545590043067932},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.07837486267089844}],"concepts":[{"id":"https://openalex.org/C2778344882","wikidata":"https://www.wikidata.org/wiki/Q278938","display_name":"Shot (pellet)","level":2,"score":0.6703400611877441},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.6296781301498413},{"id":"https://openalex.org/C2780813799","wikidata":"https://www.wikidata.org/wiki/Q3274237","display_name":"Zero (linguistics)","level":2,"score":0.6224713921546936},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5528532862663269},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5522013306617737},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5354585647583008},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3545590043067932},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.07837486267089844},{"id":"https://openalex.org/C191897082","wikidata":"https://www.wikidata.org/wiki/Q11467","display_name":"Metallurgy","level":1,"score":0.0},{"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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2023.3271527","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3271527","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"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.6000000238418579,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2074502265","https://openalex.org/W4214877189","https://openalex.org/W2773965352","https://openalex.org/W2381179799","https://openalex.org/W2980279061","https://openalex.org/W2334685461","https://openalex.org/W2366718574","https://openalex.org/W2359774528","https://openalex.org/W4298312966","https://openalex.org/W2325697621"],"abstract_inverted_index":{"Object":[0],"instance":[1,56],"segmentation":[2,57],"is":[3,48,167],"a":[4,67,73,87,128,183],"key":[5],"challenge":[6],"for":[7,38,45,76,170],"indoor":[8,107],"robots":[9],"navigating":[10],"cluttered":[11,106],"environments":[12],"with":[13,182],"many":[14],"small":[15,115],"objects.":[16,146],"Limitations":[17],"in":[18,66,105,127],"3D":[19,43],"sensing":[20],"capabilities":[21],"often":[22],"make":[23],"it":[24],"difficult":[25],"to":[26,62,81,93,101,123],"detect":[27],"every":[28],"possible":[29],"object.":[30],"While":[31],"deep":[32,129],"learning":[33,47],"approaches":[34],"may":[35],"be":[36],"effective":[37],"this":[39,51,83],"problem,":[40],"manually":[41],"annotating":[42],"data":[44,61],"supervised":[46],"time-consuming.":[49],"In":[50],"work,":[52],"we":[53],"explore":[54],"zero-shot":[55,74],"(ZSIS)":[58],"from":[59],"RGB-D":[60],"identify":[63],"unseen":[64,102,138],"objects":[65,92,139],"semantic":[68],"category-agnostic":[69],"manner.":[70],"We":[71,147],"introduce":[72],"split":[75],"Tabletop":[77],"Objects":[78],"Dataset":[79],"(TOD-Z)":[80],"enable":[82],"study":[84],"and":[85,99,121,172],"present":[86],"method":[88,166],"that":[89],"uses":[90],"annotated":[91],"learn":[94],"the":[95,125,153,180],"\u201cobjectness\u201d":[96],"of":[97],"pixels":[98,113],"generalize":[100],"object":[103],"categories":[104],"environments.":[108],"Our":[109],"method,":[110],"SupeRGB-D,":[111],"groups":[112],"into":[114],"patches":[116,126],"based":[117],"on":[118,137,144,152],"geometric":[119],"cues":[120],"learns":[122],"merge":[124],"agglomerative":[130],"clustering":[131],"fashion.":[132],"SupeRGB-D":[133],"outperforms":[134],"existing":[135],"baselines":[136],"while":[140],"achieving":[141],"similar":[142],"performance":[143,181],"seen":[145],"further":[148],"show":[149],"competitive":[150],"results":[151],"real":[154],"dataset":[155],"OCID.":[156],"With":[157],"its":[158],"lightweight":[159],"design":[160],"(0.4":[161],"MB":[162],"memory":[163,185],"requirement),":[164],"our":[165],"extremely":[168],"suitable":[169],"mobile":[171],"robotic":[173],"applications.":[174],"Additional":[175],"DINO":[176],"features":[177],"can":[178],"increase":[179],"higher":[184],"requirement.":[186]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":2}],"updated_date":"2025-12-22T23:10:17.713674","created_date":"2025-10-10T00:00:00"}
