{"id":"https://openalex.org/W4390905271","doi":"https://doi.org/10.1109/lra.2024.3354624","title":"Panoptic Vision-Language Feature Fields","display_name":"Panoptic Vision-Language Feature Fields","publication_year":2024,"publication_date":"2024-01-16","ids":{"openalex":"https://openalex.org/W4390905271","doi":"https://doi.org/10.1109/lra.2024.3354624"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3354624","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3354624","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/A5076186276","display_name":"Haoran Chen","orcid":"https://orcid.org/0009-0006-1067-7391"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Haoran Chen","raw_affiliation_strings":["Autonomous Systems Lab, ETH Zürich, Zürich, Switzerland"],"raw_orcid":"https://orcid.org/0009-0006-1067-7391","affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Zürich, Zürich, Switzerland","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069885247","display_name":"Kenneth Blomqvist","orcid":"https://orcid.org/0000-0002-6897-3795"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kenneth Blomqvist","raw_affiliation_strings":["Autonomous Systems Lab, ETH Zürich, Zürich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-6897-3795","affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Zürich, Zürich, Switzerland","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101652609","display_name":"Francesco Milano","orcid":"https://orcid.org/0000-0002-4657-4144"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Francesco Milano","raw_affiliation_strings":["Autonomous Systems Lab, ETH Zürich, Zürich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-4657-4144","affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Zürich, Zürich, Switzerland","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083003222","display_name":"Roland Siegwart","orcid":"https://orcid.org/0000-0002-2760-7983"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Roland Siegwart","raw_affiliation_strings":["Autonomous Systems Lab, ETH Zürich, Zürich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-2760-7983","affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Zürich, Zürich, Switzerland","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":2495,"currency":"USD","value_usd":2495},"apc_paid":null,"fwci":1.3727,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.7972621,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"9","issue":"3","first_page":"2144","last_page":"2151"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9995999932289124,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9995999932289124,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9984999895095825,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9983999729156494,"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/computer-science","display_name":"Computer science","score":0.7467201948165894},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6384938955307007},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.6269174814224243},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.5676347017288208},{"id":"https://openalex.org/keywords/vocabulary","display_name":"Vocabulary","score":0.5220329761505127},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.5052111744880676},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.46181049942970276},{"id":"https://openalex.org/keywords/natural-language-processing","display_name":"Natural language processing","score":0.42908310890197754},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.13983798027038574},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11218929290771484},{"id":"https://openalex.org/keywords/linguistics","display_name":"Linguistics","score":0.10402461886405945}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7467201948165894},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6384938955307007},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.6269174814224243},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.5676347017288208},{"id":"https://openalex.org/C2777601683","wikidata":"https://www.wikidata.org/wiki/Q6499736","display_name":"Vocabulary","level":2,"score":0.5220329761505127},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.5052111744880676},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.46181049942970276},{"id":"https://openalex.org/C204321447","wikidata":"https://www.wikidata.org/wiki/Q30642","display_name":"Natural language processing","level":1,"score":0.42908310890197754},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.13983798027038574},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11218929290771484},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.10402461886405945},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3354624","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3354624","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"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8100000023841858,"id":"https://metadata.un.org/sdg/4","display_name":"Quality Education"}],"awards":[{"id":"https://openalex.org/G3251492180","display_name":"Enhancing Healthcare with Assistive Robotic Mobile Manipulation","funder_award_id":"101017008","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G434337789","display_name":null,"funder_award_id":"HORIZON2020","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":48,"referenced_works":["https://openalex.org/W1861492603","https://openalex.org/W2594519801","https://openalex.org/W2601243251","https://openalex.org/W2737258237","https://openalex.org/W2919379406","https://openalex.org/W2949830259","https://openalex.org/W2959771705","https://openalex.org/W2999219213","https://openalex.org/W3004300126","https://openalex.org/W3034355852","https://openalex.org/W3035086574","https://openalex.org/W3097660860","https://openalex.org/W3102330937","https://openalex.org/W3109585842","https://openalex.org/W3116959466","https://openalex.org/W3172507977","https://openalex.org/W3198790326","https://openalex.org/W3202349074","https://openalex.org/W3203570626","https://openalex.org/W3210613940","https://openalex.org/W3211391682","https://openalex.org/W4221151978","https://openalex.org/W4224912544","https://openalex.org/W4292121990","https://openalex.org/W4312234520","https://openalex.org/W4312433568","https://openalex.org/W4312815172","https://openalex.org/W4312912313","https://openalex.org/W4312969460","https://openalex.org/W4321512561","https://openalex.org/W4321512591","https://openalex.org/W4378468492","https://openalex.org/W4383109105","https://openalex.org/W4386065742","https://openalex.org/W4386065835","https://openalex.org/W4386075561","https://openalex.org/W4386075898","https://openalex.org/W4386076397","https://openalex.org/W4389665478","https://openalex.org/W4389665646","https://openalex.org/W4390872744","https://openalex.org/W6764040762","https://openalex.org/W6791353385","https://openalex.org/W6803096584","https://openalex.org/W6811433417","https://openalex.org/W6851578965","https://openalex.org/W6852907144","https://openalex.org/W6853375090"],"related_works":["https://openalex.org/W2349784553","https://openalex.org/W3022596247","https://openalex.org/W2601444686","https://openalex.org/W4307058054","https://openalex.org/W4292238148","https://openalex.org/W4323660495","https://openalex.org/W2385319785","https://openalex.org/W2900827440","https://openalex.org/W2481173831","https://openalex.org/W4388321867"],"abstract_inverted_index":{"Recently,":[0],"methods":[1,9],"have":[2],"been":[3],"proposed":[4],"for":[5],"3Dopen-vocabularysemantic":[6],"segmentation.":[7,122],"Such":[8],"are":[10],"able":[11],"to":[12,30,100,130],"segment":[13],"scenes":[14],"into":[15],"arbitrary":[16],"classes":[17],"based":[18],"on":[19,82,89,104],"text":[20],"descriptions":[21],"provided":[22],"during":[23],"runtime.":[24],"In":[25],"this":[26],"letter,":[27],"we":[28],"propose":[29],"the":[31,36,57,90,101,105,125,132],"best":[32],"of":[33,56,120,127,134],"our":[34,93,128,135],"knowledge":[35],"first":[37],"algorithm":[38],"foropen-vocabulary":[39],"panopticsegmentation":[40],"in":[41,118],"3D":[42,115],"scenes.":[43],"Our":[44],"algorithm,":[45],"Panoptic":[46],"Vision-Language":[47],"Feature":[48],"Fields":[49],"(PVLFF),":[50],"learns":[51],"a":[52,64],"semantic":[53,121],"feature":[54,73],"field":[55,74],"scene":[58],"by":[59],"distilling":[60],"vision-language":[61],"features":[62],"from":[63],"pretrained":[65],"2D":[66,79],"model,":[67],"and":[68,108,111],"jointly":[69],"fits":[70],"an":[71],"instance":[72,80],"through":[75],"contrastive":[76],"learning":[77],"using":[78],"segments":[81],"input":[83],"frames.":[84],"Despite":[85],"not":[86],"being":[87],"trained":[88],"target":[91],"classes,":[92],"method":[94,129],"achieves":[95],"panoptic":[96],"segmentation":[97],"performance":[98],"similar":[99],"state-of-the-artclosed-set3D":[102],"systems":[103,117],"HyperSim,":[106],"ScanNet":[107],"Replica":[109],"dataset":[110],"additionally":[112],"outperforms":[113],"current":[114],"open-vocabulary":[116],"terms":[119],"We":[123],"ablate":[124],"components":[126],"demonstrate":[131],"effectiveness":[133],"model":[136],"architecture.":[137]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":2}],"updated_date":"2026-08-28T12:50:07.497085","created_date":"2025-10-10T00:00:00"}