{"id":"https://openalex.org/W4393372075","doi":"https://doi.org/10.1109/lra.2024.3384084","title":"Indoor and Outdoor 3D Scene Graph Generation Via Language-Enabled Spatial Ontologies","display_name":"Indoor and Outdoor 3D Scene Graph Generation Via Language-Enabled Spatial Ontologies","publication_year":2024,"publication_date":"2024-04-01","ids":{"openalex":"https://openalex.org/W4393372075","doi":"https://doi.org/10.1109/lra.2024.3384084"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3384084","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3384084","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/A5090719996","display_name":"Jared Strader","orcid":"https://orcid.org/0000-0002-3978-9542"},"institutions":[{"id":"https://openalex.org/I4210143601","display_name":"Decision Systems (United States)","ror":"https://ror.org/0434dpa13","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143601"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Jared Strader","raw_affiliation_strings":["Laboratory for Information &amp; Decision Systems (LIDS), Massachusetts Institute of Technology, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Laboratory for Information &amp; Decision Systems (LIDS), Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043068916","display_name":"Nathan Hughes","orcid":"https://orcid.org/0000-0002-1201-7032"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]},{"id":"https://openalex.org/I4210143601","display_name":"Decision Systems (United States)","ror":"https://ror.org/0434dpa13","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143601"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nathan Hughes","raw_affiliation_strings":["Laboratory for Information &amp; Decision Systems (LIDS), Massachusetts Institute of Technology, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Laboratory for Information &amp; Decision Systems (LIDS), Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050913700","display_name":"W. Chen","orcid":"https://orcid.org/0009-0002-9193-9197"},"institutions":[{"id":"https://openalex.org/I283854653","display_name":"Machine Intelligence Research Institute","ror":"https://ror.org/01h4ass90","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I283854653"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"William Chen","raw_affiliation_strings":["Berkeley Artificial Intelligence Research (BAIR), University of California, Berkely, CA, USA"],"affiliations":[{"raw_affiliation_string":"Berkeley Artificial Intelligence Research (BAIR), University of California, Berkely, CA, USA","institution_ids":["https://openalex.org/I283854653"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027306098","display_name":"Alberto Speranzon","orcid":"https://orcid.org/0000-0002-9203-2901"},"institutions":[{"id":"https://openalex.org/I1287521167","display_name":"Lockheed Martin (United States)","ror":"https://ror.org/026er9r08","country_code":"US","type":"company","lineage":["https://openalex.org/I1287521167"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alberto Speranzon","raw_affiliation_strings":["Lockheed Martin, Advanced Technology Labs, Eagan, MN, USA"],"affiliations":[{"raw_affiliation_string":"Lockheed Martin, Advanced Technology Labs, Eagan, MN, USA","institution_ids":["https://openalex.org/I1287521167"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042157108","display_name":"Luca Carlone","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]},{"id":"https://openalex.org/I4210143601","display_name":"Decision Systems (United States)","ror":"https://ror.org/0434dpa13","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143601"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Luca Carlone","raw_affiliation_strings":["Laboratory for Information &amp; Decision Systems (LIDS), Massachusetts Institute of Technology, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Laboratory for Information &amp; Decision Systems (LIDS), Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5090719996"],"corresponding_institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":6.8483,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":{"value":0.97754319,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"9","issue":"6","first_page":"4886","last_page":"4893"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9864000082015991,"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":0.9864000082015991,"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/T12290","display_name":"Human Motion and Animation","score":0.9855999946594238,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T12698","display_name":"3D Modeling in Geospatial Applications","score":0.9789999723434448,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6126527786254883},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5030755400657654},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33080384135246277},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.22015637159347534}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6126527786254883},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5030755400657654},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33080384135246277},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.22015637159347534}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3384084","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3384084","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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W102708294","https://openalex.org/W1614298861","https://openalex.org/W1944396096","https://openalex.org/W2133109597","https://openalex.org/W2561529111","https://openalex.org/W2737258237","https://openalex.org/W2964339842","https://openalex.org/W2990129662","https://openalex.org/W3009928773","https://openalex.org/W3035154952","https://openalex.org/W3090386798","https://openalex.org/W3108864070","https://openalex.org/W3114942877","https://openalex.org/W3167126457","https://openalex.org/W3182020042","https://openalex.org/W3183042936","https://openalex.org/W3192660112","https://openalex.org/W3204757729","https://openalex.org/W3205663647","https://openalex.org/W3216178672","https://openalex.org/W4226236972","https://openalex.org/W4281555123","https://openalex.org/W4285102527","https://openalex.org/W4294299904","https://openalex.org/W4297821217","https://openalex.org/W4312781488","https://openalex.org/W4385848430","https://openalex.org/W4386071839","https://openalex.org/W4386075724","https://openalex.org/W4386081161","https://openalex.org/W4387143377","https://openalex.org/W4391743427","https://openalex.org/W4401415891","https://openalex.org/W6636510571","https://openalex.org/W6760045743","https://openalex.org/W6781756483","https://openalex.org/W6802960777","https://openalex.org/W6804131122","https://openalex.org/W6804931167","https://openalex.org/W6810086633","https://openalex.org/W6843807236","https://openalex.org/W6855662417","https://openalex.org/W6856169278","https://openalex.org/W6856710561"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W2382290278","https://openalex.org/W2478288626","https://openalex.org/W4391913857","https://openalex.org/W2350741829","https://openalex.org/W2530322880"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"an":[3,26,106],"approach":[4,178],"to":[5,76,103,135,195],"build":[6,77,104],"3D":[7,124,204],"scene":[8,125,205],"graphs":[9],"in":[10,60,179,199],"arbitrary":[11],"indoor":[12,61,89],"and":[13,35,42,85,90,166,187,190],"outdoor":[14,27,91],"environments.":[15],"Such":[16],"extension":[17],"is":[18,29,40],"challenging;":[19],"the":[20,47,53,111,120,158,200,203],"hierarchy":[21,39],"of":[22,49,56,113,182,202],"concepts":[23,84,170],"that":[24,192],"describe":[25],"environment":[28],"more":[30],"complex":[31],"than":[32],"for":[33,88,123,160],"indoors,":[34],"manually":[36],"defining":[37,83],"such":[38,105],"time-consuming":[41],"does":[43],"not":[44],"scale.":[45],"Furthermore,":[46],"lack":[48],"training":[50,154,173],"data":[51],"prevents":[52],"straightforward":[54],"application":[55],"learning-based":[57],"tools":[58],"used":[59],"settings.":[62],"To":[63],"address":[64],"these":[65],"challenges,":[66],"we":[67,73,96,118],"propose":[68],"two":[69],"novel":[70],"extensions.":[71],"First,":[72],"develop":[74],"methods":[75],"a":[78,98,180,196],"<italic":[79,129,140],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[80,130,141],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">spatial":[81],"ontology</i>":[82],"relations":[86],"relevant":[87],"robot":[92],"operation.":[93],"In":[94],"particular,":[95],"use":[97],"Large":[99],"Language":[100],"Model":[101],"(LLM)":[102],"ontology,":[107],"thus":[108,156],"largely":[109],"reducing":[110,157],"amount":[112],"manual":[114],"effort":[115],"required.":[116],"Second,":[117],"leverage":[119],"spatial":[121],"ontology":[122],"graph":[126,206],"construction":[127],"using":[128],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Logic":[131],"Tensor":[132],"Networks</i>":[133],"(LTN)":[134],"add":[136],"logical":[137],"rules,":[138],"or":[139],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">axioms</i>":[142],"(e.g.,":[143],"\u201ca":[144],"beach":[145],"contains":[146],"sand\u201d),":[147],"which":[148],"provide":[149],"additional":[150],"supervisory":[151],"signals":[152],"at":[153,172],"time":[155],"need":[159],"labelled":[161],"data,":[162],"providing":[163],"better":[164],"predictions,":[165],"even":[167],"allowing":[168],"predicting":[169],"unseen":[171],"time.":[174],"We":[175],"test":[176],"our":[177],"variety":[181],"datasets,":[183],"including":[184],"indoor,":[185],"rural,":[186],"coastal":[188],"environments,":[189],"show":[191],"it":[193],"leads":[194],"significant":[197],"increase":[198],"quality":[201],"generation":[207],"with":[208],"sparsely":[209],"annotated":[210],"data.":[211]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":17},{"year":2024,"cited_by_count":4}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}