{"id":"https://openalex.org/W4401691722","doi":"https://doi.org/10.1109/lra.2024.3445607","title":"OpenGraph: Open-Vocabulary Hierarchical 3D Graph Representation in Large-Scale Outdoor Environments","display_name":"OpenGraph: Open-Vocabulary Hierarchical 3D Graph Representation in Large-Scale Outdoor Environments","publication_year":2024,"publication_date":"2024-08-19","ids":{"openalex":"https://openalex.org/W4401691722","doi":"https://doi.org/10.1109/lra.2024.3445607"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3445607","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3445607","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/A5005080478","display_name":"Yinan Deng","orcid":"https://orcid.org/0009-0003-7973-1892"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yinan Deng","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089662760","display_name":"Jiahui Wang","orcid":"https://orcid.org/0009-0006-1601-8389"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiahui Wang","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090011572","display_name":"Jingyu Zhao","orcid":"https://orcid.org/0000-0001-7968-1248"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingyu Zhao","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029944382","display_name":"Xinyu Tian","orcid":"https://orcid.org/0000-0003-1247-6076"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinyu Tian","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101880588","display_name":"Guangyan Chen","orcid":"https://orcid.org/0000-0002-4634-2458"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guangyan Chen","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062124960","display_name":"Yi Yang","orcid":"https://orcid.org/0000-0003-3964-2433"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yi Yang","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068949782","display_name":"Yufeng Yue","orcid":"https://orcid.org/0000-0001-6628-7946"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yufeng Yue","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5005080478"],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":55.7999,"has_fulltext":false,"cited_by_count":28,"citation_normalized_percentile":{"value":0.99865504,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"9","issue":"10","first_page":"8402","last_page":"8409"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10757","display_name":"Geographic Information Systems Studies","score":0.9951000213623047,"subfield":{"id":"https://openalex.org/subfields/3305","display_name":"Geography, Planning and Development"},"field":{"id":"https://openalex.org/fields/33","display_name":"Social Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T10757","display_name":"Geographic Information Systems Studies","score":0.9951000213623047,"subfield":{"id":"https://openalex.org/subfields/3305","display_name":"Geography, Planning and Development"},"field":{"id":"https://openalex.org/fields/33","display_name":"Social Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9789999723434448,"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/T13382","display_name":"Robotics and Automated Systems","score":0.9782000184059143,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/vocabulary","display_name":"Vocabulary","score":0.6533565521240234},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.555051326751709},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5086003541946411},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.5039605498313904},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.48369675874710083},{"id":"https://openalex.org/keywords/natural-language-processing","display_name":"Natural language processing","score":0.3300086259841919},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32247474789619446},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.21466699242591858},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1809748113155365},{"id":"https://openalex.org/keywords/linguistics","display_name":"Linguistics","score":0.13572779297828674},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.10552552342414856},{"id":"https://openalex.org/keywords/political-science","display_name":"Political science","score":0.04396376013755798}],"concepts":[{"id":"https://openalex.org/C2777601683","wikidata":"https://www.wikidata.org/wiki/Q6499736","display_name":"Vocabulary","level":2,"score":0.6533565521240234},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.555051326751709},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5086003541946411},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.5039605498313904},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.48369675874710083},{"id":"https://openalex.org/C204321447","wikidata":"https://www.wikidata.org/wiki/Q30642","display_name":"Natural language processing","level":1,"score":0.3300086259841919},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32247474789619446},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.21466699242591858},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1809748113155365},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.13572779297828674},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.10552552342414856},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.04396376013755798},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3445607","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3445607","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/4","display_name":"Quality Education","score":0.4300000071525574}],"awards":[{"id":"https://openalex.org/G2565581497","display_name":null,"funder_award_id":"92370203","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3511544556","display_name":null,"funder_award_id":"62233002","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W2133844819","https://openalex.org/W2787091153","https://openalex.org/W2970641574","https://openalex.org/W3003437478","https://openalex.org/W3107113572","https://openalex.org/W3129245057","https://openalex.org/W3152786524","https://openalex.org/W3183042936","https://openalex.org/W4283332944","https://openalex.org/W4285110186","https://openalex.org/W4313016911","https://openalex.org/W4313166946","https://openalex.org/W4322718191","https://openalex.org/W4362654058","https://openalex.org/W4385430678","https://openalex.org/W4385431115","https://openalex.org/W4386065742","https://openalex.org/W4388461488","https://openalex.org/W4390872744","https://openalex.org/W4392979517","https://openalex.org/W4393372075","https://openalex.org/W4401414715","https://openalex.org/W4401415891","https://openalex.org/W4401416305","https://openalex.org/W4401990649","https://openalex.org/W4405022569","https://openalex.org/W6791353385","https://openalex.org/W6811013733","https://openalex.org/W6811433417","https://openalex.org/W6838390765","https://openalex.org/W6850625674","https://openalex.org/W6850787431","https://openalex.org/W6853520483","https://openalex.org/W6854061876","https://openalex.org/W6857861739","https://openalex.org/W6859196858","https://openalex.org/W6860020649","https://openalex.org/W6863705150","https://openalex.org/W6869627149"],"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/W3167549738","https://openalex.org/W2381983017"],"abstract_inverted_index":{"Environment":[0],"representations":[1],"endowed":[2],"with":[3,135],"sophisticated":[4],"semantics":[5],"are":[6,44,56],"pivotal":[7],"for":[8,47,108],"facilitating":[9],"seamless":[10],"interaction":[11],"between":[12],"robots":[13],"and":[14,37,55,82,92,116,164,173],"humans,":[15],"enabling":[16],"them":[17],"to":[18,75,86,155],"effectively":[19],"carry":[20],"out":[21],"various":[22],"tasks.":[23],"Open-vocabulary":[24],"representation,":[25],"powered":[26],"by":[27,79,125,138],"Visual-Language":[28],"models":[29],"(VLMs),":[30],"possesses":[31],"inherent":[32],"advantages,":[33],"including":[34],"zero-shot":[35],"learning":[36],"open-set":[38],"cognition.":[39],"However,":[40],"existing":[41],"open-vocabulary":[42,103],"maps":[43],"primarily":[45],"designed":[46,107],"small-scale":[48],"environments,":[49],"such":[50],"as":[51],"desktops":[52],"or":[53,66],"rooms,":[54],"typically":[57],"geared":[58],"towards":[59],"limited-area":[60],"tasks":[61],"involving":[62],"robotic":[63],"indoor":[64],"navigation":[65],"in-place":[67],"manipulation.":[68],"They":[69],"face":[70],"challenges":[71],"in":[72,88],"direct":[73],"generalization":[74],"outdoor":[76,110],"environments":[77],"characterized":[78],"numerous":[80],"objects":[81],"complex":[83],"tasks,":[84],"owing":[85],"limitations":[87],"both":[89],"understanding":[90],"level":[91],"map":[93],"structure.":[94],"In":[95],"this":[96],"work,":[97],"we":[98],"propose":[99],"OpenGraph,":[100],"a":[101,157],"novel":[102],"hierarchical":[104,158],"graph":[105,153],"representation":[106],"large-scale":[109],"environments.":[111],"OpenGraph":[112,169],"initially":[113],"extracts":[114],"instances":[115],"their":[117],"captions":[118],"from":[119,162],"visual":[120],"images,":[121],"enhancing":[122],"textual":[123],"reasoning":[124],"encoding":[126],"captions.":[127],"Subsequently,":[128],"it":[129],"achieves":[130,170],"3D":[131],"incremental":[132],"object-centric":[133],"mapping":[134],"feature":[136],"embedding":[137],"projecting":[139],"images":[140],"onto":[141],"LiDAR":[142],"point":[143],"clouds.":[144],"Finally,":[145],"the":[146],"environment":[147],"is":[148],"segmented":[149],"based":[150],"on":[151],"lane":[152],"connectivity":[154],"construct":[156],"representation.":[159],"Validation":[160],"results":[161],"SemanticKITTI":[163],"real-world":[165],"scene":[166],"demonstrate":[167],"that":[168],"high":[171],"segmentation":[172],"query":[174],"accuracy.":[175]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":21},{"year":2024,"cited_by_count":2}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
