{"id":"https://openalex.org/W4409019284","doi":"https://doi.org/10.1109/lra.2025.3555862","title":"Efficient Plane Segmentation in Depth Image Based on Adaptive Patch-Wise Region Growing","display_name":"Efficient Plane Segmentation in Depth Image Based on Adaptive Patch-Wise Region Growing","publication_year":2025,"publication_date":"2025-03-31","ids":{"openalex":"https://openalex.org/W4409019284","doi":"https://doi.org/10.1109/lra.2025.3555862"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3555862","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3555862","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/A5060501926","display_name":"Lantao Zhang","orcid":"https://orcid.org/0009-0001-5577-0622"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]},{"id":"https://openalex.org/I4210164150","display_name":"Shanghai Center for Brain Science and Brain-Inspired Technology","ror":"https://ror.org/0551a0y31","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210164150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lantao Zhang","raw_affiliation_strings":["Brain-Inspired Application Technology Center (BATC), School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0009-0001-5577-0622","affiliations":[{"raw_affiliation_string":"Brain-Inspired Application Technology Center (BATC), School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930","https://openalex.org/I4210164150"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024697164","display_name":"Haochen Niu","orcid":"https://orcid.org/0009-0003-6685-0614"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]},{"id":"https://openalex.org/I4210164150","display_name":"Shanghai Center for Brain Science and Brain-Inspired Technology","ror":"https://ror.org/0551a0y31","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210164150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haochen Niu","raw_affiliation_strings":["Brain-Inspired Application Technology Center (BATC), School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0009-0003-6685-0614","affiliations":[{"raw_affiliation_string":"Brain-Inspired Application Technology Center (BATC), School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930","https://openalex.org/I4210164150"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032986088","display_name":"Peilin Liu","orcid":"https://orcid.org/0000-0002-5321-2336"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]},{"id":"https://openalex.org/I4210164150","display_name":"Shanghai Center for Brain Science and Brain-Inspired Technology","ror":"https://ror.org/0551a0y31","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210164150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peilin Liu","raw_affiliation_strings":["Brain-Inspired Application Technology Center (BATC), School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-5321-2336","affiliations":[{"raw_affiliation_string":"Brain-Inspired Application Technology Center (BATC), School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930","https://openalex.org/I4210164150"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034251794","display_name":"Fei Wen","orcid":"https://orcid.org/0000-0002-3083-9611"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]},{"id":"https://openalex.org/I4210164150","display_name":"Shanghai Center for Brain Science and Brain-Inspired Technology","ror":"https://ror.org/0551a0y31","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210164150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fei Wen","raw_affiliation_strings":["Brain-Inspired Application Technology Center (BATC), School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-3083-9611","affiliations":[{"raw_affiliation_string":"Brain-Inspired Application Technology Center (BATC), School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930","https://openalex.org/I4210164150"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048965499","display_name":"Rendong Ying","orcid":"https://orcid.org/0000-0001-6670-149X"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]},{"id":"https://openalex.org/I4210164150","display_name":"Shanghai Center for Brain Science and Brain-Inspired Technology","ror":"https://ror.org/0551a0y31","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210164150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rendong Ying","raw_affiliation_strings":["Brain-Inspired Application Technology Center (BATC), School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0001-6670-149X","affiliations":[{"raw_affiliation_string":"Brain-Inspired Application Technology Center (BATC), School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930","https://openalex.org/I4210164150"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.5997,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.65989832,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"10","issue":"6","first_page":"5249","last_page":"5256"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12111","display_name":"Industrial Vision Systems and Defect Detection","score":0.9934999942779541,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing Engineering"},"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/T12111","display_name":"Industrial Vision Systems and Defect Detection","score":0.9934999942779541,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T12549","display_name":"Image and Object Detection Techniques","score":0.9854000210762024,"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/T13114","display_name":"Image Processing Techniques and Applications","score":0.9666000008583069,"subfield":{"id":"https://openalex.org/subfields/2214","display_name":"Media Technology"},"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/region-growing","display_name":"Region growing","score":0.6853722333908081},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6115840673446655},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5794219970703125},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.5725712776184082},{"id":"https://openalex.org/keywords/image-segmentation","display_name":"Image segmentation","score":0.5361376404762268},{"id":"https://openalex.org/keywords/plane","display_name":"Plane (geometry)","score":0.5206162929534912},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.45808330178260803},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4322138726711273},{"id":"https://openalex.org/keywords/scale-space-segmentation","display_name":"Scale-space segmentation","score":0.31165844202041626},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23226714134216309},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.1716916263103485}],"concepts":[{"id":"https://openalex.org/C206824153","wikidata":"https://www.wikidata.org/wiki/Q1169834","display_name":"Region growing","level":5,"score":0.6853722333908081},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6115840673446655},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5794219970703125},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.5725712776184082},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.5361376404762268},{"id":"https://openalex.org/C17825722","wikidata":"https://www.wikidata.org/wiki/Q17285","display_name":"Plane (geometry)","level":2,"score":0.5206162929534912},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.45808330178260803},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4322138726711273},{"id":"https://openalex.org/C65885262","wikidata":"https://www.wikidata.org/wiki/Q7429708","display_name":"Scale-space segmentation","level":4,"score":0.31165844202041626},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23226714134216309},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.1716916263103485}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3555862","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3555862","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":[{"id":"https://metadata.un.org/sdg/13","score":0.49000000953674316,"display_name":"Climate action"}],"awards":[{"id":"https://openalex.org/G15007919","display_name":null,"funder_award_id":"62276166","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1994075312","https://openalex.org/W2000018820","https://openalex.org/W2021851106","https://openalex.org/W2029895480","https://openalex.org/W2041642242","https://openalex.org/W2058535340","https://openalex.org/W2085261163","https://openalex.org/W2157044442","https://openalex.org/W2219800078","https://openalex.org/W2566705929","https://openalex.org/W2611946301","https://openalex.org/W2768625376","https://openalex.org/W2781826143","https://openalex.org/W2782344141","https://openalex.org/W2905260191","https://openalex.org/W2963150697","https://openalex.org/W2963710007","https://openalex.org/W2964043193","https://openalex.org/W2997084754","https://openalex.org/W3009485967","https://openalex.org/W3028418844","https://openalex.org/W3181777995","https://openalex.org/W3183685035","https://openalex.org/W3205872680","https://openalex.org/W4200132814","https://openalex.org/W4312418565","https://openalex.org/W4313590732","https://openalex.org/W4390874575","https://openalex.org/W4404612908","https://openalex.org/W6602748297","https://openalex.org/W6802936351"],"related_works":["https://openalex.org/W1978085585","https://openalex.org/W2394279717","https://openalex.org/W2364730859","https://openalex.org/W3144569342","https://openalex.org/W2386644571","https://openalex.org/W4281943322","https://openalex.org/W2368273968","https://openalex.org/W2551987074","https://openalex.org/W1986655823","https://openalex.org/W4313052709"],"abstract_inverted_index":{"Plane":[0],"segmentation":[1,31,177],"algorithms":[2],"are":[3,47,55,117],"widely":[4],"used":[5],"in":[6,11,52,92,108,119,166,171],"robotics,":[7],"serving":[8],"key":[9],"roles":[10],"scenarios":[12],"such":[13],"as":[14,49],"indoor":[15],"localization,":[16],"scene":[17],"understanding,":[18],"and":[19,28],"robotic":[20],"manipulation.":[21],"These":[22],"applications":[23],"typically":[24],"require":[25],"real-time,":[26],"precise,":[27],"robust":[29],"plane":[30,69,101],"processing,":[32],"which":[33,155],"presents":[34],"a":[35,64,84,109,125,143,147,161],"significant":[36],"challenge.":[37],"Existing":[38],"methods":[39],"based":[40],"on":[41,146,180],"pixel-wise":[42],"or":[43],"fix-sized":[44],"patch-wise":[45,100],"operation":[46],"redundant,":[48],"planar":[50,94,115],"regions":[51],"real-world":[53,181],"scenes":[54],"of":[56,163],"diverse":[57],"sizes.":[58],"In":[59],"this":[60,120],"paper,":[61],"we":[62,96,123],"introduce":[63,97,124],"highly":[65],"efficient":[66],"method":[67,159],"for":[68,131],"segmentation,":[70],"namely":[71],"Adaptive":[72],"Patch-wise":[73],"Region":[74],"Growing":[75],"(APRG).":[76],"APRG":[77,136,173],"begins":[78],"with":[79,104],"data":[80,85],"sampling":[81],"to":[82,168],"construct":[83],"pyramid.":[86],"To":[87],"avoid":[88],"redundant":[89],"planer":[90],"fitting":[91,102],"large":[93],"regions,":[95],"an":[98],"adaptive":[99],"algorithm":[103,128],"the":[105,157,176],"pyramid":[106],"accessed":[107],"top-down":[110],"manner.":[111],"The":[112],"largest":[113],"possible":[114],"patches":[116],"obtained":[118],"process.":[121],"Subsequently":[122],"region":[126],"growing":[127],"specially":[129],"designed":[130],"our":[132],"patch":[133],"representation.":[134],"Overall,":[135],"achieves":[137],"more":[138],"than":[139],"600":[140],"FPS":[141],"at":[142],"640x480":[144],"resolution":[145],"mid-range":[148],"CPU":[149],"without":[150],"using":[151],"parallel":[152],"acceleration":[153],"techniques,":[154],"outperforms":[156],"state-of-the-art":[158],"by":[160],"factor":[162],"1.46.":[164],"Besides,":[165],"addition":[167],"its":[169],"speedup":[170],"run-time,":[172],"significantly":[174],"improves":[175],"quality,":[178],"especially":[179],"data.":[182]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}
