{"id":"https://openalex.org/W7092292336","doi":"https://doi.org/10.1109/lra.2025.3623045","title":"Have We Scene It All? Scene Graph-Aware Deep Point Cloud Compression","display_name":"Have We Scene It All? Scene Graph-Aware Deep Point Cloud Compression","publication_year":2025,"publication_date":"2025-10-17","ids":{"openalex":"https://openalex.org/W7092292336","doi":"https://doi.org/10.1109/lra.2025.3623045"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2025.3623045","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3623045","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":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2510.08512","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Nikolaos Stathoulopoulos","orcid":"https://orcid.org/0000-0002-0108-6286"},"institutions":[{"id":"https://openalex.org/I190632392","display_name":"Lule\u00e5 University of Technology","ror":"https://ror.org/016st3p78","country_code":"SE","type":"education","lineage":["https://openalex.org/I190632392"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Nikolaos Stathoulopoulos","raw_affiliation_strings":["Robotics and AI Group, Department of Computer, Electrical and Space Engineering, Lule&#x00E5; University of Technology, Lule&#x00E5;, Sweden"],"raw_orcid":"https://orcid.org/0000-0002-0108-6286","affiliations":[{"raw_affiliation_string":"Robotics and AI Group, Department of Computer, Electrical and Space Engineering, Lule&#x00E5; University of Technology, Lule&#x00E5;, Sweden","institution_ids":["https://openalex.org/I190632392"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Christoforos Kanellakis","orcid":"https://orcid.org/0000-0001-8870-6718"},"institutions":[{"id":"https://openalex.org/I190632392","display_name":"Lule\u00e5 University of Technology","ror":"https://ror.org/016st3p78","country_code":"SE","type":"education","lineage":["https://openalex.org/I190632392"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Christoforos Kanellakis","raw_affiliation_strings":["Robotics and AI Group, Department of Computer, Electrical and Space Engineering, Lule&#x00E5; University of Technology, Lule&#x00E5;, Sweden"],"raw_orcid":"https://orcid.org/0000-0001-8870-6718","affiliations":[{"raw_affiliation_string":"Robotics and AI Group, Department of Computer, Electrical and Space Engineering, Lule&#x00E5; University of Technology, Lule&#x00E5;, Sweden","institution_ids":["https://openalex.org/I190632392"]}]},{"author_position":"last","author":{"id":null,"display_name":"George Nikolakopoulos","orcid":"https://orcid.org/0000-0003-0126-1897"},"institutions":[{"id":"https://openalex.org/I190632392","display_name":"Lule\u00e5 University of Technology","ror":"https://ror.org/016st3p78","country_code":"SE","type":"education","lineage":["https://openalex.org/I190632392"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"George Nikolakopoulos","raw_affiliation_strings":["Robotics and AI Group, Department of Computer, Electrical and Space Engineering, Lule&#x00E5; University of Technology, Lule&#x00E5;, Sweden"],"raw_orcid":"https://orcid.org/0000-0003-0126-1897","affiliations":[{"raw_affiliation_string":"Robotics and AI Group, Department of Computer, Electrical and Space Engineering, Lule&#x00E5; University of Technology, Lule&#x00E5;, Sweden","institution_ids":["https://openalex.org/I190632392"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I190632392"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.52495974,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"10","issue":"12","first_page":"12477","last_page":"12484"},"is_retracted":false,"is_paratext":false,"is_xpac":true,"primary_topic":{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.5512999892234802,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/T10719","display_name":"3D Shape Modeling and Analysis","score":0.5512999892234802,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.2069000005722046,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.015200000256299973,"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/point-cloud","display_name":"Point cloud","score":0.7297000288963318},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.5195000171661377},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.503600001335144},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.46650001406669617},{"id":"https://openalex.org/keywords/data-compression","display_name":"Data compression","score":0.44620001316070557},{"id":"https://openalex.org/keywords/joins","display_name":"Joins","score":0.4180000126361847},{"id":"https://openalex.org/keywords/encoding","display_name":"Encoding (memory)","score":0.41110000014305115},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.39329999685287476},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.3734000027179718}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7369999885559082},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7297000288963318},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.58160001039505},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5728999972343445},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.5195000171661377},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.503600001335144},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.46650001406669617},{"id":"https://openalex.org/C78548338","wikidata":"https://www.wikidata.org/wiki/Q2493","display_name":"Data compression","level":2,"score":0.44620001316070557},{"id":"https://openalex.org/C2778692605","wikidata":"https://www.wikidata.org/wiki/Q4041866","display_name":"Joins","level":2,"score":0.4180000126361847},{"id":"https://openalex.org/C125411270","wikidata":"https://www.wikidata.org/wiki/Q18653","display_name":"Encoding (memory)","level":2,"score":0.41110000014305115},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.39329999685287476},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.3734000027179718},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.361299991607666},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.3109999895095825},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.3068999946117401},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.2971000075340271},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.2921000123023987},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.2897999882698059},{"id":"https://openalex.org/C132964779","wikidata":"https://www.wikidata.org/wiki/Q2110223","display_name":"Raw data","level":2,"score":0.28690001368522644},{"id":"https://openalex.org/C761482","wikidata":"https://www.wikidata.org/wiki/Q118093","display_name":"Transmission (telecommunications)","level":2,"score":0.2847000062465668},{"id":"https://openalex.org/C5134670","wikidata":"https://www.wikidata.org/wiki/Q1626444","display_name":"Cut","level":4,"score":0.2808000147342682},{"id":"https://openalex.org/C162307627","wikidata":"https://www.wikidata.org/wiki/Q204833","display_name":"Enhanced Data Rates for GSM Evolution","level":2,"score":0.2777999937534332},{"id":"https://openalex.org/C62611344","wikidata":"https://www.wikidata.org/wiki/Q1062658","display_name":"Node (physics)","level":2,"score":0.2761000096797943},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.2676999866962433},{"id":"https://openalex.org/C180016635","wikidata":"https://www.wikidata.org/wiki/Q2712821","display_name":"Compression (physics)","level":2,"score":0.2639000117778778},{"id":"https://openalex.org/C13481523","wikidata":"https://www.wikidata.org/wiki/Q412438","display_name":"Image compression","level":4,"score":0.263700008392334},{"id":"https://openalex.org/C66746571","wikidata":"https://www.wikidata.org/wiki/Q1134833","display_name":"ENCODE","level":3,"score":0.25760000944137573},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2572999894618988}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2025.3623045","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3623045","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"},{"id":"pmh:oai:arXiv.org:2510.08512","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2510.08512","pdf_url":"https://arxiv.org/pdf/2510.08512","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2510.08512","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2510.08512","pdf_url":"https://arxiv.org/pdf/2510.08512","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W7092292336.pdf"},"referenced_works_count":29,"referenced_works":["https://openalex.org/W2319503556","https://openalex.org/W2760103357","https://openalex.org/W2796426482","https://openalex.org/W2917690002","https://openalex.org/W2957348723","https://openalex.org/W2979750740","https://openalex.org/W2990129662","https://openalex.org/W2990613095","https://openalex.org/W2991216808","https://openalex.org/W3003437478","https://openalex.org/W3007240855","https://openalex.org/W3012494314","https://openalex.org/W3131242954","https://openalex.org/W3131373811","https://openalex.org/W3179630053","https://openalex.org/W4210349466","https://openalex.org/W4221156617","https://openalex.org/W4310591442","https://openalex.org/W4312579012","https://openalex.org/W4313413497","https://openalex.org/W4315778466","https://openalex.org/W4317033447","https://openalex.org/W4385245566","https://openalex.org/W4391226513","https://openalex.org/W4400114438","https://openalex.org/W4401415729","https://openalex.org/W4401416003","https://openalex.org/W4413147069","https://openalex.org/W4413926033"],"related_works":[],"abstract_inverted_index":{"Efficient":[0],"transmission":[1],"of":[2,36],"3D":[3],"point":[4,37,65],"cloud":[5],"data":[6,118],"is":[7],"critical":[8],"for":[9],"advanced":[10],"perception":[11],"in":[12],"centralized":[13],"and":[14,27,33,44,71,94,106,128,143,149],"decentralized":[15],"multi-agent":[16],"robotic":[17],"systems,":[18],"especially":[19],"nowadays":[20],"with":[21,78,156],"the":[22,31,104,111],"growing":[23],"reliance":[24],"on":[25,58,103],"edge":[26],"cloud-based":[28],"processing.":[29],"However,":[30],"large":[32],"complex":[34],"nature":[35],"clouds":[38,66],"creates":[39],"challenges":[40],"under":[41],"bandwidth":[42],"constraints":[43],"intermittent":[45],"connectivity,":[46],"often":[47],"degrading":[48],"system":[49],"performance.":[50],"We":[51],"propose":[52],"a":[53],"deep":[54],"compression":[55,115],"framework":[56,112],"based":[57],"semantic":[59,129],"scene":[60],"graphs.":[61],"The":[62],"method":[63],"decomposes":[64],"into":[67,74],"semantically":[68],"coherent":[69],"patches":[70],"encodes":[72],"them":[73],"compact":[75],"latent":[76,92],"representations":[77],"semantic-aware":[79],"encoders":[80],"conditioned":[81],"by":[82,91,120],"Feature-wise":[83],"Linear":[84],"Modulation":[85],"(FiLM).":[86],"A":[87],"folding-based":[88],"decoder,":[89],"guided":[90],"features":[93],"graph":[95,141],"node":[96],"attributes,":[97],"enables":[98],"structurally":[99],"accurate":[100],"reconstruction.":[101],"Experiments":[102],"SemanticKITTI":[105],"nuScenes":[107],"datasets":[108],"show":[109],"that":[110],"achieves":[113],"state-of-the-art":[114],"rates,":[116],"reducing":[117],"size":[119],"up":[121],"to":[122,153],"98%":[123],"while":[124],"preserving":[125],"both":[126],"structural":[127],"fidelity.":[130],"In":[131],"addition,":[132],"it":[133],"supports":[134],"downstream":[135],"applications":[136],"such":[137],"as":[138],"multi-robot":[139],"pose":[140],"optimization":[142],"map":[144,150],"merging,":[145],"achieving":[146],"trajectory":[147],"accuracy":[148],"alignment":[151],"comparable":[152],"those":[154],"obtained":[155],"raw":[157],"LiDAR":[158],"scans.":[159]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-18T00:00:00"}
