{"id":"https://openalex.org/W4311080789","doi":"https://doi.org/10.1109/mra.2022.3210587","title":"Toward Holistic Scene Understanding: A Transfer of Human Scene Perception to Mobile Robots","display_name":"Toward Holistic Scene Understanding: A Transfer of Human Scene Perception to Mobile Robots","publication_year":2022,"publication_date":"2022-10-13","ids":{"openalex":"https://openalex.org/W4311080789","doi":"https://doi.org/10.1109/mra.2022.3210587"},"language":"en","primary_location":{"id":"doi:10.1109/mra.2022.3210587","is_oa":true,"landing_page_url":"https://doi.org/10.1109/mra.2022.3210587","pdf_url":"https://ieeexplore.ieee.org/ielx7/100/9975153/09917518.pdf","source":{"id":"https://openalex.org/S132261465","display_name":"IEEE Robotics & Automation Magazine","issn_l":"1070-9932","issn":["1070-9932","1558-223X"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics & Automation Magazine","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://ieeexplore.ieee.org/ielx7/100/9975153/09917518.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5091782421","display_name":"Florenz Graf","orcid":"https://orcid.org/0000-0002-6596-3807"},"institutions":[{"id":"https://openalex.org/I3018473509","display_name":"Fraunhofer Institute for Manufacturing Engineering and Automation","ror":"https://ror.org/01rvqha10","country_code":"DE","type":"facility","lineage":["https://openalex.org/I3018473509","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Florenz Graf","raw_affiliation_strings":["Department of Robot and Assistive Systems, Fraunhofer IPA, Stuttgart, Germany"],"raw_orcid":"https://orcid.org/0000-0002-6596-3807","affiliations":[{"raw_affiliation_string":"Department of Robot and Assistive Systems, Fraunhofer IPA, Stuttgart, Germany","institution_ids":["https://openalex.org/I3018473509"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061435163","display_name":"Jochen Lindermayr","orcid":"https://orcid.org/0000-0003-4617-0294"},"institutions":[{"id":"https://openalex.org/I3018473509","display_name":"Fraunhofer Institute for Manufacturing Engineering and Automation","ror":"https://ror.org/01rvqha10","country_code":"DE","type":"facility","lineage":["https://openalex.org/I3018473509","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jochen Lindermayr","raw_affiliation_strings":["Department of Robot and Assistive Systems, Fraunhofer IPA, Stuttgart, Germany"],"raw_orcid":"https://orcid.org/0000-0003-4617-0294","affiliations":[{"raw_affiliation_string":"Department of Robot and Assistive Systems, Fraunhofer IPA, Stuttgart, Germany","institution_ids":["https://openalex.org/I3018473509"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007151833","display_name":"\u00c7a\u011fatay Odaba\u015f\u0131","orcid":"https://orcid.org/0000-0001-5241-2419"},"institutions":[{"id":"https://openalex.org/I3018473509","display_name":"Fraunhofer Institute for Manufacturing Engineering and Automation","ror":"https://ror.org/01rvqha10","country_code":"DE","type":"facility","lineage":["https://openalex.org/I3018473509","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Cagatay Odabasi","raw_affiliation_strings":["Department of Robot and Assistive Systems, Fraunhofer IPA, Stuttgart, Germany"],"raw_orcid":"https://orcid.org/0000-0001-5241-2419","affiliations":[{"raw_affiliation_string":"Department of Robot and Assistive Systems, Fraunhofer IPA, Stuttgart, Germany","institution_ids":["https://openalex.org/I3018473509"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031354877","display_name":"Marco F. Huber","orcid":"https://orcid.org/0000-0002-8250-2092"},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]},{"id":"https://openalex.org/I3018473509","display_name":"Fraunhofer Institute for Manufacturing Engineering and Automation","ror":"https://ror.org/01rvqha10","country_code":"DE","type":"facility","lineage":["https://openalex.org/I3018473509","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Marco F. Huber","raw_affiliation_strings":["Center for Cyber Cognitive Intelligence, Fraunhofer IPA, and Institute of Industrial Manufacturing and Management IFF, University of Stuttgart, Stuttgart, Germany"],"raw_orcid":"https://orcid.org/0000-0002-8250-2092","affiliations":[{"raw_affiliation_string":"Center for Cyber Cognitive Intelligence, Fraunhofer IPA, and Institute of Industrial Manufacturing and Management IFF, University of Stuttgart, Stuttgart, Germany","institution_ids":["https://openalex.org/I3018473509","https://openalex.org/I100066346"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5091782421"],"corresponding_institution_ids":["https://openalex.org/I3018473509"],"apc_list":null,"apc_paid":null,"fwci":1.6327,"has_fulltext":true,"cited_by_count":16,"citation_normalized_percentile":{"value":0.85151083,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"29","issue":"4","first_page":"36","last_page":"49"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11605","display_name":"Visual Attention and Saliency Detection","score":0.9969000220298767,"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/T11605","display_name":"Visual Attention and Saliency Detection","score":0.9969000220298767,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9926000237464905,"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/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":0.9923999905586243,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/perception","display_name":"Perception","score":0.819918155670166},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7335398197174072},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6281528472900391},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5685797929763794},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5626156330108643},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5447841286659241},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5276987552642822},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4388822019100189},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.43718841671943665},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3587403893470764},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.23845580220222473}],"concepts":[{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.819918155670166},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7335398197174072},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6281528472900391},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5685797929763794},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5626156330108643},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5447841286659241},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5276987552642822},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4388822019100189},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.43718841671943665},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3587403893470764},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.23845580220222473},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/mra.2022.3210587","is_oa":true,"landing_page_url":"https://doi.org/10.1109/mra.2022.3210587","pdf_url":"https://ieeexplore.ieee.org/ielx7/100/9975153/09917518.pdf","source":{"id":"https://openalex.org/S132261465","display_name":"IEEE Robotics & Automation Magazine","issn_l":"1070-9932","issn":["1070-9932","1558-223X"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics & Automation Magazine","raw_type":"journal-article"},{"id":"pmh:oai:publica.fraunhofer.de:publica/442985","is_oa":false,"landing_page_url":"https://publica.fraunhofer.de/handle/publica/442985","pdf_url":null,"source":{"id":"https://openalex.org/S4306400318","display_name":"Fraunhofer-Publica (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer-Gesellschaft","host_organization_lineage":["https://openalex.org/I4923324"],"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":"journal article"}],"best_oa_location":{"id":"doi:10.1109/mra.2022.3210587","is_oa":true,"landing_page_url":"https://doi.org/10.1109/mra.2022.3210587","pdf_url":"https://ieeexplore.ieee.org/ielx7/100/9975153/09917518.pdf","source":{"id":"https://openalex.org/S132261465","display_name":"IEEE Robotics & Automation Magazine","issn_l":"1070-9932","issn":["1070-9932","1558-223X"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics & Automation Magazine","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4311080789.pdf","grobid_xml":"https://content.openalex.org/works/W4311080789.grobid-xml"},"referenced_works_count":123,"referenced_works":["https://openalex.org/W199570482","https://openalex.org/W287022735","https://openalex.org/W1497244971","https://openalex.org/W1566135517","https://openalex.org/W1579479978","https://openalex.org/W1693521980","https://openalex.org/W1833143043","https://openalex.org/W1861492603","https://openalex.org/W1972652221","https://openalex.org/W1976645892","https://openalex.org/W1986014385","https://openalex.org/W1986209830","https://openalex.org/W1986473362","https://openalex.org/W1991564165","https://openalex.org/W1995341919","https://openalex.org/W2001206007","https://openalex.org/W2025885915","https://openalex.org/W2031489346","https://openalex.org/W2079995408","https://openalex.org/W2085302753","https://openalex.org/W2088112754","https://openalex.org/W2095436077","https://openalex.org/W2097696373","https://openalex.org/W2101131351","https://openalex.org/W2107176174","https://openalex.org/W2116261113","https://openalex.org/W2117539524","https://openalex.org/W2119539043","https://openalex.org/W2125186487","https://openalex.org/W2129317082","https://openalex.org/W2145023731","https://openalex.org/W2145938889","https://openalex.org/W2163605009","https://openalex.org/W2167387804","https://openalex.org/W2181173202","https://openalex.org/W2193753919","https://openalex.org/W2211397329","https://openalex.org/W2220103042","https://openalex.org/W2232487463","https://openalex.org/W2258360715","https://openalex.org/W2265661972","https://openalex.org/W2284029970","https://openalex.org/W2432402544","https://openalex.org/W2535547924","https://openalex.org/W2538243221","https://openalex.org/W2558496198","https://openalex.org/W2581528920","https://openalex.org/W2603203130","https://openalex.org/W2770135404","https://openalex.org/W2783894900","https://openalex.org/W2794400981","https://openalex.org/W2807015669","https://openalex.org/W2810401700","https://openalex.org/W2888144883","https://openalex.org/W2891677153","https://openalex.org/W2898231767","https://openalex.org/W2904904022","https://openalex.org/W2911161776","https://openalex.org/W2911194752","https://openalex.org/W2912196091","https://openalex.org/W2914159285","https://openalex.org/W2917101430","https://openalex.org/W2948938434","https://openalex.org/W2950747681","https://openalex.org/W2951342803","https://openalex.org/W2955691601","https://openalex.org/W2960067430","https://openalex.org/W2962730651","https://openalex.org/W2963037989","https://openalex.org/W2963460509","https://openalex.org/W2963793792","https://openalex.org/W2971531831","https://openalex.org/W2974287997","https://openalex.org/W2989791676","https://openalex.org/W2993464084","https://openalex.org/W2996950367","https://openalex.org/W3014582150","https://openalex.org/W3035744235","https://openalex.org/W3036263805","https://openalex.org/W3039925688","https://openalex.org/W3043646502","https://openalex.org/W3043695211","https://openalex.org/W3090024025","https://openalex.org/W3090386798","https://openalex.org/W3091076907","https://openalex.org/W3092609815","https://openalex.org/W3094177740","https://openalex.org/W3094502228","https://openalex.org/W3098057674","https://openalex.org/W3100555577","https://openalex.org/W3101435426","https://openalex.org/W3101488456","https://openalex.org/W3102327032","https://openalex.org/W3118885154","https://openalex.org/W3119324419","https://openalex.org/W3132455321","https://openalex.org/W3137959340","https://openalex.org/W3138885497","https://openalex.org/W3140854437","https://openalex.org/W3141505394","https://openalex.org/W3149936330","https://openalex.org/W3184998487","https://openalex.org/W4214736485","https://openalex.org/W4221162064","https://openalex.org/W4231697575","https://openalex.org/W4232268105","https://openalex.org/W4235618087","https://openalex.org/W4240791294","https://openalex.org/W4246139359","https://openalex.org/W4254690344","https://openalex.org/W4302335743","https://openalex.org/W4320013936","https://openalex.org/W6684191040","https://openalex.org/W6730211147","https://openalex.org/W6732688453","https://openalex.org/W6759116605","https://openalex.org/W6763059069","https://openalex.org/W6766197044","https://openalex.org/W6775117308","https://openalex.org/W6784333009","https://openalex.org/W6792915775","https://openalex.org/W7038994942","https://openalex.org/W7043464187"],"related_works":["https://openalex.org/W2122871747","https://openalex.org/W3114279067","https://openalex.org/W2978665606","https://openalex.org/W3205513966","https://openalex.org/W189465620","https://openalex.org/W3120459843","https://openalex.org/W4366547574","https://openalex.org/W3200191727","https://openalex.org/W4366818884","https://openalex.org/W2248308732"],"abstract_inverted_index":{"The":[0,45,82],"long-term":[1],"vision":[2],"for":[3],"robotics":[4],"is":[5,48],"to":[6,36,49,97,99,122],"have":[7,107],"fully":[8],"autonomous":[9],"mobile":[10],"robots":[11,79],"that":[12],"perceive":[13],"the":[14,25,71,89,102,113],"environment":[15],"as":[16],"humans":[17,106],"do":[18],"or":[19],"even":[20],"better.":[21],"This":[22],"article":[23],"transfers":[24],"core":[26],"ideas":[27],"from":[28],"human":[29,65],"scene":[30,34,41,56],"perception":[31,35,57,95,119],"onto":[32],"robot":[33,55,94,118],"contribute":[37],"toward":[38],"a":[39],"holistic":[40,93],"understanding":[42],"of":[43,64,70,88,92,105,117],"robots.":[44],"first":[46],"contribution":[47,84],"extensively":[50],"survey":[51],"and":[52,62,76,80,115],"compare":[53],"state-of-the-art":[54],"approaches":[58,96],"with":[59],"neuroscience":[60],"theories":[61],"studies":[63],"perception.":[66],"A":[67],"step-by-step":[68],"transfer":[69],"perceptual":[72,103],"process":[73],"reveals":[74],"similarities":[75],"differences":[77],"between":[78],"humans.":[81],"second":[83],"represents":[85],"an":[86],"analysis":[87],"status":[90],"quo":[91],"extract":[98],"what":[100],"extent":[101],"capabilities":[104],"been":[108],"reached.":[109],"Building":[110],"on":[111],"this,":[112],"gaps":[114],"potentials":[116],"are":[120],"illustrated":[121],"address":[123],"future":[124],"research":[125],"directions.":[126]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}