{"id":"https://openalex.org/W2290480127","doi":"https://doi.org/10.1109/robio.2015.7414632","title":"Object detection using boundary representations of primitive shapes","display_name":"Object detection using boundary representations of primitive shapes","publication_year":2015,"publication_date":"2015-12-01","ids":{"openalex":"https://openalex.org/W2290480127","doi":"https://doi.org/10.1109/robio.2015.7414632","mag":"2290480127"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2015.7414632","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2015.7414632","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-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/A5048364766","display_name":"Nikhil Somani","orcid":"https://orcid.org/0000-0002-8146-0556"},"institutions":[{"id":"https://openalex.org/I4210134795","display_name":"Fortiss","ror":"https://ror.org/042x1tp92","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I4210134795"]},{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Nikhil Somani","raw_affiliation_strings":["fortiss GmbH, An-Institut Technische Universit\u00e4t M\u00fcnchen"],"affiliations":[{"raw_affiliation_string":"fortiss GmbH, An-Institut Technische Universit\u00e4t M\u00fcnchen","institution_ids":["https://openalex.org/I4210134795","https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001117578","display_name":"Alexander Perzylo","orcid":"https://orcid.org/0000-0002-5881-3608"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]},{"id":"https://openalex.org/I4210134795","display_name":"Fortiss","ror":"https://ror.org/042x1tp92","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I4210134795"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alexander Perzylo","raw_affiliation_strings":["fortiss GmbH, An-Institut Technische Universit\u00e4t M\u00fcnchen"],"affiliations":[{"raw_affiliation_string":"fortiss GmbH, An-Institut Technische Universit\u00e4t M\u00fcnchen","institution_ids":["https://openalex.org/I4210134795","https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101500657","display_name":"Caixia Cai","orcid":"https://orcid.org/0000-0002-3568-1227"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Caixia Cai","raw_affiliation_strings":["Fakult\u00e4t f\u00fcr Informatik., Technische Universit\u00e4t M\u00fcnchen"],"affiliations":[{"raw_affiliation_string":"Fakult\u00e4t f\u00fcr Informatik., Technische Universit\u00e4t M\u00fcnchen","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003833130","display_name":"Markus Rickert","orcid":"https://orcid.org/0000-0001-6264-0888"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]},{"id":"https://openalex.org/I4210134795","display_name":"Fortiss","ror":"https://ror.org/042x1tp92","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I4210134795"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Markus Rickert","raw_affiliation_strings":["fortiss GmbH, An-Institut Technische Universit\u00e4t M\u00fcnchen"],"affiliations":[{"raw_affiliation_string":"fortiss GmbH, An-Institut Technische Universit\u00e4t M\u00fcnchen","institution_ids":["https://openalex.org/I4210134795","https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063781430","display_name":"Alois Knoll","orcid":"https://orcid.org/0000-0003-4840-076X"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alois Knoll","raw_affiliation_strings":["Fakult\u00e4t f\u00fcr Informatik., Technische Universit\u00e4t M\u00fcnchen"],"affiliations":[{"raw_affiliation_string":"Fakult\u00e4t f\u00fcr Informatik., Technische Universit\u00e4t M\u00fcnchen","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5048364766"],"corresponding_institution_ids":["https://openalex.org/I4210134795","https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":38.4778,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.99333753,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"108","last_page":"113"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9993000030517578,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9993000030517578,"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/T14339","display_name":"Image Processing and 3D Reconstruction","score":0.9986000061035156,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9976999759674072,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7222808599472046},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7154713869094849},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7040230631828308},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6919026374816895},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.6862835884094238},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.6360867023468018},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.608547031879425},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.5406228303909302},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5041271448135376},{"id":"https://openalex.org/keywords/boundary-representation","display_name":"Boundary representation","score":0.4575158953666687},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.43384820222854614},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3483901023864746},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17354536056518555},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.09132596850395203}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7222808599472046},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7154713869094849},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7040230631828308},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6919026374816895},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.6862835884094238},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.6360867023468018},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.608547031879425},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.5406228303909302},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5041271448135376},{"id":"https://openalex.org/C117258860","wikidata":"https://www.wikidata.org/wiki/Q895153","display_name":"Boundary representation","level":3,"score":0.4575158953666687},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.43384820222854614},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3483901023864746},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17354536056518555},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.09132596850395203},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robio.2015.7414632","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2015.7414632","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.723.4166","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.723.4166","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www6.in.tum.de/Main/Publications/Somani2015c.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W38125885","https://openalex.org/W51961439","https://openalex.org/W1867138996","https://openalex.org/W1977077642","https://openalex.org/W1989625560","https://openalex.org/W2033574012","https://openalex.org/W2123871098","https://openalex.org/W2188189727","https://openalex.org/W2198516116","https://openalex.org/W2216968212","https://openalex.org/W2294607983","https://openalex.org/W2752080251","https://openalex.org/W6601602748","https://openalex.org/W6686901572","https://openalex.org/W6744289839"],"related_works":["https://openalex.org/W3016928466","https://openalex.org/W4389574804","https://openalex.org/W2123263858","https://openalex.org/W3127959533","https://openalex.org/W2936725271","https://openalex.org/W3150655618","https://openalex.org/W3108295644","https://openalex.org/W4320086129","https://openalex.org/W3023871102","https://openalex.org/W2093993029"],"abstract_inverted_index":{"In":[0],"this":[1,82],"paper,":[2],"an":[3],"approach":[4,44],"for":[5],"matching":[6],"of":[7,17,24,56],"primitive":[8,18],"shapes":[9,19],"detected":[10],"from":[11,38],"point":[12],"clouds,":[13],"to":[14,49],"boundary":[15],"representations":[16],"contained":[20],"in":[21,69,81],"CAD":[22],"models":[23],"objects/workpieces":[25],"is":[26,32,67],"presented.":[27],"The":[28],"primary":[29],"target":[30],"application":[31],"object":[33,52,65],"detection":[34],"and":[35,60],"pose":[36],"estimation":[37],"noisy":[39],"RGBD":[40],"sensor":[41],"data.":[42],"This":[43],"can":[45],"also":[46,79],"be":[47],"used":[48],"determine":[50],"incomplete":[51],"poses,":[53],"including":[54],"those":[55],"symmetrical":[57],"objects.":[58],"Detection":[59],"reasoning":[61],"about":[62],"these":[63],"under-specified":[64],"poses":[66],"useful":[68],"several":[70],"practical":[71],"applications":[72],"such":[73],"as":[74],"robotic":[75],"manipulation,":[76],"which":[77],"are":[78],"presented":[80],"paper.":[83]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
