{"id":"https://openalex.org/W2158521913","doi":"https://doi.org/10.1109/robot.2009.5152524","title":"Unsupervised learning of 3D object models from partial views","display_name":"Unsupervised learning of 3D object models from partial views","publication_year":2009,"publication_date":"2009-05-01","ids":{"openalex":"https://openalex.org/W2158521913","doi":"https://doi.org/10.1109/robot.2009.5152524","mag":"2158521913"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2009.5152524","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152524","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","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/A5076560318","display_name":"Michael Ruhnke","orcid":null},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"M. Ruhnke","raw_affiliation_strings":["Autonomous Systems Laboratory, Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems Laboratory, Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021840448","display_name":"Bastian Steder","orcid":null},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"B. Steder","raw_affiliation_strings":["Autonomous Systems Laboratory, Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems Laboratory, Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028708181","display_name":"Giorgio Grisetti","orcid":"https://orcid.org/0000-0002-8038-9989"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"G. Grisetti","raw_affiliation_strings":["Autonomous Systems Laboratory, Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems Laboratory, Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084499878","display_name":"Wolfram Burgard","orcid":"https://orcid.org/0000-0002-5680-6500"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"W. Burgard","raw_affiliation_strings":["Autonomous Systems Laboratory, Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems Laboratory, Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany","institution_ids":["https://openalex.org/I161046081"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5076560318"],"corresponding_institution_ids":["https://openalex.org/I161046081"],"apc_list":null,"apc_paid":null,"fwci":126.6472,"has_fulltext":false,"cited_by_count":28,"citation_normalized_percentile":{"value":0.99852409,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"801","last_page":"806"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9987999796867371,"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":0.9987999796867371,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.998199999332428,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9976999759674072,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7205299735069275},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7107892632484436},{"id":"https://openalex.org/keywords/merge","display_name":"Merge (version control)","score":0.6736738085746765},{"id":"https://openalex.org/keywords/iterative-closest-point","display_name":"Iterative closest point","score":0.6219903826713562},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5472729206085205},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.5027861595153809},{"id":"https://openalex.org/keywords/object-model","display_name":"Object model","score":0.49157318472862244},{"id":"https://openalex.org/keywords/cluster-analysis","display_name":"Cluster analysis","score":0.48936671018600464},{"id":"https://openalex.org/keywords/unsupervised-learning","display_name":"Unsupervised learning","score":0.4610338509082794},{"id":"https://openalex.org/keywords/affine-transformation","display_name":"Affine transformation","score":0.4513397216796875},{"id":"https://openalex.org/keywords/cognitive-neuroscience-of-visual-object-recognition","display_name":"Cognitive neuroscience of visual object recognition","score":0.42887288331985474},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4020428955554962},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.3277216851711273},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1928381323814392}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7205299735069275},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7107892632484436},{"id":"https://openalex.org/C197129107","wikidata":"https://www.wikidata.org/wiki/Q1921621","display_name":"Merge (version control)","level":2,"score":0.6736738085746765},{"id":"https://openalex.org/C195958017","wikidata":"https://www.wikidata.org/wiki/Q1675268","display_name":"Iterative closest point","level":3,"score":0.6219903826713562},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5472729206085205},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.5027861595153809},{"id":"https://openalex.org/C20894473","wikidata":"https://www.wikidata.org/wiki/Q1116105","display_name":"Object model","level":3,"score":0.49157318472862244},{"id":"https://openalex.org/C73555534","wikidata":"https://www.wikidata.org/wiki/Q622825","display_name":"Cluster analysis","level":2,"score":0.48936671018600464},{"id":"https://openalex.org/C8038995","wikidata":"https://www.wikidata.org/wiki/Q1152135","display_name":"Unsupervised learning","level":2,"score":0.4610338509082794},{"id":"https://openalex.org/C92757383","wikidata":"https://www.wikidata.org/wiki/Q382497","display_name":"Affine transformation","level":2,"score":0.4513397216796875},{"id":"https://openalex.org/C64876066","wikidata":"https://www.wikidata.org/wiki/Q5141226","display_name":"Cognitive neuroscience of visual object recognition","level":3,"score":0.42887288331985474},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4020428955554962},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.3277216851711273},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1928381323814392},{"id":"https://openalex.org/C23123220","wikidata":"https://www.wikidata.org/wiki/Q816826","display_name":"Information retrieval","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/robot.2009.5152524","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152524","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.230.9191","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.230.9191","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://ais.informatik.uni-freiburg.de/publications/papers/ruhnke09icra.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.504.6990","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.504.6990","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.informatik.uni-freiburg.de/~ruhnke/papers/ruhnke09icra.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.514.2301","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.514.2301","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.informatik.uni-freiburg.de/~grisetti/pdf/ruhnke09icra.pdf","raw_type":"text"},{"id":"pmh:oai:iris.uniroma1.it:11573/218594","is_oa":false,"landing_page_url":"http://hdl.handle.net/11573/218594","pdf_url":null,"source":{"id":"https://openalex.org/S4377196107","display_name":"IRIS Research product catalog (Sapienza University of Rome)","issn_l":null,"issn":null,"is_oa":false,"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":"","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.5199999809265137,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W66478371","https://openalex.org/W183587305","https://openalex.org/W1497414115","https://openalex.org/W1561326744","https://openalex.org/W1905302620","https://openalex.org/W1993267444","https://openalex.org/W2025062188","https://openalex.org/W2054831727","https://openalex.org/W2086267870","https://openalex.org/W2099606917","https://openalex.org/W2111308925","https://openalex.org/W2155686036","https://openalex.org/W2963881442","https://openalex.org/W6602781032","https://openalex.org/W6630774135","https://openalex.org/W6656866612"],"related_works":["https://openalex.org/W2040220294","https://openalex.org/W196505194","https://openalex.org/W1830968567","https://openalex.org/W2026565050","https://openalex.org/W2191130262","https://openalex.org/W2126933138","https://openalex.org/W1563300717","https://openalex.org/W1526000289","https://openalex.org/W237913847","https://openalex.org/W2159954265"],"abstract_inverted_index":{"We":[0],"present":[1],"an":[2,57],"algorithm":[3,17],"for":[4],"learning":[5],"3D":[6,22],"object":[7,11],"models":[8,49,71,88],"from":[9,28,50],"partial":[10,41],"observations.":[12],"The":[13,68,84],"input":[14],"to":[15,63,89],"our":[16],"is":[18,54,72,91],"a":[19,75,97],"sequence":[20],"of":[21,96],"laser":[23],"range":[24,82],"scans.":[25],"Models":[26],"learned":[27],"the":[29,103],"objects":[30],"are":[31],"represented":[32],"as":[33],"point":[34],"clouds.":[35],"Our":[36],"approach":[37],"can":[38,45],"deal":[39],"with":[40],"views":[42],"and":[43],"it":[44],"robustly":[46],"learn":[47],"accurate":[48],"complex":[51],"scenes.":[52],"It":[53],"based":[55,80],"on":[56,81],"iterative":[58],"matching":[59],"procedure":[60,79],"which":[61,87],"attempts":[62],"recursively":[64],"merge":[65,90],"similar":[66],"models.":[67,107],"alignment":[69],"between":[70,105],"determined":[73],"using":[74],"novel":[76],"scan":[77],"registration":[78],"images.":[83],"decision":[85],"about":[86],"performed":[92],"by":[93],"spectral":[94],"clustering":[95],"similarity":[98],"matrix":[99],"whose":[100],"entries":[101],"represent":[102],"consistency":[104],"different":[106]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":7},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":3}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
