{"id":"https://openalex.org/W2076624791","doi":"https://doi.org/10.1109/robot.2009.5152594","title":"Graph-based robust shape matching for robotic application","display_name":"Graph-based robust shape matching for robotic application","publication_year":2009,"publication_date":"2009-05-01","ids":{"openalex":"https://openalex.org/W2076624791","doi":"https://doi.org/10.1109/robot.2009.5152594","mag":"2076624791"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2009.5152594","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152594","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/A5036077761","display_name":"Hanbyul Joo","orcid":"https://orcid.org/0000-0002-6666-7460"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hanbyul Joo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052108818","display_name":"Yekeun Jeong","orcid":null},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Yekeun Jeong","raw_affiliation_strings":["Korea Advanced Institute of Science and Technology, Daejeon, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086412493","display_name":"Olivier Duchenne","orcid":null},"institutions":[{"id":"https://openalex.org/I29607241","display_name":"\u00c9cole Normale Sup\u00e9rieure - PSL","ror":"https://ror.org/05a0dhs15","country_code":"FR","type":"other","lineage":["https://openalex.org/I2746051580","https://openalex.org/I29607241"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Olivier Duchenne","raw_affiliation_strings":["\u00c9cole Normale Sup\u00e9rieure - PSL, Paris, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"\u00c9cole Normale Sup\u00e9rieure - PSL, Paris, France","institution_ids":["https://openalex.org/I29607241"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109235994","display_name":"Seong-Young Ko","orcid":null},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Seong-Young Ko","raw_affiliation_strings":["Korea Advanced Institute of Science and Technology, Daejeon, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109038486","display_name":"In-So Kweon","orcid":null},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"In-So Kweon","raw_affiliation_strings":["Korea Advanced Institute of Science and Technology, Daejeon, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.9709,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.87659908,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"2","issue":null,"first_page":"1207","last_page":"1213"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9998000264167786,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9998000264167786,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9979000091552734,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9977999925613403,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/clutter","display_name":"Clutter","score":0.7638271450996399},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7090258002281189},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6295560002326965},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6285263299942017},{"id":"https://openalex.org/keywords/pixel","display_name":"Pixel","score":0.610106885433197},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6065412163734436},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4815666973590851},{"id":"https://openalex.org/keywords/similarity-measure","display_name":"Similarity measure","score":0.4370368421077728},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.43304795026779175},{"id":"https://openalex.org/keywords/template-matching","display_name":"Template matching","score":0.4266964793205261},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3838576078414917},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.16143843531608582},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.1429137885570526},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.10767197608947754}],"concepts":[{"id":"https://openalex.org/C132094186","wikidata":"https://www.wikidata.org/wiki/Q641585","display_name":"Clutter","level":3,"score":0.7638271450996399},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7090258002281189},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6295560002326965},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6285263299942017},{"id":"https://openalex.org/C160633673","wikidata":"https://www.wikidata.org/wiki/Q355198","display_name":"Pixel","level":2,"score":0.610106885433197},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6065412163734436},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4815666973590851},{"id":"https://openalex.org/C2776517306","wikidata":"https://www.wikidata.org/wiki/Q29017317","display_name":"Similarity measure","level":2,"score":0.4370368421077728},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.43304795026779175},{"id":"https://openalex.org/C158096908","wikidata":"https://www.wikidata.org/wiki/Q3983303","display_name":"Template matching","level":3,"score":0.4266964793205261},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3838576078414917},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.16143843531608582},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.1429137885570526},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.10767197608947754},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.2009.5152594","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152594","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:10.1.1.226.3163","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.226.3163","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.di.ens.fr/%7Educhenne/article/ICRA2009.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1591285480","https://openalex.org/W1594957066","https://openalex.org/W2097323414","https://openalex.org/W2097543505","https://openalex.org/W2105303837","https://openalex.org/W2108927102","https://openalex.org/W2123602281","https://openalex.org/W2148821982","https://openalex.org/W2752885492","https://openalex.org/W3145128584","https://openalex.org/W6635441548","https://openalex.org/W6635797942","https://openalex.org/W6675875098","https://openalex.org/W6676267127"],"related_works":["https://openalex.org/W2130674020","https://openalex.org/W2093748878","https://openalex.org/W2333771223","https://openalex.org/W2120056845","https://openalex.org/W1981531423","https://openalex.org/W4394861761","https://openalex.org/W2035264131","https://openalex.org/W2172130785","https://openalex.org/W1965432195","https://openalex.org/W2053219528"],"abstract_inverted_index":{"Shape":[0],"is":[1,90,98,105,139,153],"one":[2],"of":[3,33,39,76,85,95,125,132,143,150,180],"the":[4,20,30,37,61,66,74,96,108,115,122,130,174,178],"useful":[5],"information":[6,176],"for":[7,53,107,155],"object":[8,175],"detection.":[9],"The":[10,137,148],"human":[11],"visual":[12],"system":[13,171],"can":[14],"often":[15],"recognize":[16],"objects":[17],"based":[18],"on":[19],"2-D":[21],"outline":[22],"shape":[23,34,54,62],"alone.":[24],"In":[25],"this":[26,46],"paper,":[27],"we":[28,48,163],"address":[29],"challenging":[31],"problem":[32],"matching":[35],"in":[36,129,177],"presence":[38,131],"complex":[40],"background":[41,133],"clutter":[42,134],"and":[43,101,135],"occlusion.":[44,136],"To":[45],"end,":[47],"propose":[49],"a":[50,81,144],"graph-based":[51,145],"approach":[52,72,120],"matching.":[55],"Unlike":[56],"prior":[57],"methods":[58],"which":[59,89],"measure":[60],"similarity":[63,103],"without":[64],"considering":[65],"relation":[67],"among":[68],"edge":[69,77,87],"pixels,":[70,88],"our":[71,151,165,168],"uses":[73],"connectivity":[75],"pixels":[78],"by":[79,92,111,141,172],"generating":[80],"graph.":[82],"A":[83],"group":[84],"connected":[86],"represented":[91],"an":[93],"\u201cedge\u201d":[94,109],"graph,":[97],"considered":[99],"together":[100],"their":[102],"cost":[104],"defined":[106],"weight":[110],"explicit":[112],"comparison":[113],"with":[114],"corresponding":[116],"template":[117],"part.":[118],"This":[119],"provides":[121],"key":[123],"advantage":[124],"reducing":[126],"ambiguity":[127],"even":[128],"optimization":[138],"performed":[140],"means":[142],"dynamic":[146],"algorithm.":[147],"robustness":[149],"method":[152],"demonstrated":[154],"several":[156],"examples":[157],"including":[158],"long":[159],"video":[160],"sequences.":[161],"Finally,":[162],"applied":[164],"algorithm":[166],"to":[167],"grasping":[169],"robot":[170],"providing":[173],"form":[179],"prompt":[181],"hand-drawn":[182],"templates.":[183]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
