{"id":"https://openalex.org/W2752993503","doi":"https://doi.org/10.1109/tpami.2017.2746618","title":"Probabilistic Framework for the Characterization of Surfaces and Edges in Range Images, with Application to Edge Detection","display_name":"Probabilistic Framework for the Characterization of Surfaces and Edges in Range Images, with Application to Edge Detection","publication_year":2017,"publication_date":"2017-08-29","ids":{"openalex":"https://openalex.org/W2752993503","doi":"https://doi.org/10.1109/tpami.2017.2746618","mag":"2752993503","pmid":"https://pubmed.ncbi.nlm.nih.gov/28866481"},"language":"en","primary_location":{"id":"doi:10.1109/tpami.2017.2746618","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tpami.2017.2746618","pdf_url":null,"source":{"id":"https://openalex.org/S199944782","display_name":"IEEE Transactions on Pattern Analysis and Machine Intelligence","issn_l":"0162-8828","issn":["0162-8828","1939-3539","2160-9292"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320439","host_organization_name":"IEEE Computer Society","host_organization_lineage":["https://openalex.org/P4310320439","https://openalex.org/P4310319808"],"host_organization_lineage_names":["IEEE Computer Society","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 Transactions on Pattern Analysis and Machine Intelligence","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://orbi.uliege.be/handle/2268/213937","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102934257","display_name":"Antoine Lejeune","orcid":"https://orcid.org/0000-0002-3587-5558"},"institutions":[{"id":"https://openalex.org/I157674565","display_name":"University of Li\u00e8ge","ror":"https://ror.org/00afp2z80","country_code":"BE","type":"education","lineage":["https://openalex.org/I157674565"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Antoine Lejeune","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, University of Li\u00e9ge, Li\u00e9ge, Belgium"],"raw_orcid":"https://orcid.org/0000-0002-3587-5558","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, University of Li\u00e9ge, Li\u00e9ge, Belgium","institution_ids":["https://openalex.org/I157674565"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069813404","display_name":"Jacques Verly","orcid":"https://orcid.org/0000-0002-1926-6330"},"institutions":[{"id":"https://openalex.org/I157674565","display_name":"University of Li\u00e8ge","ror":"https://ror.org/00afp2z80","country_code":"BE","type":"education","lineage":["https://openalex.org/I157674565"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Jacques G. Verly","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, University of Li\u00e9ge, Li\u00e9ge, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, University of Li\u00e9ge, Li\u00e9ge, Belgium","institution_ids":["https://openalex.org/I157674565"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047102584","display_name":"Marc Van Droogenbroeck","orcid":"https://orcid.org/0000-0001-6260-6487"},"institutions":[{"id":"https://openalex.org/I157674565","display_name":"University of Li\u00e8ge","ror":"https://ror.org/00afp2z80","country_code":"BE","type":"education","lineage":["https://openalex.org/I157674565"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Marc Van Droogenbroeck","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, University of Li\u00e9ge, Li\u00e9ge, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, University of Li\u00e9ge, Li\u00e9ge, Belgium","institution_ids":["https://openalex.org/I157674565"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I157674565"],"apc_list":null,"apc_paid":null,"fwci":22.3287,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.98872629,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":"40","issue":"9","first_page":"2209","last_page":"2222"},"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/T10052","display_name":"Medical Image Segmentation Techniques","score":0.9987000226974487,"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/T12549","display_name":"Image and Object Detection Techniques","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"}}],"keywords":[{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.7502905130386353},{"id":"https://openalex.org/keywords/pixel","display_name":"Pixel","score":0.6709822416305542},{"id":"https://openalex.org/keywords/probability-density-function","display_name":"Probability density function","score":0.6462308764457703},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5941026210784912},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.5432182550430298},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.5313096046447754},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5295366048812866},{"id":"https://openalex.org/keywords/edge-detection","display_name":"Edge detection","score":0.5059613585472107},{"id":"https://openalex.org/keywords/enhanced-data-rates-for-gsm-evolution","display_name":"Enhanced Data Rates for GSM Evolution","score":0.474267840385437},{"id":"https://openalex.org/keywords/characterization","display_name":"Characterization (materials science)","score":0.4320865571498871},{"id":"https://openalex.org/keywords/random-variable","display_name":"Random variable","score":0.42969322204589844},{"id":"https://openalex.org/keywords/joint-probability-distribution","display_name":"Joint probability distribution","score":0.42524459958076477},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4183090925216675},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.41289839148521423},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3732560873031616},{"id":"https://openalex.org/keywords/image-processing","display_name":"Image processing","score":0.34628522396087646},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.28562137484550476},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.10125049948692322}],"concepts":[{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.7502905130386353},{"id":"https://openalex.org/C160633673","wikidata":"https://www.wikidata.org/wiki/Q355198","display_name":"Pixel","level":2,"score":0.6709822416305542},{"id":"https://openalex.org/C197055811","wikidata":"https://www.wikidata.org/wiki/Q207522","display_name":"Probability density function","level":2,"score":0.6462308764457703},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5941026210784912},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.5432182550430298},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.5313096046447754},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5295366048812866},{"id":"https://openalex.org/C193536780","wikidata":"https://www.wikidata.org/wiki/Q1513153","display_name":"Edge detection","level":4,"score":0.5059613585472107},{"id":"https://openalex.org/C162307627","wikidata":"https://www.wikidata.org/wiki/Q204833","display_name":"Enhanced Data Rates for GSM Evolution","level":2,"score":0.474267840385437},{"id":"https://openalex.org/C2780841128","wikidata":"https://www.wikidata.org/wiki/Q5073781","display_name":"Characterization (materials science)","level":2,"score":0.4320865571498871},{"id":"https://openalex.org/C122123141","wikidata":"https://www.wikidata.org/wiki/Q176623","display_name":"Random variable","level":2,"score":0.42969322204589844},{"id":"https://openalex.org/C18653775","wikidata":"https://www.wikidata.org/wiki/Q1333358","display_name":"Joint probability distribution","level":2,"score":0.42524459958076477},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4183090925216675},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.41289839148521423},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3732560873031616},{"id":"https://openalex.org/C9417928","wikidata":"https://www.wikidata.org/wiki/Q1070689","display_name":"Image processing","level":3,"score":0.34628522396087646},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.28562137484550476},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.10125049948692322},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C171250308","wikidata":"https://www.wikidata.org/wiki/Q11468","display_name":"Nanotechnology","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tpami.2017.2746618","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tpami.2017.2746618","pdf_url":null,"source":{"id":"https://openalex.org/S199944782","display_name":"IEEE Transactions on Pattern Analysis and Machine Intelligence","issn_l":"0162-8828","issn":["0162-8828","1939-3539","2160-9292"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320439","host_organization_name":"IEEE Computer Society","host_organization_lineage":["https://openalex.org/P4310320439","https://openalex.org/P4310319808"],"host_organization_lineage_names":["IEEE Computer Society","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 Transactions on Pattern Analysis and Machine Intelligence","raw_type":"journal-article"},{"id":"pmid:28866481","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/28866481","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on pattern analysis and machine intelligence","raw_type":null},{"id":"pmh:oai:orbi.ulg.ac.be:2268/213937","is_oa":true,"landing_page_url":"https://orbi.uliege.be/handle/2268/213937","pdf_url":null,"source":{"id":"https://openalex.org/S4306400651","display_name":"Open Repository and Bibliography (University of Li\u00e8ge)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I157674565","host_organization_name":"University of Li\u00e8ge","host_organization_lineage":["https://openalex.org/I157674565"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Pattern Analysis and Machine Intelligence, 40 (9), 2209-2222 (2018-09)","raw_type":"http://purl.org/coar/resource_type/c_6501"}],"best_oa_location":{"id":"pmh:oai:orbi.ulg.ac.be:2268/213937","is_oa":true,"landing_page_url":"https://orbi.uliege.be/handle/2268/213937","pdf_url":null,"source":{"id":"https://openalex.org/S4306400651","display_name":"Open Repository and Bibliography (University of Li\u00e8ge)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I157674565","host_organization_name":"University of Li\u00e8ge","host_organization_lineage":["https://openalex.org/I157674565"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Pattern Analysis and Machine Intelligence, 40 (9), 2209-2222 (2018-09)","raw_type":"http://purl.org/coar/resource_type/c_6501"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.5199999809265137}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W125693051","https://openalex.org/W845365781","https://openalex.org/W1565402342","https://openalex.org/W1667165204","https://openalex.org/W1829102423","https://openalex.org/W1965574731","https://openalex.org/W1976047850","https://openalex.org/W1997683945","https://openalex.org/W2002687568","https://openalex.org/W2007208130","https://openalex.org/W2016620160","https://openalex.org/W2021851106","https://openalex.org/W2029357910","https://openalex.org/W2033819227","https://openalex.org/W2038643807","https://openalex.org/W2046245205","https://openalex.org/W2067127947","https://openalex.org/W2067912884","https://openalex.org/W2077470372","https://openalex.org/W2079274730","https://openalex.org/W2094438648","https://openalex.org/W2097261533","https://openalex.org/W2102980423","https://openalex.org/W2105035676","https://openalex.org/W2107333657","https://openalex.org/W2110158442","https://openalex.org/W2113559018","https://openalex.org/W2115872100","https://openalex.org/W2122541620","https://openalex.org/W2126599152","https://openalex.org/W2132761823","https://openalex.org/W2144491232","https://openalex.org/W2145023731","https://openalex.org/W2154206052","https://openalex.org/W2162569595","https://openalex.org/W2165140157","https://openalex.org/W2166327180","https://openalex.org/W2172156083","https://openalex.org/W2188747217","https://openalex.org/W2996830232","https://openalex.org/W3020867216","https://openalex.org/W4300223101","https://openalex.org/W6674709851","https://openalex.org/W6676773291","https://openalex.org/W7037270093"],"related_works":["https://openalex.org/W2355760814","https://openalex.org/W2028225975","https://openalex.org/W2373670823","https://openalex.org/W2391213251","https://openalex.org/W871299571","https://openalex.org/W2526245987","https://openalex.org/W2076078510","https://openalex.org/W2103565019","https://openalex.org/W4378551395","https://openalex.org/W2365843888"],"abstract_inverted_index":{"We":[0,17,58,115,136],"develop":[1,123],"a":[2,47,52,124,132,167],"powerful":[3],"probabilistic":[4,133,160],"framework":[5,118],"for":[6,30,37],"the":[7,19,23,31,38,44,66,81,99,105,156,159,163],"local":[8,53,164],"characterization":[9,161],"of":[10,22,46,49,55,158,162],"surfaces":[11],"and":[12,102,122],"edges":[13],"in":[14,51,112,138],"range":[15,174],"images.":[16,175],"use":[18],"geometrical":[20],"nature":[21],"data":[24],"to":[25,42,74,98,104,119,169],"derive":[26],"an":[27,56,139],"analytic":[28],"expression":[29],"joint":[32,61,94],"probability":[33],"density":[34],"function":[35],"(pdf)":[36],"random":[39],"variables":[40],"used":[41],"model":[43],"ranges":[45],"set":[48],"pixels":[50,77],"neighborhood":[54,165],"image.":[57],"decompose":[59],"this":[60,93,143],"pdf":[62,95,101,107],"by":[63],"considering":[64],"independently":[65],"cases":[67],"where":[68],"two":[69,75],"real":[70,83],"world":[71,84],"points":[72],"corresponding":[73],"neighboring":[76],"are":[78],"locally":[79,125],"on":[80,131],"same":[82],"surface":[85],"or":[86],"not.":[87],"In":[88],"particular,":[89],"we":[90],"show":[91,137],"that":[92,128,142,172],"is":[96,110,129],"linked":[97],"Voigt":[100],"not":[103],"Gaussian":[106],"as":[108,166],"it":[109],"assumed":[111],"some":[113],"applications.":[114],"apply":[116],"our":[117],"edge":[120,145,152],"detection":[121],"adaptive":[126],"algorithm":[127],"based":[130],"decision":[134],"rule.":[135],"objective":[140],"evaluation":[141],"new":[144],"detector":[146],"performs":[147],"better":[148],"than":[149],"prior":[150],"art":[151],"detectors.":[153],"This":[154],"proves":[155],"benefits":[157],"tool":[168],"improve":[170],"applications":[171],"involve":[173]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
