{"id":"https://openalex.org/W4401990919","doi":"https://doi.org/10.1109/tpami.2024.3451994","title":"Unsupervised Active Visual Search With Monte Carlo Planning Under Uncertain Detections","display_name":"Unsupervised Active Visual Search With Monte Carlo Planning Under Uncertain Detections","publication_year":2024,"publication_date":"2024-08-29","ids":{"openalex":"https://openalex.org/W4401990919","doi":"https://doi.org/10.1109/tpami.2024.3451994","pmid":"https://pubmed.ncbi.nlm.nih.gov/39208047"},"language":"en","primary_location":{"id":"doi:10.1109/tpami.2024.3451994","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tpami.2024.3451994","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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":"hybrid","oa_url":"https://doi.org/10.1109/tpami.2024.3451994","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5061792103","display_name":"Francesco Taioli","orcid":"https://orcid.org/0000-0003-4133-4472"},"institutions":[{"id":"https://openalex.org/I119439378","display_name":"University of Verona","ror":"https://ror.org/039bp8j42","country_code":"IT","type":"education","lineage":["https://openalex.org/I119439378"]},{"id":"https://openalex.org/I177477856","display_name":"Politecnico di Torino","ror":"https://ror.org/00bgk9508","country_code":"IT","type":"education","lineage":["https://openalex.org/I177477856"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Francesco Taioli","raw_affiliation_strings":["Polytechnic of Turin, Turin, Italy","Department of Engineering for Innovation Medicine, University of Verona, Verona, Italy"],"raw_orcid":"https://orcid.org/0000-0003-4133-4472","affiliations":[{"raw_affiliation_string":"Polytechnic of Turin, Turin, Italy","institution_ids":["https://openalex.org/I177477856"]},{"raw_affiliation_string":"Department of Engineering for Innovation Medicine, University of Verona, Verona, Italy","institution_ids":["https://openalex.org/I119439378"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080657058","display_name":"Francesco Giuliari","orcid":"https://orcid.org/0000-0003-2311-9517"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]},{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Francesco Giuliari","raw_affiliation_strings":["Pattern Analysis and Computer Vision (PAVIS) Research Line, Istituto Italiano Di Tecnologia (IIT), University of Genoa, Genova, Italy","University of Genoa and the Pattern Analysis and Computer Vision (PAVIS) research line, Istituto Italiano di Tecnologia (IIT), Genova, Italy"],"raw_orcid":"https://orcid.org/0000-0003-2311-9517","affiliations":[{"raw_affiliation_string":"Pattern Analysis and Computer Vision (PAVIS) Research Line, Istituto Italiano Di Tecnologia (IIT), University of Genoa, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"University of Genoa and the Pattern Analysis and Computer Vision (PAVIS) research line, Istituto Italiano di Tecnologia (IIT), Genova, Italy","institution_ids":["https://openalex.org/I30771326","https://openalex.org/I83816512"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100377935","display_name":"Yiming Wang","orcid":"https://orcid.org/0000-0002-5932-4371"},"institutions":[{"id":"https://openalex.org/I2277624104","display_name":"Fondazione Bruno Kessler","ror":"https://ror.org/01j33xk10","country_code":"IT","type":"facility","lineage":["https://openalex.org/I2277624104"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Yiming Wang","raw_affiliation_strings":["Deep Visual Learning (DVL) Unit, Fondazione Bruno Kessler (FBK), Trento, Italy","Deep Visual Learning (DVL) unit, Fondazione Bruno Kessler (FBK), Trento, Italy"],"raw_orcid":"https://orcid.org/0000-0002-5932-4371","affiliations":[{"raw_affiliation_string":"Deep Visual Learning (DVL) Unit, Fondazione Bruno Kessler (FBK), Trento, Italy","institution_ids":["https://openalex.org/I2277624104"]},{"raw_affiliation_string":"Deep Visual Learning (DVL) unit, Fondazione Bruno Kessler (FBK), Trento, Italy","institution_ids":["https://openalex.org/I2277624104"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020307004","display_name":"Riccardo Berra","orcid":null},"institutions":[{"id":"https://openalex.org/I119439378","display_name":"University of Verona","ror":"https://ror.org/039bp8j42","country_code":"IT","type":"education","lineage":["https://openalex.org/I119439378"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Riccardo Berra","raw_affiliation_strings":["Department of Engineering for Innovation Medicine, University of Verona, Verona, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Engineering for Innovation Medicine, University of Verona, Verona, Italy","institution_ids":["https://openalex.org/I119439378"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078441040","display_name":"Alberto Castellini","orcid":"https://orcid.org/0000-0001-8420-0699"},"institutions":[{"id":"https://openalex.org/I119439378","display_name":"University of Verona","ror":"https://ror.org/039bp8j42","country_code":"IT","type":"education","lineage":["https://openalex.org/I119439378"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Alberto Castellini","raw_affiliation_strings":["Department of Computer Science, University of Verona, Verona, Italy"],"raw_orcid":"https://orcid.org/0000-0001-8420-0699","affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Verona, Verona, Italy","institution_ids":["https://openalex.org/I119439378"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046971342","display_name":"Alessio Del Bue","orcid":"https://orcid.org/0000-0002-2262-4872"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Alessio Del Bue","raw_affiliation_strings":["Pattern Analysis and Computer Vision (PAVIS) Research Line, Istituto Italiano di Tecnologia (IIT), Genova, Italy","Pattern Analysis and Computer Vision (PAVIS) research line, Istituto Italiano di Tecnologia (IIT), Genova, Italy"],"raw_orcid":"https://orcid.org/0000-0002-2262-4872","affiliations":[{"raw_affiliation_string":"Pattern Analysis and Computer Vision (PAVIS) Research Line, Istituto Italiano di Tecnologia (IIT), Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Pattern Analysis and Computer Vision (PAVIS) research line, Istituto Italiano di Tecnologia (IIT), Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045922629","display_name":"Alessandro Farinelli","orcid":"https://orcid.org/0000-0002-2592-5814"},"institutions":[{"id":"https://openalex.org/I119439378","display_name":"University of Verona","ror":"https://ror.org/039bp8j42","country_code":"IT","type":"education","lineage":["https://openalex.org/I119439378"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Alessandro Farinelli","raw_affiliation_strings":["Department of Computer Science, University of Verona, Verona, Italy"],"raw_orcid":"https://orcid.org/0000-0002-2592-5814","affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Verona, Verona, Italy","institution_ids":["https://openalex.org/I119439378"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033671063","display_name":"Marco Cristani","orcid":"https://orcid.org/0000-0002-0523-6042"},"institutions":[{"id":"https://openalex.org/I119439378","display_name":"University of Verona","ror":"https://ror.org/039bp8j42","country_code":"IT","type":"education","lineage":["https://openalex.org/I119439378"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Marco Cristani","raw_affiliation_strings":["Department of Engineering for Innovation Medicine, University of Verona, Verona, Italy"],"raw_orcid":"https://orcid.org/0000-0002-0523-6042","affiliations":[{"raw_affiliation_string":"Department of Engineering for Innovation Medicine, University of Verona, Verona, Italy","institution_ids":["https://openalex.org/I119439378"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001003105","display_name":"Francesco Setti","orcid":"https://orcid.org/0000-0002-0015-5534"},"institutions":[{"id":"https://openalex.org/I119439378","display_name":"University of Verona","ror":"https://ror.org/039bp8j42","country_code":"IT","type":"education","lineage":["https://openalex.org/I119439378"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Francesco Setti","raw_affiliation_strings":["Department of Engineering for Innovation Medicine, University of Verona, Verona, Italy"],"raw_orcid":"https://orcid.org/0000-0002-0015-5534","affiliations":[{"raw_affiliation_string":"Department of Engineering for Innovation Medicine, University of Verona, Verona, Italy","institution_ids":["https://openalex.org/I119439378"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":9,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8749,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.74705252,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"46","issue":"12","first_page":"11047","last_page":"11058"},"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":0.9955999851226807,"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":0.9955999851226807,"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/T10824","display_name":"Image Retrieval and Classification Techniques","score":0.9751999974250793,"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/T11596","display_name":"Constraint Satisfaction and Optimization","score":0.9333999752998352,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.707283079624176},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7008464336395264},{"id":"https://openalex.org/keywords/monte-carlo-method","display_name":"Monte Carlo method","score":0.6545926928520203},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.4476100206375122},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3876095414161682},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3744524419307709},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14228913187980652},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.11000660061836243}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.707283079624176},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7008464336395264},{"id":"https://openalex.org/C19499675","wikidata":"https://www.wikidata.org/wiki/Q232207","display_name":"Monte Carlo method","level":2,"score":0.6545926928520203},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4476100206375122},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3876095414161682},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3744524419307709},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14228913187980652},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.11000660061836243}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tpami.2024.3451994","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tpami.2024.3451994","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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:39208047","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/39208047","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}],"best_oa_location":{"id":"doi:10.1109/tpami.2024.3451994","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tpami.2024.3451994","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Pattern Analysis and Machine Intelligence","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.49000000953674316}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":58,"referenced_works":["https://openalex.org/W124447425","https://openalex.org/W329015778","https://openalex.org/W1506806321","https://openalex.org/W1625390266","https://openalex.org/W1714211023","https://openalex.org/W1986099000","https://openalex.org/W1993992338","https://openalex.org/W2017834396","https://openalex.org/W2032100464","https://openalex.org/W2126296436","https://openalex.org/W2126316555","https://openalex.org/W2131429071","https://openalex.org/W2134638437","https://openalex.org/W2168359464","https://openalex.org/W2169528473","https://openalex.org/W2593769898","https://openalex.org/W2792470621","https://openalex.org/W2884517571","https://openalex.org/W2884565639","https://openalex.org/W2902907165","https://openalex.org/W2907503094","https://openalex.org/W2962789679","https://openalex.org/W2963795444","https://openalex.org/W2965685044","https://openalex.org/W2965902953","https://openalex.org/W2967853831","https://openalex.org/W3003289302","https://openalex.org/W3036497058","https://openalex.org/W3158298679","https://openalex.org/W3181165372","https://openalex.org/W3183479207","https://openalex.org/W3214434388","https://openalex.org/W4226389376","https://openalex.org/W4285793781","https://openalex.org/W4297184265","https://openalex.org/W4312529400","https://openalex.org/W4312720308","https://openalex.org/W4312785009","https://openalex.org/W4313180266","https://openalex.org/W4327842847","https://openalex.org/W4383108714","https://openalex.org/W4385652506","https://openalex.org/W4386075729","https://openalex.org/W4390190498","https://openalex.org/W6677279966","https://openalex.org/W6684973485","https://openalex.org/W6731334075","https://openalex.org/W6742007199","https://openalex.org/W6749269122","https://openalex.org/W6753516098","https://openalex.org/W6754711936","https://openalex.org/W6763736700","https://openalex.org/W6780167394","https://openalex.org/W6780443396","https://openalex.org/W6783273859","https://openalex.org/W6788197667","https://openalex.org/W6922480057","https://openalex.org/W7061860684"],"related_works":["https://openalex.org/W2961085424","https://openalex.org/W2058170566","https://openalex.org/W4306674287","https://openalex.org/W2755342338","https://openalex.org/W2772917594","https://openalex.org/W2775347418","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407"],"abstract_inverted_index":{"We":[0,86],"propose":[1],"a":[2,58,107,145,149,170],"solution":[3,23,111],"for":[4],"Active":[5,155],"Visual":[6],"Search":[7],"of":[8,81,106,131],"objects":[9],"in":[10],"an":[11,70,74,91,132,135,140],"environment,":[12],"whose":[13],"2D":[14,63],"floor":[15,64],"map":[16,65],"is":[17,44,66,112],"the":[18,56,62,79,82,88,97,103,128,154,161,167,176],"only":[19],"known":[20],"information.":[21],"Our":[22,110],"has":[24],"three":[25],"key":[26],"features":[27],"that":[28,90],"make":[29],"it":[30,43,47],"more":[31],"plausible":[32],"and":[33,123,134],"robust":[34],"to":[35,39,69,138,185],"detector":[36,93],"failures":[37],"compared":[38],"state-of-the-art":[40],"methods:":[41],"i)":[42],"unsupervised":[45],"as":[46],"does":[48],"not":[49],"need":[50],"any":[51,195],"training":[52,196],"sessions.":[53],"ii)":[54],"During":[55],"exploration,":[57],"probability":[59,99],"distribution":[60],"on":[61],"updated":[67],"according":[68],"intuitive":[71],"mechanism,":[72],"while":[73,174],"improved":[75],"belief":[76],"update":[77],"increases":[78],"effectiveness":[80],"agent's":[83],"exploration.":[84],"iii)":[85],"incorporate":[87],"awareness":[89],"object":[92],"may":[94],"fail":[95],"into":[96],"aforementioned":[98],"modelling":[100],"by":[101,121,148,169,180],"exploiting":[102,144],"success":[104,163],"statistics":[105],"specific":[108],"detector.":[109],"dubbed":[113],"POMP-BE-PD":[114],"(Pomcp-based":[115],"Online":[116],"Motion":[117],"Planning":[118],"with":[119,183],"Belief":[120],"Exploration":[122],"Probabilistic":[124],"Detection).":[125],"It":[126],"uses":[127],"current":[129],"pose":[130],"agent":[133],"RGB-D":[136],"observation":[137],"learn":[139],"optimal":[141],"search":[142],"policy,":[143],"POMDP":[146],"solved":[147],"Monte-Carlo":[150],"planning":[151],"approach.":[152],"On":[153],"Vision":[156],"Dataset":[157],"Benchmark,":[158],"we":[159],"increase":[160],"average":[162,177],"rate":[164],"over":[165],"all":[166],"environments":[168],"significant":[171],"35":[172],"%":[173,182],"decreasing":[175],"path":[178],"length":[179],"4":[181],"respect":[184],"competing":[186],"methods.":[187],"Thus,":[188],"our":[189],"results":[190],"are":[191],"state-of-the-art,":[192],"even":[193],"without":[194],"procedure.":[197]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
