{"id":"https://openalex.org/W4403365861","doi":"https://doi.org/10.1109/tro.2024.3453771","title":"ConvBKI: Real-Time Probabilistic Semantic Mapping Network With Quantifiable Uncertainty","display_name":"ConvBKI: Real-Time Probabilistic Semantic Mapping Network With Quantifiable Uncertainty","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4403365861","doi":"https://doi.org/10.1109/tro.2024.3453771"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2024.3453771","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2024.3453771","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["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 Robotics","raw_type":"journal-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/A5028750496","display_name":"Joey Wilson","orcid":"https://orcid.org/0000-0002-9305-9647"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]},{"id":"https://openalex.org/I4210130154","display_name":"Laboratoire de Chimie","ror":"https://ror.org/02gaw1s20","country_code":"FR","type":"facility","lineage":["https://openalex.org/I100532134","https://openalex.org/I113428412","https://openalex.org/I1294671590","https://openalex.org/I203339264","https://openalex.org/I203339264","https://openalex.org/I4210130154"]}],"countries":["FR","US"],"is_corresponding":false,"raw_author_name":"Joey Wilson","raw_affiliation_strings":["University of Michigan, Ann Arbor, MI, USA","Laboratory"],"raw_orcid":"https://orcid.org/0000-0002-9305-9647","affiliations":[{"raw_affiliation_string":"University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"Laboratory","institution_ids":["https://openalex.org/I4210130154"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091238012","display_name":"Yuewei Fu","orcid":"https://orcid.org/0009-0001-6326-595X"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]},{"id":"https://openalex.org/I4210130154","display_name":"Laboratoire de Chimie","ror":"https://ror.org/02gaw1s20","country_code":"FR","type":"facility","lineage":["https://openalex.org/I100532134","https://openalex.org/I113428412","https://openalex.org/I1294671590","https://openalex.org/I203339264","https://openalex.org/I203339264","https://openalex.org/I4210130154"]}],"countries":["FR","US"],"is_corresponding":false,"raw_author_name":"Yuewei Fu","raw_affiliation_strings":["University of Michigan, Ann Arbor, MI, USA","Laboratory"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"Laboratory","institution_ids":["https://openalex.org/I4210130154"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066247520","display_name":"Joshua Friesen","orcid":null},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]},{"id":"https://openalex.org/I4210130154","display_name":"Laboratoire de Chimie","ror":"https://ror.org/02gaw1s20","country_code":"FR","type":"facility","lineage":["https://openalex.org/I100532134","https://openalex.org/I113428412","https://openalex.org/I1294671590","https://openalex.org/I203339264","https://openalex.org/I203339264","https://openalex.org/I4210130154"]}],"countries":["FR","US"],"is_corresponding":false,"raw_author_name":"Joshua Friesen","raw_affiliation_strings":["University of Michigan, Ann Arbor, MI, USA","Laboratory"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"Laboratory","institution_ids":["https://openalex.org/I4210130154"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087569680","display_name":"Parker Ewen","orcid":"https://orcid.org/0000-0002-3693-7394"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]},{"id":"https://openalex.org/I4210130154","display_name":"Laboratoire de Chimie","ror":"https://ror.org/02gaw1s20","country_code":"FR","type":"facility","lineage":["https://openalex.org/I100532134","https://openalex.org/I113428412","https://openalex.org/I1294671590","https://openalex.org/I203339264","https://openalex.org/I203339264","https://openalex.org/I4210130154"]}],"countries":["FR","US"],"is_corresponding":false,"raw_author_name":"Parker Ewen","raw_affiliation_strings":["University of Michigan, Ann Arbor, MI, USA","Laboratory"],"raw_orcid":"https://orcid.org/0000-0002-3693-7394","affiliations":[{"raw_affiliation_string":"University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"Laboratory","institution_ids":["https://openalex.org/I4210130154"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075699384","display_name":"Andrew Capodieci","orcid":null},"institutions":[{"id":"https://openalex.org/I4210102071","display_name":"Neya Systems (United States)","ror":"https://ror.org/0171fce94","country_code":"US","type":"company","lineage":["https://openalex.org/I4210102071"]},{"id":"https://openalex.org/I4210130154","display_name":"Laboratoire de Chimie","ror":"https://ror.org/02gaw1s20","country_code":"FR","type":"facility","lineage":["https://openalex.org/I100532134","https://openalex.org/I113428412","https://openalex.org/I1294671590","https://openalex.org/I203339264","https://openalex.org/I203339264","https://openalex.org/I4210130154"]},{"id":"https://openalex.org/I4210144946","display_name":"Applied Research Associates (United States)","ror":"https://ror.org/04vpnmr86","country_code":"US","type":"company","lineage":["https://openalex.org/I4210144946"]}],"countries":["FR","US"],"is_corresponding":false,"raw_author_name":"Andrew Capodieci","raw_affiliation_strings":["Neya Systems Division, Applied Research Associates, Warrendale, PA, USA","Laboratory"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Neya Systems Division, Applied Research Associates, Warrendale, PA, USA","institution_ids":["https://openalex.org/I4210144946","https://openalex.org/I4210102071"]},{"raw_affiliation_string":"Laboratory","institution_ids":["https://openalex.org/I4210130154"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045974793","display_name":"Paramsothy Jayakumar","orcid":"https://orcid.org/0000-0003-2662-0331"},"institutions":[{"id":"https://openalex.org/I1304082316","display_name":"United States Department of the Army","ror":"https://ror.org/035w1gb98","country_code":"US","type":"government","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796"]},{"id":"https://openalex.org/I2802705668","display_name":"United States Army Combat Capabilities Development Command","ror":"https://ror.org/02rdkx920","country_code":"US","type":"other","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796","https://openalex.org/I2802705668","https://openalex.org/I4210154437"]},{"id":"https://openalex.org/I4210130154","display_name":"Laboratoire de Chimie","ror":"https://ror.org/02gaw1s20","country_code":"FR","type":"facility","lineage":["https://openalex.org/I100532134","https://openalex.org/I113428412","https://openalex.org/I1294671590","https://openalex.org/I203339264","https://openalex.org/I203339264","https://openalex.org/I4210130154"]},{"id":"https://openalex.org/I4388482723","display_name":"U.S. Army Combat Capabilities Development Command Ground Vehicle System Center","ror":"https://ror.org/026zar759","country_code":"US","type":"government","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796","https://openalex.org/I2802705668","https://openalex.org/I4210154437","https://openalex.org/I4388482723"]}],"countries":["FR","US"],"is_corresponding":false,"raw_author_name":"Paramsothy Jayakumar","raw_affiliation_strings":["US Army DEVCOM Ground Vehicle Systems Center, Warren, MI, USA","Laboratory"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"US Army DEVCOM Ground Vehicle Systems Center, Warren, MI, USA","institution_ids":["https://openalex.org/I1304082316","https://openalex.org/I2802705668","https://openalex.org/I4388482723"]},{"raw_affiliation_string":"Laboratory","institution_ids":["https://openalex.org/I4210130154"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084847741","display_name":"Kira Barton","orcid":"https://orcid.org/0000-0003-1047-8078"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]},{"id":"https://openalex.org/I4210130154","display_name":"Laboratoire de Chimie","ror":"https://ror.org/02gaw1s20","country_code":"FR","type":"facility","lineage":["https://openalex.org/I100532134","https://openalex.org/I113428412","https://openalex.org/I1294671590","https://openalex.org/I203339264","https://openalex.org/I203339264","https://openalex.org/I4210130154"]}],"countries":["FR","US"],"is_corresponding":false,"raw_author_name":"Kira Barton","raw_affiliation_strings":["University of Michigan, Ann Arbor, MI, USA","Laboratory"],"raw_orcid":"https://orcid.org/0000-0003-1047-8078","affiliations":[{"raw_affiliation_string":"University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"Laboratory","institution_ids":["https://openalex.org/I4210130154"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5046777734","display_name":"Maani Ghaffari","orcid":"https://orcid.org/0000-0002-4734-4295"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]},{"id":"https://openalex.org/I4210130154","display_name":"Laboratoire de Chimie","ror":"https://ror.org/02gaw1s20","country_code":"FR","type":"facility","lineage":["https://openalex.org/I100532134","https://openalex.org/I113428412","https://openalex.org/I1294671590","https://openalex.org/I203339264","https://openalex.org/I203339264","https://openalex.org/I4210130154"]}],"countries":["FR","US"],"is_corresponding":false,"raw_author_name":"Maani Ghaffari","raw_affiliation_strings":["University of Michigan, Ann Arbor, MI, USA","Laboratory"],"raw_orcid":"https://orcid.org/0000-0002-4734-4295","affiliations":[{"raw_affiliation_string":"University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"Laboratory","institution_ids":["https://openalex.org/I4210130154"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":8,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.1383,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.89332547,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"40","issue":null,"first_page":"4648","last_page":"4667"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10215","display_name":"Semantic Web and Ontologies","score":0.9707000255584717,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10215","display_name":"Semantic Web and Ontologies","score":0.9707000255584717,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T11106","display_name":"Data Management and Algorithms","score":0.9678000211715698,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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":0.9301000237464905,"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/computer-science","display_name":"Computer science","score":0.6935890913009644},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.6686018109321594},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5005037784576416},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.3396783173084259}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6935890913009644},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.6686018109321594},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5005037784576416},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.3396783173084259}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2024.3453771","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2024.3453771","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["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 Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Reduced inequalities","id":"https://metadata.un.org/sdg/10","score":0.4399999976158142}],"awards":[],"funders":[{"id":"https://openalex.org/F4320310328","display_name":"Automotive Research Center","ror":"https://ror.org/00jmfr291"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":71,"referenced_works":["https://openalex.org/W801273237","https://openalex.org/W1595654559","https://openalex.org/W1612997784","https://openalex.org/W1912649600","https://openalex.org/W1971618559","https://openalex.org/W1977189000","https://openalex.org/W1987648924","https://openalex.org/W2000063120","https://openalex.org/W2028284985","https://openalex.org/W2031456685","https://openalex.org/W2064675550","https://openalex.org/W2089652819","https://openalex.org/W2136097307","https://openalex.org/W2150066425","https://openalex.org/W2154418813","https://openalex.org/W2157331557","https://openalex.org/W2167683317","https://openalex.org/W2410641873","https://openalex.org/W2470820246","https://openalex.org/W2471969791","https://openalex.org/W2523049145","https://openalex.org/W2607968634","https://openalex.org/W2765757095","https://openalex.org/W2896457183","https://openalex.org/W2945883617","https://openalex.org/W2963632154","https://openalex.org/W2964115315","https://openalex.org/W2964128312","https://openalex.org/W2973181288","https://openalex.org/W2979750740","https://openalex.org/W2990613095","https://openalex.org/W2991216808","https://openalex.org/W2999344697","https://openalex.org/W3003922739","https://openalex.org/W3003991701","https://openalex.org/W3008819336","https://openalex.org/W3034295100","https://openalex.org/W3035172746","https://openalex.org/W3035574168","https://openalex.org/W3090386798","https://openalex.org/W3091259027","https://openalex.org/W3093434340","https://openalex.org/W3102129812","https://openalex.org/W3109154950","https://openalex.org/W3129245057","https://openalex.org/W3172477795","https://openalex.org/W3192353040","https://openalex.org/W3201048198","https://openalex.org/W3203158837","https://openalex.org/W3206164009","https://openalex.org/W3206526468","https://openalex.org/W4211049957","https://openalex.org/W4283332944","https://openalex.org/W4285169760","https://openalex.org/W4285201777","https://openalex.org/W4289950755","https://openalex.org/W4294560610","https://openalex.org/W4297775537","https://openalex.org/W4383097420","https://openalex.org/W4385245566","https://openalex.org/W4393118476","https://openalex.org/W6603706610","https://openalex.org/W6631190155","https://openalex.org/W6696085341","https://openalex.org/W6737664043","https://openalex.org/W6739778489","https://openalex.org/W6740277193","https://openalex.org/W6766978945","https://openalex.org/W6784094891","https://openalex.org/W6784333009","https://openalex.org/W6862384891"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052","https://openalex.org/W4402327032","https://openalex.org/W2382290278"],"abstract_inverted_index":{"In":[0],"this":[1],"article,":[2],"we":[3],"develop":[4],"a":[5,25,61,74,89,93,122],"modular":[6],"neural":[7,26,45],"network":[8,27],"for":[9,67,112],"real-time":[10,68],"(>10":[11],"Hz)":[12],"semantic":[13,84],"mapping":[14,113],"in":[15],"uncertain":[16],"environments,":[17],"which":[18,82],"explicitly":[19],"updates":[20],"per-voxel":[21],"probabilistic":[22,36,110],"distributions":[23],"within":[24],"layer.":[28],"Our":[29],"approach":[30],"combines":[31],"the":[32,39],"reliability":[33,116],"of":[34,43,63,127],"classical":[35,58],"algorithms":[37,111],"with":[38],"performance":[40],"and":[41,57,69,109,117,129],"efficiency":[42],"modern":[44,54],"networks.":[46],"Although":[47],"robotic":[48],"perception":[49],"is":[50,65],"often":[51],"divided":[52],"between":[53],"differentiable":[55],"methods":[56],"explicit":[59],"methods,":[60],"union":[62],"both":[64],"necessary":[66],"trustworthy":[70],"performance.":[71,118],"We":[72,101,119],"introduce":[73],"novel":[75],"convolutional":[76],"Bayesian":[77],"kernel":[78],"inference":[79],"(ConvBKI)":[80],"layer":[81,96],"incorporates":[83],"segmentation":[85],"predictions":[86],"online":[87],"into":[88],"3-D":[90],"map":[91],"through":[92],"depthwise":[94],"convolution":[95],"by":[97],"leveraging":[98],"conjugate":[99],"priors.":[100],"compare":[102],"ConvBKI":[103,128],"against":[104],"state-of-the-art":[105],"deep":[106],"learning":[107],"approaches":[108],"to":[114],"evaluate":[115],"also":[120],"create":[121],"robot":[123],"operating":[124],"system":[125],"package":[126],"test":[130],"it":[131],"on":[132],"real-world":[133],"perceptually":[134],"challenging":[135],"off-road":[136],"driving":[137],"data.":[138]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
