{"id":"https://openalex.org/W2963044817","doi":"https://doi.org/10.1109/wf-iot.2019.8767255","title":"Fast Object Segmentation Pipeline for Point Clouds Using Robot Operating System","display_name":"Fast Object Segmentation Pipeline for Point Clouds Using Robot Operating System","publication_year":2019,"publication_date":"2019-04-01","ids":{"openalex":"https://openalex.org/W2963044817","doi":"https://doi.org/10.1109/wf-iot.2019.8767255","mag":"2963044817"},"language":"en","primary_location":{"id":"doi:10.1109/wf-iot.2019.8767255","is_oa":false,"landing_page_url":"https://doi.org/10.1109/wf-iot.2019.8767255","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 5th World Forum on Internet of Things (WF-IoT)","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/A5027115474","display_name":"Anjani Josyula","orcid":null},"institutions":[{"id":"https://openalex.org/I65181880","display_name":"Indian Institute of Technology Hyderabad","ror":"https://ror.org/01j4v3x97","country_code":"IN","type":"education","lineage":["https://openalex.org/I65181880"]}],"countries":["IN"],"is_corresponding":true,"raw_author_name":"Anjani Josyula","raw_affiliation_strings":["Department of Electrical Engineering, Indian Institute of Technology, Hyderabad, India"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Indian Institute of Technology, Hyderabad, India","institution_ids":["https://openalex.org/I65181880"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003822824","display_name":"Bhaskar Anand","orcid":"https://orcid.org/0000-0002-2035-9446"},"institutions":[{"id":"https://openalex.org/I65181880","display_name":"Indian Institute of Technology Hyderabad","ror":"https://ror.org/01j4v3x97","country_code":"IN","type":"education","lineage":["https://openalex.org/I65181880"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Bhaskar Anand","raw_affiliation_strings":["Department of Electrical Engineering, Indian Institute of Technology, Hyderabad, India"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Indian Institute of Technology, Hyderabad, India","institution_ids":["https://openalex.org/I65181880"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069669674","display_name":"P. Rajalakshmi","orcid":"https://orcid.org/0000-0002-7252-6728"},"institutions":[{"id":"https://openalex.org/I65181880","display_name":"Indian Institute of Technology Hyderabad","ror":"https://ror.org/01j4v3x97","country_code":"IN","type":"education","lineage":["https://openalex.org/I65181880"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"P. Rajalakshmi","raw_affiliation_strings":["Department of Electrical Engineering, Indian Institute of Technology, Hyderabad, India"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Indian Institute of Technology, Hyderabad, India","institution_ids":["https://openalex.org/I65181880"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5027115474"],"corresponding_institution_ids":["https://openalex.org/I65181880"],"apc_list":null,"apc_paid":null,"fwci":0.8009,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.70027302,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"915","last_page":"919"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9998999834060669,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9976999759674072,"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/point-cloud","display_name":"Point cloud","score":0.8058751821517944},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7744216918945312},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.7222726345062256},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6489933729171753},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.6472272872924805},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.595625102519989},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.573758602142334},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5449910759925842},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.5157601833343506},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5151714086532593},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4839065968990326},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.48266127705574036},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.43674522638320923},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3479846715927124},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.11507982015609741},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.09466901421546936},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.0879090428352356}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.8058751821517944},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7744216918945312},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.7222726345062256},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6489933729171753},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.6472272872924805},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.595625102519989},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.573758602142334},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5449910759925842},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.5157601833343506},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5151714086532593},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4839065968990326},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.48266127705574036},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.43674522638320923},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3479846715927124},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.11507982015609741},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.09466901421546936},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0879090428352356},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/wf-iot.2019.8767255","is_oa":false,"landing_page_url":"https://doi.org/10.1109/wf-iot.2019.8767255","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 5th World Forum on Internet of Things (WF-IoT)","raw_type":"proceedings-article"},{"id":"pmh:oai:raiith.iith.ac.in:6956","is_oa":false,"landing_page_url":"http://raiith.iith.ac.in/6956/","pdf_url":null,"source":{"id":"https://openalex.org/S4306400292","display_name":"Research Archive of Indian Institute of Technology Hyderabad (Indian Institute of Technology Hyderabad)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I65181880","host_organization_name":"Indian Institute of Technology Hyderabad","host_organization_lineage":["https://openalex.org/I65181880"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference or Workshop Item"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4300000071525574,"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1996688648","https://openalex.org/W2000836326","https://openalex.org/W2027463251","https://openalex.org/W2051610568","https://openalex.org/W2115519229","https://openalex.org/W2156516396","https://openalex.org/W2167222293","https://openalex.org/W2414551140","https://openalex.org/W2460157116","https://openalex.org/W2565029242","https://openalex.org/W2737444374","https://openalex.org/W2772732477","https://openalex.org/W2772938806","https://openalex.org/W2808430885","https://openalex.org/W6752916305"],"related_works":["https://openalex.org/W4293094720","https://openalex.org/W2930076404","https://openalex.org/W2739701376","https://openalex.org/W2917514722","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W2155948905","https://openalex.org/W1971413691"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,35,58,122,153],"method":[4],"to":[5,29,133,138,147],"pipeline":[6,124],"the":[7,14,20,31,42,62,69,86,118,141,159],"segmentation":[8,37,115],"process":[9],"for":[10,68,78,106,109],"point":[11,87],"clouds":[12],"using":[13,51],"Robot":[15,43],"Operating":[16,44],"System":[17,45],"(ROS)":[18],"and":[19,54,97,112,128,145],"Point":[21],"Cloud":[22],"Library":[23],"(PCL).":[24],"The":[25],"pipeline's":[26],"objective":[27],"is":[28,89,116],"optimize":[30],"run":[32,66,135],"time":[33,67,136],"of":[34,92,121,162],"conventional":[36],"algorithm":[38],"by":[39],"working":[40],"within":[41],"framework.":[46],"It":[47,60,103,130],"can":[48,75],"be":[49,76,101],"implemented":[50],"any":[52],"system":[53],"in":[55,65,83],"conjunction":[56],"with":[57],"GPU.":[59],"shows":[61],"greatest":[63],"reduction":[64],"least":[70],"downsampled":[71],"clouds.":[72],"Therefore,":[73],"it":[74],"used":[77],"real-time":[79],"safety-critical":[80],"applications":[81],"especially":[82],"scenarios":[84],"where":[85,114],"cloud":[88],"sparse":[90],"or":[91],"highly":[93],"uneven":[94],"spatial":[95],"density":[96],"should":[98],"thus":[99],"not":[100],"downsampled.":[102],"was":[104,131],"developed":[105],"Obstacle":[107],"Avoidance":[108],"Autonomous":[110],"Vehicles":[111],"Drones":[113],"only":[117],"first":[119],"step":[120],"larger":[123],"involving":[125],"obstacle":[126],"detection":[127],"tracking.":[129],"observed":[132],"reduce":[134],"up":[137,146],"31.3%":[139],"on":[140,149],"KITTI":[142],"data":[143,150],"set":[144],"44.4%":[148],"collected":[151],"from":[152],"16":[154],"channel":[155],"Ouster":[156],"lidar":[157],"at":[158],"Indian":[160],"Institute":[161],"Technology,":[163],"Hyderabad.":[164]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":4}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}