{"id":"https://openalex.org/W2129571700","doi":"https://doi.org/10.1109/iros.2012.6385729","title":"An object-based semantic world model for long-term change detection and semantic querying","display_name":"An object-based semantic world model for long-term change detection and semantic querying","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W2129571700","doi":"https://doi.org/10.1109/iros.2012.6385729","mag":"2129571700"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2012.6385729","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385729","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5042210331","display_name":"Julian Mason","orcid":null},"institutions":[{"id":"https://openalex.org/I170897317","display_name":"Duke University","ror":"https://ror.org/00py81415","country_code":"US","type":"education","lineage":["https://openalex.org/I170897317"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Julian Mason","raw_affiliation_strings":["Department of Computer Science, Duke University, Durham, NC, USA","Duke University Department of Computer Science. 308 Research Drive, Durham NC 27708, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Duke University, Durham, NC, USA","institution_ids":["https://openalex.org/I170897317"]},{"raw_affiliation_string":"Duke University Department of Computer Science. 308 Research Drive, Durham NC 27708, USA","institution_ids":["https://openalex.org/I170897317"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109900453","display_name":"Bhaskara Marthi","orcid":null},"institutions":[{"id":"https://openalex.org/I4210117999","display_name":"Willow Wood (United States)","ror":"https://ror.org/02hrkdj18","country_code":"US","type":"company","lineage":["https://openalex.org/I4210117999"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bhaskara Marthi","raw_affiliation_strings":["Willow Garage, Inc., Menlo Park, CA, USA","Willow Garage, 68 Willow Road, Menlo Park, CA 94025, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Willow Garage, Inc., Menlo Park, CA, USA","institution_ids":["https://openalex.org/I4210117999"]},{"raw_affiliation_string":"Willow Garage, 68 Willow Road, Menlo Park, CA 94025, USA","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":171.9501,"has_fulltext":false,"cited_by_count":55,"citation_normalized_percentile":{"value":0.99922072,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"3851","last_page":"3858"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994999766349792,"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":0.9994999766349792,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9969000220298767,"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/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9789000153541565,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7687501907348633},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.7107114195823669},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.6282488107681274},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6084652543067932},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5632109045982361},{"id":"https://openalex.org/keywords/term","display_name":"Term (time)","score":0.5302963852882385},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.5124464631080627},{"id":"https://openalex.org/keywords/semantics","display_name":"Semantics (computer science)","score":0.45594534277915955},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.45282891392707825},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.43290114402770996},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.42670953273773193},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.16442838311195374},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.15752843022346497}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7687501907348633},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.7107114195823669},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.6282488107681274},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6084652543067932},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5632109045982361},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.5302963852882385},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.5124464631080627},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.45594534277915955},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.45282891392707825},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.43290114402770996},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.42670953273773193},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.16442838311195374},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.15752843022346497},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2012.6385729","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385729","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W57608953","https://openalex.org/W1510035368","https://openalex.org/W1973876344","https://openalex.org/W1989072478","https://openalex.org/W2033003500","https://openalex.org/W2042452952","https://openalex.org/W2049207102","https://openalex.org/W2097406002","https://openalex.org/W2098411764","https://openalex.org/W2101077466","https://openalex.org/W2111774168","https://openalex.org/W2125298120","https://openalex.org/W2126842639","https://openalex.org/W2130422193","https://openalex.org/W2133815132","https://openalex.org/W2140873064","https://openalex.org/W2152864241","https://openalex.org/W2154418813","https://openalex.org/W2157357676","https://openalex.org/W2515195731","https://openalex.org/W2901136733","https://openalex.org/W4285719527","https://openalex.org/W6676672696","https://openalex.org/W6725665874","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W2168109476","https://openalex.org/W2486460843","https://openalex.org/W1968121071","https://openalex.org/W2020254986","https://openalex.org/W8302103","https://openalex.org/W2061647633","https://openalex.org/W2686985752","https://openalex.org/W1992540108","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"Recent":[0],"years":[1],"have":[2],"seen":[3],"rising":[4],"interest":[5],"in":[6,86,100,135],"robotic":[7],"mapping":[8],"algorithms":[9],"that":[10,38,110],"operate":[11,99],"at":[12],"the":[13,79,82],"level":[14],"of":[15,81,124,128],"objects,":[16,42],"rather":[17],"than":[18,29],"two-":[19],"or":[20],"three-dimensional":[21],"occupancy.":[22],"Such":[23],"\u201csemantic":[24],"maps\u201d":[25],"permit":[26],"higher-level":[27],"reasoning":[28],"occupancy":[30],"maps,":[31],"and":[32,47,52,73,103,154],"are":[33],"useful":[34],"for":[35],"any":[36],"application":[37],"involves":[39],"dealing":[40],"with":[41,63],"including":[43],"grasping,":[44],"change":[45,155],"detection,":[46],"object":[48,92,109],"search.":[49],"We":[50,144],"describe":[51],"experimentally":[53],"verify":[54],"such":[55],"a":[56,59,64,132,136],"system":[57,97],"aboard":[58],"mobile":[60],"robot":[61,130],"equipped":[62],"Microsoft":[65],"Kinect":[66],"RGB-D":[67],"sensor.":[68],"Our":[69,117],"representation":[70],"is":[71,115,120],"object-based,":[72],"makes":[74],"uniquely":[75],"weak":[76],"assumptions":[77],"about":[78],"quality":[80],"perceptual":[83],"data":[84],"available;":[85],"particular,":[87],"we":[88],"perform":[89],"no":[90],"explicit":[91],"recognition.":[93],"This":[94],"allows":[95],"our":[96,129,150],"to":[98],"large,":[101],"dynamic,":[102],"uncon-strained":[104],"environments,":[105],"where":[106],"modeling":[107],"every":[108],"occurs":[111],"(or":[112],"might":[113],"occur)":[114],"impractical.":[116],"dataset,":[118],"which":[119],"publicly":[121],"available,":[122],"consists":[123],"67":[125],"autonomous":[126],"runs":[127],"over":[131],"six-week":[133],"period":[134],"roughly":[137],"1600m":[138],"<sup":[139],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[140],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">2</sup>":[141],"office":[142],"environment.":[143],"demonstrate":[145],"two":[146],"applications":[147],"built":[148],"on":[149],"system:":[151],"semantic":[152],"querying":[153],"detection.":[156]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":7},{"year":2014,"cited_by_count":8},{"year":2013,"cited_by_count":7},{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}