{"id":"https://openalex.org/W2097383545","doi":"https://doi.org/10.1109/icra.2011.5979935","title":"3D piecewise planar object model for robotics manipulation","display_name":"3D piecewise planar object model for robotics manipulation","publication_year":2011,"publication_date":"2011-05-01","ids":{"openalex":"https://openalex.org/W2097383545","doi":"https://doi.org/10.1109/icra.2011.5979935","mag":"2097383545"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5979935","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"proceedings-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/A5049409847","display_name":"Johann Prankl","orcid":null},"institutions":[{"id":"https://openalex.org/I145847075","display_name":"TU Wien","ror":"https://ror.org/04d836q62","country_code":"AT","type":"funder","lineage":["https://openalex.org/I145847075"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Johann Prankl","raw_affiliation_strings":["Automation and Control Institute, Vienna University of Technology, Austria."],"affiliations":[{"raw_affiliation_string":"Automation and Control Institute, Vienna University of Technology, Austria.","institution_ids":["https://openalex.org/I145847075"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033133747","display_name":"Michael Zillich","orcid":null},"institutions":[{"id":"https://openalex.org/I145847075","display_name":"TU Wien","ror":"https://ror.org/04d836q62","country_code":"AT","type":"funder","lineage":["https://openalex.org/I145847075"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Michael Zillich","raw_affiliation_strings":["Automation and Control Institute, Vienna University of Technology, Austria."],"affiliations":[{"raw_affiliation_string":"Automation and Control Institute, Vienna University of Technology, Austria.","institution_ids":["https://openalex.org/I145847075"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013565399","display_name":"Markus Vincze","orcid":"https://orcid.org/0000-0002-2799-491X"},"institutions":[{"id":"https://openalex.org/I145847075","display_name":"TU Wien","ror":"https://ror.org/04d836q62","country_code":"AT","type":"funder","lineage":["https://openalex.org/I145847075"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Markus Vincze","raw_affiliation_strings":["Automation and Control Institute, Vienna University of Technology, Austria."],"affiliations":[{"raw_affiliation_string":"Automation and Control Institute, Vienna University of Technology, Austria.","institution_ids":["https://openalex.org/I145847075"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.986,"has_fulltext":true,"fulltext_origin":"ngrams","cited_by_count":5,"citation_normalized_percentile":{"value":0.686434,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":80,"max":81},"biblio":{"volume":"3021","issue":null,"first_page":"1784","last_page":"1790"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9999,"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":0.9999,"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":0.9994,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9979,"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":[],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7823758},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.747168},{"id":"https://openalex.org/C164660894","wikidata":"https://www.wikidata.org/wiki/Q2037833","display_name":"Piecewise","level":2,"score":0.6505722},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.60158694},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5836338},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5835371},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.56546724},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4702151},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.40306264},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.25634846},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.25492263},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.097154886},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5979935","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false}],"best_oa_location":null,"sustainable_development_goals":[],"grants":[],"datasets":[],"versions":[],"referenced_works_count":41,"referenced_works":["https://openalex.org/W1504644388","https://openalex.org/W1519594923","https://openalex.org/W1661995841","https://openalex.org/W1880706632","https://openalex.org/W1905817386","https://openalex.org/W1927667002","https://openalex.org/W1965642791","https://openalex.org/W1974014252","https://openalex.org/W1984093092","https://openalex.org/W1984190176","https://openalex.org/W1995444699","https://openalex.org/W2002875082","https://openalex.org/W2004333984","https://openalex.org/W2033819227","https://openalex.org/W2080082398","https://openalex.org/W2085261163","https://openalex.org/W2101290767","https://openalex.org/W2103088500","https://openalex.org/W2109407206","https://openalex.org/W2109461554","https://openalex.org/W2112262632","https://openalex.org/W2130103520","https://openalex.org/W2130289397","https://openalex.org/W2133192850","https://openalex.org/W2146447720","https://openalex.org/W2149884854","https://openalex.org/W2151103935","https://openalex.org/W2154201540","https://openalex.org/W2154422144","https://openalex.org/W2169657771","https://openalex.org/W2296039540","https://openalex.org/W2296147781","https://openalex.org/W2319418017","https://openalex.org/W2913703059","https://openalex.org/W2914331897","https://openalex.org/W297039922","https://openalex.org/W3021282624","https://openalex.org/W3040777582","https://openalex.org/W4231002530","https://openalex.org/W4243425824","https://openalex.org/W4243970992"],"related_works":["https://openalex.org/W4254970379","https://openalex.org/W4250956039","https://openalex.org/W4240485100","https://openalex.org/W3021694725","https://openalex.org/W2385263368","https://openalex.org/W2056130799","https://openalex.org/W2039460805","https://openalex.org/W2012658348","https://openalex.org/W2010009304","https://openalex.org/W1508899372"],"abstract_inverted_index":{"Man-made":[0],"environments":[1],"are":[2,16,42,57,80,108,164],"abundant":[3],"with":[4,44,146],"planar":[5,46],"surfaces":[6,47],"which":[7,168],"have":[8],"attractive":[9],"properties":[10],"for":[11,19,173],"robotics":[12],"manipulation":[13],"tasks":[14],"and":[15,59,76,100,138],"a":[17,20,35,49,88],"prerequisite":[18],"variety":[21],"of":[22,68,118,143,155],"vision":[23],"tasks.":[24],"This":[25],"work":[26],"presents":[27],"automatic":[28],"on-line":[29],"3D":[30,72],"object":[31,78,95,162],"model":[32,153],"acquisition":[33],"assuming":[34],"robot":[36],"to":[37,110,122,129],"manipulate":[38],"the":[39,69,71,93,111,140],"object.":[40,115],"Objects":[41],"represented":[43],"piecewise":[45],"in":[48,63,157],"spatio-temporal":[50,94],"graph.":[51],"Planes":[52],"once":[53],"detected":[54],"as":[55,61,103,105],"homographies":[56],"tracked":[58],"serve":[60],"priors":[62],"subsequent":[64],"images.":[65],"After":[66],"reconstruction":[67],"planes":[70,84,102,107,156],"motion":[73],"is":[74,91,97,121],"analyzed":[75],"initial":[77],"hypotheses":[79],"created.":[81],"In":[82],"case":[83],"start":[85],"moving":[86],"independently":[87],"split":[89,114],"event":[90],"triggered,":[92],"graph":[96],"traced":[98],"back":[99],"visible":[101],"well":[104],"occluded":[106],"assigned":[109],"most":[112],"probable":[113],"The":[116],"novelty":[117],"this":[119],"framework":[120],"formalize":[123],"Multi-body":[124],"Structure-and-Motion":[125],"(MSaM),":[126],"that":[127],"is,":[128],"segment":[130],"interest":[131],"point":[132],"tracks":[133],"into":[134],"different":[135],"rigid":[136],"objects":[137],"compute":[139],"multiple-view":[141],"geometry":[142],"each":[144],"object,":[145],"Minimal":[147],"Description":[148],"Length":[149],"(MDL)":[150],"based":[151],"on":[152],"selection":[154],"an":[158],"incremental":[159],"manner.":[160],"Thus,":[161],"models":[163],"built":[165],"from":[166],"planes,":[167],"directly":[169],"can":[170],"be":[171],"used":[172],"robotic":[174],"manipulation.":[175]},"abstract_inverted_index_v3":null,"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W2097383545","counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2013,"cited_by_count":2}],"updated_date":"2025-03-21T08:19:22.925615","created_date":"2016-06-24"}