{"id":"https://openalex.org/W3176159010","doi":"https://doi.org/10.1109/lra.2021.3093009","title":"Patchwork: Concentric Zone-Based Region-Wise Ground Segmentation With Ground Likelihood Estimation Using a 3D LiDAR Sensor","display_name":"Patchwork: Concentric Zone-Based Region-Wise Ground Segmentation With Ground Likelihood Estimation Using a 3D LiDAR Sensor","publication_year":2021,"publication_date":"2021-06-28","ids":{"openalex":"https://openalex.org/W3176159010","doi":"https://doi.org/10.1109/lra.2021.3093009","mag":"3176159010"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3093009","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"journal-article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2108.05560","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5077817769","display_name":"Hyungtae Lim","orcid":"https://orcid.org/0000-0002-7185-4666"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyungtae Lim","raw_affiliation_strings":["School of Electrical Engineering, KI-AI, KI-R at KAIST (Korea Advanced Institute of Science, and Technology), Daejeon, South Korea"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, KI-AI, KI-R at KAIST (Korea Advanced Institute of Science, and Technology), Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083396090","display_name":"Minho Oh","orcid":"https://orcid.org/0000-0003-4324-1368"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Minho Oh","raw_affiliation_strings":["School of Electrical Engineering, KI-AI, KI-R at KAIST (Korea Advanced Institute of Science, and Technology), Daejeon, South Korea"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, KI-AI, KI-R at KAIST (Korea Advanced Institute of Science, and Technology), Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059521863","display_name":"Hyun Myung","orcid":"https://orcid.org/0000-0002-5799-2026"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyun Myung","raw_affiliation_strings":["School of Electrical Engineering, KI-AI, KI-R at KAIST (Korea Advanced Institute of Science, and Technology), Daejeon, South Korea"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, KI-AI, KI-R at KAIST (Korea Advanced Institute of Science, and Technology), Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":7.092,"has_fulltext":false,"cited_by_count":92,"citation_normalized_percentile":{"value":0.999913,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"6","issue":"4","first_page":"6458","last_page":"6465"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9999,"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":0.9999,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9995,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9988,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/ground-plane","display_name":"Ground plane","score":0.53801906},{"id":"https://openalex.org/keywords/mobile-mapping","display_name":"Mobile mapping","score":0.46648625},{"id":"https://openalex.org/keywords/region-growing","display_name":"Region growing","score":0.4417845}],"concepts":[{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.71953994},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.6850417},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6421093},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5899201},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.58844596},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.58636993},{"id":"https://openalex.org/C88764893","wikidata":"https://www.wikidata.org/wiki/Q1547722","display_name":"Ground plane","level":3,"score":0.53801906},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4906851},{"id":"https://openalex.org/C2776821279","wikidata":"https://www.wikidata.org/wiki/Q2293902","display_name":"Mobile mapping","level":3,"score":0.46648625},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.46593398},{"id":"https://openalex.org/C206824153","wikidata":"https://www.wikidata.org/wiki/Q1169834","display_name":"Region growing","level":5,"score":0.4417845},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.42016554},{"id":"https://openalex.org/C156273044","wikidata":"https://www.wikidata.org/wiki/Q4913766","display_name":"Bin","level":2,"score":0.4163572},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.38628134},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.36308414},{"id":"https://openalex.org/C65885262","wikidata":"https://www.wikidata.org/wiki/Q7429708","display_name":"Scale-space segmentation","level":4,"score":0.35048628},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.3351394},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2486915},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.22368693},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.190999},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15643173},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.12276918},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3093009","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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":null,"is_accepted":false,"is_published":false},{"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2108.05560","pdf_url":"https://arxiv.org/pdf/2108.05560","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":["Cornell University"],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false}],"best_oa_location":{"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2108.05560","pdf_url":"https://arxiv.org/pdf/2108.05560","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":["Cornell University"],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false},"sustainable_development_goals":[{"score":0.41,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"grants":[{"funder":"https://openalex.org/F4320312071","funder_display_name":"Ministry of Education, Libya","award_id":null},{"funder":"https://openalex.org/F4320321681","funder_display_name":"Ministry of Trade, Industry and Energy","award_id":null}],"datasets":[],"versions":[],"referenced_works_count":26,"referenced_works":["https://openalex.org/W1961595631","https://openalex.org/W1995814139","https://openalex.org/W1999221719","https://openalex.org/W2051610568","https://openalex.org/W2077057258","https://openalex.org/W2085261163","https://openalex.org/W2115519229","https://openalex.org/W2122248324","https://openalex.org/W2132360065","https://openalex.org/W2143146388","https://openalex.org/W2154844948","https://openalex.org/W2460157116","https://openalex.org/W2586398123","https://openalex.org/W2737444374","https://openalex.org/W2741560390","https://openalex.org/W2885285090","https://openalex.org/W2895180691","https://openalex.org/W2904274854","https://openalex.org/W2991216808","https://openalex.org/W3003437478","https://openalex.org/W3004138340","https://openalex.org/W3031208025","https://openalex.org/W3082486589","https://openalex.org/W3089266077","https://openalex.org/W3108492605","https://openalex.org/W3130044230"],"related_works":["https://openalex.org/W4281943322","https://openalex.org/W2948887454","https://openalex.org/W2619283684","https://openalex.org/W2551987074","https://openalex.org/W2394279717","https://openalex.org/W2386644571","https://openalex.org/W2383720950","https://openalex.org/W2364730859","https://openalex.org/W2359699469","https://openalex.org/W2185902295"],"abstract_inverted_index":{"Ground":[0,104,119],"segmentation":[1,48],"is":[2,18,53,73,95,100,108,122,159],"crucial":[3],"for":[4,55,115],"terrestrial":[5],"mobile":[6],"platforms":[7],"to":[8,81,110,124],"perform":[9],"navigation":[10],"or":[11,28],"neighboring":[12],"object":[13],"recognition.":[14],"Unfortunately,":[15],"the":[16,40,57,112,146],"ground":[17,47,114],"not":[19,96],"flat,":[20],"as":[21,31],"it":[22],"features":[23],"steep":[24],"slopes;":[25],"bumpy":[26],"roads;":[27],"objects,":[29],"such":[30],"curbs,":[32],"flower":[33],"beds,":[34],"and":[35,60,134],"so":[36],"forth.":[37],"To":[38],"tackle":[39],"problem,":[41],"this":[42,68],"letter":[43],"presents":[44],"a":[45,70,76,92],"novel":[46],"method":[49,140],"called":[50],"Patchwork,":[51],"which":[52,107],"robust":[54],"addressing":[56],"under-segmentation":[58],"problem":[59],"operates":[61],"at":[62],"more":[63],"than":[64],"40":[65],"Hz.":[66],"In":[67],"letter,":[69],"point":[71],"cloud":[72,87],"encoded":[74],"into":[75],"Concentric":[77],"Zone":[78],"Model-based":[79],"representation":[80],"assign":[82],"an":[83],"appropriate":[84],"density":[85],"of":[86],"points":[88],"among":[89],"bins":[90],"in":[91],"way":[93],"that":[94],"computationally":[97],"complex.":[98],"This":[99],"followed":[101],"by":[102],"Region-wise":[103],"Plane":[105],"Fitting,":[106],"performed":[109],"estimate":[111],"partial":[113],"each":[116],"bin.":[117],"Finally,":[118],"Likelihood":[120],"Estimation":[121],"introduced":[123],"dramatically":[125],"reduce":[126],"false":[127],"positives.":[128],"As":[129],"experimentally":[130],"verified":[131],"on":[132],"SemanticKITTI":[133],"rough":[135],"terrain":[136],"datasets,":[137],"our":[138],"proposed":[139],"yields":[141],"promising":[142],"performance":[143],"compared":[144,152],"with":[145,153],"state-of-the-art":[147],"methods,":[148],"showing":[149],"faster":[150],"speed":[151],"existing":[154],"plane":[155],"fitting-based":[156],"methods.":[157],"Code":[158],"available:":[160],"https://github.com/LimHyungTae/patchwork.":[161]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W3176159010","counts_by_year":[{"year":2024,"cited_by_count":34},{"year":2023,"cited_by_count":41},{"year":2022,"cited_by_count":14},{"year":2021,"cited_by_count":1}],"updated_date":"2025-01-17T08:40:19.323559","created_date":"2021-07-05"}