{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,13]],"date-time":"2025-10-13T19:55:40Z","timestamp":1760385340628,"version":"3.40.4"},"reference-count":59,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2014,1,14]],"date-time":"2014-01-14T00:00:00Z","timestamp":1389657600000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2014,9]]},"DOI":"10.1007\/s10846-013-0011-8","type":"journal-article","created":{"date-parts":[[2014,1,13]],"date-time":"2014-01-13T10:57:03Z","timestamp":1389610623000},"page":"35-56","source":"Crossref","is-referenced-by-count":8,"title":["Part-Based Geometric Categorization and Object Reconstruction in Cluttered Table-Top Scenes"],"prefix":"10.1007","volume":"76","author":[{"given":"Zoltan-Csaba","family":"Marton","sequence":"first","affiliation":[]},{"given":"Ferenc","family":"Balint-Benczedi","sequence":"additional","affiliation":[]},{"given":"Oscar Martinez","family":"Mozos","sequence":"additional","affiliation":[]},{"given":"Nico","family":"Blodow","sequence":"additional","affiliation":[]},{"given":"Asako","family":"Kanezaki","sequence":"additional","affiliation":[]},{"given":"Lucian Cosmin","family":"Goron","sequence":"additional","affiliation":[]},{"given":"Dejan","family":"Pangercic","sequence":"additional","affiliation":[]},{"given":"Michael","family":"Beetz","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2014,1,14]]},"reference":[{"key":"11_CR1","doi-asserted-by":"crossref","unstructured":"Aldoma, A., Blodow, N., Gossow, D., Gedikli, S., Rusu, R., Vincze, M., Bradski, G.: CAD-model recognition and 6 DOF pose estimation using 3D cues. In: ICCV Workshop on 3D Representation and Recognition (3dRR11). Barcelona (2011)","DOI":"10.1109\/ICCVW.2011.6130296"},{"issue":"3","key":"11_CR2","doi-asserted-by":"crossref","first-page":"80","DOI":"10.1109\/MRA.2012.2206675","volume":"19","author":"A Aldoma","year":"2012","unstructured":"Aldoma, A., Marton, Z.C., Tombari, F., Wohlkinger, W., Potthast, C., Zeisl, B., Rusu, R.B., Gedikli, S., Vincze, M.: Tutorial: point cloud library\u2013three-dimensional object recognition and 6 DoF pose estimation. Robot. Autom. Mag. 19(3), 80\u201391 (2012)","journal-title":"Robot. Autom. Mag."},{"key":"11_CR3","unstructured":"Balint-Benczedi, F.,Marton, Z.C., Beetz, M.: Efficient part-graph hashes for object categorization. In: 5th International Conference on Cognitive Systems (CogSys) (2012)"},{"key":"11_CR4","doi-asserted-by":"crossref","unstructured":"Bergstr\u00f6m, N., Bj\u00f6rkman, M., Kragic, D.: Generating object hypotheses in natural scenes through human-robot interaction. In: IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 827\u2013833 (2011)","DOI":"10.1109\/IROS.2011.6048162"},{"key":"11_CR5","unstructured":"Bersch, C., Pangercic, D., Osentoski, S., Hausman, K., Marton, Z.C., Ueda, R., Okada, K., Beetz, M.: Segmentation of textured and textureless objects through interactive perception. In: RSS Workshop on Robots in Clutter: Manipulation, Perception and Navigation in Human Environments. Sydney (2012)"},{"key":"11_CR6","doi-asserted-by":"crossref","unstructured":"Biederman, I.: Recognition-by-components. A theory of human image understanding. Psychol. Rev. (1987)","DOI":"10.1037\/0033-295X.94.2.115"},{"key":"11_CR7","doi-asserted-by":"crossref","unstructured":"Blodow, N., Goron, L.C., Marton, Z.C., Pangercic, D., R\u00fchr, T., Tenorth, M., Beetz, M.: Autonomous semantic mapping for robots performing everyday manipulation tasks in kitchen environments. In: Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS). San Francisco (2011)","DOI":"10.1109\/IROS.2011.6094665"},{"key":"11_CR8","doi-asserted-by":"crossref","first-page":"603","DOI":"10.1109\/34.1000236","volume":"24","author":"D Comaniciu","year":"2002","unstructured":"Comaniciu, D., Meer, P., Member, S.: Mean shift: a robust approach toward feature space analysis. IEEE Trans. Pattern Anal. Mach. Intell. 24, 603\u2013619 (2002)","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"key":"11_CR9","doi-asserted-by":"crossref","unstructured":"Dickinson, S.: The evolution of object categorization and the challenge of image abstraction. In: Dickinson, S. Leonardis, A., Schiele, B., Tarr, M. (eds) Object Categorization: Computer and Human Vision Perspectives (2009)","DOI":"10.1017\/CBO9780511635465"},{"key":"11_CR10","doi-asserted-by":"crossref","unstructured":"Felzenszwalb, P.F., Girshick, R.B., McAllester, D.A., Ramanan, D.: Object detection with discriminatively trained part-based models. IEEE Trans. Pattern Anal. Mach. Intell. 32(9) (2010)","DOI":"10.1109\/TPAMI.2009.167"},{"key":"11_CR11","unstructured":"Felzenszwalb, P.F., Huttenlocher, D.P.: Efficient graph-based image segmentation. Int. J. Comput. Vis. 59(2), 167\u2013181. doi: 10.1023\/B:VISI.000002228819776.77"},{"key":"11_CR12","doi-asserted-by":"crossref","unstructured":"Fergus, R., Perona, P., Zisserman, A.: Object class recognition by unsupervised scale-invariant learning. In: In CVPR, pp. 264\u2013271 (2003)","DOI":"10.1109\/CVPR.2003.1211479"},{"key":"11_CR13","doi-asserted-by":"crossref","unstructured":"Fowlkes, C.C., Martin, D.R., Malik, J.: Local figure-ground cues are valid for natural images. J. Vis. 7(8) (2007)","DOI":"10.1167\/7.8.2"},{"key":"11_CR14","first-page":"1","volume":"23","author":"R Gomes","year":"2010","unstructured":"Gomes, R., Krause, A., Perona, P.: Discriminative clustering by regularized information maximization. Adv. Neural Inf. Process. Syst. 23, 1\u20139 (2010)","journal-title":"Adv. Neural Inf. Process. Syst."},{"key":"11_CR15","unstructured":"Goron, L.C., Marton, Z.C., Lazea, G., Beetz, M.: Segmenting cylindrical and box-like objects in cluttered 3D scenes. In: 7th German Conference on Robotics (ROBOTIK 2012). Munich (2012)"},{"key":"11_CR16","doi-asserted-by":"crossref","unstructured":"Hausman, K., Balint-Benczedi, F., Pangercic, D., Marton, Z.C., Ueda, R., Okada, K., Beetz, M.: Tracking-based interactive segmentation of textureless objects. In: IEEE International Conference on Robotics and Automation (ICRA). Best Service Robotics Paper Award Finalist. Karlsruhe (2013)","DOI":"10.1109\/ICRA.2013.6630713"},{"key":"11_CR17","doi-asserted-by":"crossref","unstructured":"Huber, D., Kapuria, A., Donamukkala, R.R., Hebert, M.: Parts-based 3d object classification. In: Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR 04) (2004)","DOI":"10.1109\/CVPR.2004.1315148"},{"key":"11_CR18","doi-asserted-by":"crossref","unstructured":"Jacobs, D.W.: Perceptual organization as generic object recognition. In: From Fragments to Objects - Segmentation and Grouping in Vision, chap. IV. Models Of Segmentation And Grouping, pp. 295\u2013329 (2001)","DOI":"10.1016\/S0166-4115(01)80030-3"},{"key":"11_CR19","unstructured":"Kanezaki, A., Marton, Z.C., Pangercic, D., Harada, T., Kuniyoshi, Y., Beetz, M.: Voxelized shape and color histograms for RGB-D. In: IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), Workshop on Active Semantic Perception and Object Search in the Real World. San Francisco (2011)"},{"key":"11_CR20","doi-asserted-by":"crossref","unstructured":"Kanezaki, A., Nakayama, H., Harada, T., Kuniyoshi, Y.: High-speed 3d object recognition using additive features in a linear subspace. In: Proceedings of International Conference on Robotics and Automation (ICRA), pp. 3128\u20133134 (2010)","DOI":"10.1109\/ROBOT.2010.5509271"},{"key":"11_CR21","doi-asserted-by":"crossref","unstructured":"Kanezaki, A., Suzuki, T., Harada, T., Kuniyoshi, Y.: Fast object detection for robots in a cluttered indoor environment using integral 3D feature table. In: Proceedings of the IEEE ICRA (2011)","DOI":"10.1109\/ICRA.2011.5980129"},{"key":"11_CR22","doi-asserted-by":"crossref","unstructured":"Lai, K., Bo, L., Ren, X., Fox, D.: A large-scale hierarchical multi-view rgb-d object dataset. In: Proceedings of International Conference on Robotics and Automation (ICRA) (2011)","DOI":"10.1109\/ICRA.2011.5980382"},{"key":"11_CR23","doi-asserted-by":"crossref","unstructured":"Lai, K., Bo, L., Ren, X., Fox, D.: Sparse distance learning for object recognition combining rgb and depth information. In: Proceedings of International Conference on Robotics and Automation (ICRA) (2011)","DOI":"10.1109\/ICRA.2011.5980377"},{"issue":"8","key":"11_CR24","doi-asserted-by":"crossref","first-page":"1019","DOI":"10.1177\/0278364910369190","volume":"29","author":"K Lai","year":"2010","unstructured":"Lai, K., Fox, D.: Object recognition in 3d point clouds using web data and domain adaptation. Int. J. Robot. Res. 29(8), 1019\u20131037 (2010). doi: 10.1177\/0278364910369190","journal-title":"Int. J. Robot. Res."},{"issue":"9","key":"11_CR25","doi-asserted-by":"crossref","first-page":"945","DOI":"10.1016\/0167-8655(95)00050-Q","volume":"16","author":"L Lam","year":"1995","unstructured":"Lam, L., Suen, C.Y.: Optimal combinations of pattern classifiers. Pattern Recognit. Lett 16(9), 945\u2013954 (1995)","journal-title":"Pattern Recognit. Lett"},{"issue":"1\u20133","key":"11_CR26","doi-asserted-by":"crossref","first-page":"259","DOI":"10.1007\/s11263-007-0095-3","volume":"77","author":"B Leibe","year":"2008","unstructured":"Leibe, B., Leonardis, A., Schiele, B.: Robust object detection with interleaved categorization and segmentation. Int. J. Comput. Vis. 77(1\u20133), 259\u2013289 (2008)","journal-title":"Int. J. Comput. Vis."},{"key":"11_CR27","doi-asserted-by":"crossref","first-page":"91","DOI":"10.1023\/B:VISI.0000029664.99615.94","volume":"60","author":"DG Lowe","year":"2004","unstructured":"Lowe, D.G.: Distinctive image features from scale-invariant keypoints. Int. J. Comput. Vis. 60, 91\u2013110 (2004)","journal-title":"Int. J. Comput. Vis."},{"key":"11_CR28","doi-asserted-by":"crossref","unstructured":"Malisiewicz, T., Efros, A.A.: Improving spatial support for objects via multiple segmentations. In: Proceedings of the British Machine Vision Conference (2007)","DOI":"10.5244\/C.21.55"},{"key":"11_CR29","doi-asserted-by":"crossref","unstructured":"Marton, Z.C., Balint-Benczedi, F., Blodow, N., Goron, L.C., Beetz, M.: Object categorization in clutter using additive features and hashing of part-graph descriptors. In: Proceedings of Spatial Cognition 2012. Abbey Kloster Seeon (2012)","DOI":"10.1007\/978-3-642-32732-2_2"},{"key":"11_CR30","unstructured":"Marton, Z.C., Balint-Benczedi, F., Mozos, O.M., Pangercic, D., Beetz, M.: Cumulative object categorization in clutter. In: 2nd Workshop on Robotics in Clutter, at Robotics: Science and Systems (RSS) (2013)"},{"key":"11_CR31","doi-asserted-by":"crossref","unstructured":"Marton, Z.C., Pangercic, D., Blodow, N., Beetz, M.: Combined 2D-3D categorization and classification for multimodal perception systems. Int. J. Robot. Res. (2011)","DOI":"10.1177\/0278364911415897"},{"key":"11_CR32","doi-asserted-by":"crossref","unstructured":"Marton, Z.C., Pangercic, D., Rusu, R.B., Holzbach, A., Beetz, M.: Hierarchical object geometric categorization and appearance classification for mobile manipulation. In: Proceedings of 2010, IEEE-RAS International Conference on Humanoid Robots. Nashville (2010)","DOI":"10.1109\/ICHR.2010.5686323"},{"key":"11_CR33","doi-asserted-by":"crossref","unstructured":"Marton, Z.C., Rusu, R.B., Jain, D., Klank, U., Beetz, M.: Probabilistic categorization of kitchen objects in table settings with a composite sensor. In: Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems. USA (2009)","DOI":"10.1109\/IROS.2009.5354288"},{"key":"11_CR34","doi-asserted-by":"crossref","unstructured":"Marton, Z.C., Seidel, F., Balint-Benczedi, F., Beetz, M.: Ensembles of strong learners for multi-cue classification. Pattern Recognit. Lett. Special Issue on Scene Understandings and Behaviours Analysis (2012)","DOI":"10.1016\/j.patrec.2012.07.011"},{"key":"11_CR35","doi-asserted-by":"crossref","unstructured":"Mishra, A.K., Aloimonos, Y.: Visual segmentation of \u201cSimple\u201d objects for robots. In: Robotics: Science and Systems (RSS) (2011)","DOI":"10.15607\/RSS.2011.VII.030"},{"issue":"2","key":"11_CR36","doi-asserted-by":"crossref","first-page":"22","DOI":"10.1109\/MRA.2011.940996","volume":"18","author":"OM Mozos","year":"2011","unstructured":"Mozos, O.M., Marton, Z.C., Beetz, M.: Furniture models learned from the www\u2014using web catalogs to locate and categorize unknown furniture pieces in 3D laser scans. Robot. Autom. Mag. 18(2), 22\u201332 (2011)","journal-title":"Robot. Autom. Mag."},{"key":"11_CR37","doi-asserted-by":"crossref","unstructured":"Mueller, C.A., Pathak, K., Birk, A.: Object recognition in rgbd images of cluttered environments using graph-based categorization with unsupervised learning of shape parts. In: International Conference on Intelligent Robots and Systems (IROS) (2013)","DOI":"10.1109\/IROS.2013.6696671"},{"key":"11_CR38","unstructured":"Pangercic, D., Haltakov, V., Beetz, M.: Fast and robust object detection in household environments using vocabulary trees with sift descriptors. Workshop on Active Semantic Perception and Object Search in the Real World. San Francisco (2011)"},{"key":"11_CR39","doi-asserted-by":"crossref","unstructured":"Richtsfeld, A., Morwald, T., Prankl, J., Zillich, M., Vincze, M.: Segmentation of unknown objects in indoor environments. In: Intelligent Robots and Systems (IROS), 2012 IEEE\/RSJ International Conference, pp. 4791\u20134796. doi: 10.1109\/IROS.2012.6385661 (2012)","DOI":"10.1109\/IROS.2012.6385661"},{"key":"11_CR40","doi-asserted-by":"crossref","unstructured":"Ruiz-Correa, S., Shapiro, L.G., Meila, M.: A new paradigm for recognizing 3-D object shapes from range data. In: International Conference on Computer Vision (2003)","DOI":"10.1109\/ICCV.2003.1238475"},{"key":"11_CR41","doi-asserted-by":"crossref","unstructured":"Rusu, R.B., Blodow, N., Marton, Z.C., Beetz, M.: Close-range scene segmentation and reconstruction of 3D point cloud maps for mobile manipulation in human environments. In: Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS). St. Louis (2009)","DOI":"10.1109\/IROS.2009.5354683"},{"key":"11_CR42","doi-asserted-by":"crossref","unstructured":"Rusu, R.B., Cousins, S.: 3D is here: point cloud library (PCL). In: IEEE International Conference on Robotics and Automation (ICRA). Shanghai (2011)","DOI":"10.1109\/ICRA.2011.5980567"},{"issue":"11","key":"11_CR43","doi-asserted-by":"crossref","first-page":"927","DOI":"10.1016\/j.robot.2008.08.005","volume":"56","author":"RB Rusu","year":"2008","unstructured":"Rusu, R.B., Marton, Z.C., Blodow, N., Dolha, M., Beetz, M.: Towards 3D Point Cloud Based Object Maps for Household Environments. Robot. Auton. Syst. J. (Special Issue on Semantic Knowledge in Robotics) 56(11), 927\u2013941 (2008)","journal-title":"Robot. Auton. Syst. J. (Special Issue on Semantic Knowledge in Robotics)"},{"key":"11_CR44","first-page":"711","volume":"5","author":"E Scavino","year":"2009","unstructured":"Scavino, E., Wahab, D.A., Basri, H., Mustafa, M.M., Hussain, A.: A Genetic Algorithm for the Segmentation of Known Touching Objects 5, 711\u2013716 (2009)","journal-title":"A Genetic Algorithm for the Segmentation of Known Touching Objects"},{"key":"11_CR45","doi-asserted-by":"crossref","unstructured":"Schnabel, R., Wahl, R., Klein, R.: Efficient ransac for point-cloud shape detection. In: Computer Graphics Forum, vol. 26, pp. 214\u2013226. Wiley Online Library (2007)","DOI":"10.1111\/j.1467-8659.2007.01016.x"},{"key":"11_CR46","doi-asserted-by":"crossref","unstructured":"Schuster, M., Okerman, J., Nguyen, H., Rehg, J., Kemp, C.: Perceiving clutter and surfaces for object placement in indoor environments. In: Proceedings of the 10th IEEE-RAS International Conference on Humanoid Robots (Humanoids), pp. 152\u2013159 (2010) doi: 10.1109\/ICHR.2010.5686328","DOI":"10.1109\/ICHR.2010.5686328"},{"key":"11_CR47","doi-asserted-by":"crossref","unstructured":"Shotton, J., Blake, A., Cipolla, R.: Multiscale categorical object recognition using contour fragments. IEEE Trans. Pattern Anal. Mach. Intell. 30(7) (2008)","DOI":"10.1109\/TPAMI.2007.70772"},{"key":"11_CR48","doi-asserted-by":"crossref","unstructured":"Shotton, J., Winn, J., Rother, C., Criminisi, A.: Textonboost for image understanding: multi-class object recognition and segmentation by jointly modeling texture, layout, and context. Int. J. Comput. Vis. (2007)","DOI":"10.1007\/s11263-007-0109-1"},{"key":"11_CR49","doi-asserted-by":"crossref","unstructured":"Singh, M., Hoffman, D.D.: Part-Based representations of visual shape and implications for visual cognition. In: From Fragments to Objects\u2013Segmentation and Grouping in Vision, chap. IV. Models Of Segmentation And Grouping, pp. 401\u2013459 (2001)","DOI":"10.1016\/S0166-4115(01)80033-9"},{"key":"11_CR50","unstructured":"Socher, R., Lin, C.C.Y., Ng, A.Y., Manning, C.D.: Parsing natural scenes and natural language with recursive neural networks. In: 28th International Conference on Machine Learning, pp. 129\u2013136 (2011)"},{"key":"11_CR51","doi-asserted-by":"crossref","unstructured":"Somanath, G., Rohith, M., Metaxas, D., Kambhamettu, C.: D-clutter: building object model library from unsupervised segmentation of cluttered scenes. In: Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR), pp. 2783\u20132789 (2009) doi: 10.1109\/CVPR.2009.5206579","DOI":"10.1109\/CVPR.2009.5206579"},{"key":"11_CR52","unstructured":"Sun, M., Bradski, G., Xu, B.X., Savarese, S.: Depth-encoded hough voting for joint object detection and shape recovery. In: Proceedings of the 11th European conference on Computer vision: part V, ECCV\u201910 pp. 658\u2013671. Springer, Berlin, Heidelberg (2010). http:\/\/dl.acm.org\/citation.cfm?id=1888150.1888201"},{"key":"11_CR53","doi-asserted-by":"crossref","unstructured":"Taylor, G., Kleeman, L.: Chapter 4: 3D object modelling and classification. In: Visual Perception and Robotic Manipulation\u20133D Object Recognition, Tracking and Hand-Eye Coordination, Springer Tracts in Advanced Robotics, vol. 26, pp.57\u201383. Springer, Berlin, Heidelberg (2006)","DOI":"10.1007\/11540151_4"},{"key":"11_CR54","doi-asserted-by":"crossref","unstructured":"Tombari, F., Di Stefano, L.: Object recognition in 3d scenes with occlusions and clutter by hough voting. In: Proceedings of the Fourth Pacific-Rim Symposium on Image and Video Technology (PSIVT), pp. 349\u2013355 (2010) doi: 10.1109\/PSIVT.2010.65","DOI":"10.1109\/PSIVT.2010.65"},{"key":"11_CR55","unstructured":"Torres, M.M., Romea, A.C., Srinivasa, S.: MOPED: a scalable and low latency object recognition and pose estimation system. In: Proceedings of International Conference on Robotics and Automation (ICRA) (2010)"},{"key":"11_CR56","doi-asserted-by":"crossref","unstructured":"Triebel, R., Shin, J., Siegwart, R.: Segmentation and unsupervised part-based discovery of repetitive objects. In: Proceedings of Robotics: Science and Systems. Zaragoza (2010)","DOI":"10.15607\/RSS.2010.VI.009"},{"key":"11_CR57","unstructured":"Vernon, D.: Cognitive vision: the case for embodied perception. In: Image and Vision Computing. Elsevier (2005)"},{"key":"11_CR58","unstructured":"Watanabe, S., Pakvasa, N.: Subspace method in pattern recognition. In: Proceedings of 1st International Joint Conference on Pattern Recognition (1973)"},{"issue":"2","key":"11_CR59","doi-asserted-by":"crossref","first-page":"135","DOI":"10.1016\/j.cognition.2012.08.005","volume":"126","author":"I Yildirim","year":"2013","unstructured":"Yildirim, I., Jacobs, R.A.: Transfer of object category knowledge across visual and haptic modalities: experimental and computational studies. Cognition 126(2), 135\u2013148 (2013). doi: 10.1016\/j.cognition.2012.08.005","journal-title":"Cognition"}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-013-0011-8.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10846-013-0011-8\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-013-0011-8","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,5,1]],"date-time":"2025-05-01T14:23:10Z","timestamp":1746109390000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10846-013-0011-8"}},"subtitle":["Paper Type: Categories (7) and (5)"],"short-title":[],"issued":{"date-parts":[[2014,1,14]]},"references-count":59,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2014,9]]}},"alternative-id":["11"],"URL":"https:\/\/doi.org\/10.1007\/s10846-013-0011-8","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"type":"print","value":"0921-0296"},{"type":"electronic","value":"1573-0409"}],"subject":[],"published":{"date-parts":[[2014,1,14]]}}}