{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,1]],"date-time":"2026-04-01T01:01:37Z","timestamp":1775005297715,"version":"3.50.1"},"reference-count":38,"publisher":"MDPI AG","issue":"24","license":[{"start":{"date-parts":[[2020,12,15]],"date-time":"2020-12-15T00:00:00Z","timestamp":1607990400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61773139"],"award-info":[{"award-number":["61773139"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"The Foundation for Innovative Research Groups of the National Natural Science Foundation of China","award":["51521003"],"award-info":[{"award-number":["51521003"]}]},{"name":"Shenzhen Science and Technology Research and Development Foundation","award":["JCYJ20190813171009236"],"award-info":[{"award-number":["JCYJ20190813171009236"]}]},{"name":"Shenzhen Science and Technology Program","award":["KQTD2016112515134654"],"award-info":[{"award-number":["KQTD2016112515134654"]}]},{"name":"Shaanxi Science and Technology Major Project","award":["2018zdzx01-01-01"],"award-info":[{"award-number":["2018zdzx01-01-01"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>The spatial topological relations are the foundation of robot operation planning under unstructured and cluttered scenes. Defining complex relations and dealing with incomplete point clouds from the surface of objects are the most difficult challenge in the spatial topological relation analysis. In this paper, we presented the classification of spatial topological relations by dividing the intersection space into six parts. In order to improve accuracy and reduce computing time, convex hulls are utilized to represent the boundary of objects and the spatial topological relations can be determined by the category of points in point clouds. We verified our method on the datasets. The result demonstrated that we have great improvement comparing with the previous method.<\/jats:p>","DOI":"10.3390\/s20247181","type":"journal-article","created":{"date-parts":[[2020,12,15]],"date-time":"2020-12-15T09:12:57Z","timestamp":1608023577000},"page":"7181","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":5,"title":["Spatial Topological Relation Analysis for Cluttered Scenes"],"prefix":"10.3390","volume":"20","author":[{"given":"Yu","family":"Fu","sequence":"first","affiliation":[{"name":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Mantian","family":"Li","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xinyi","family":"Zhang","sequence":"additional","affiliation":[{"name":"Shaanxi Fast Auto Drive Group Co., LTD, Xi\u2019an 710119, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Sen","family":"Zhang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chunyu","family":"Wei","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Wei","family":"Guo","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hegao","family":"Cai","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Lining","family":"Sun","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Pengfei","family":"Wang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9695-1940","authenticated-orcid":false,"given":"Fusheng","family":"Zha","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China"},{"name":"Shenzhen Academy of Aerospace Technology, Shenzhen 518057, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2020,12,15]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"35","DOI":"10.3389\/fnbot.2018.00035","article-title":"A survey of robotics control based on learning-inspired spiking neural networks","volume":"12","author":"Bing","year":"2018","journal-title":"Front. Neurorobotics"},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"21","DOI":"10.1016\/j.neunet.2019.05.019","article-title":"Indirect and direct training of spiking neural networks for end-to-end control of a lane-keeping vehicle","volume":"121","author":"Bing","year":"2020","journal-title":"Neural Netw."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"323","DOI":"10.1016\/j.neunet.2020.05.029","article-title":"Energy-efficient and damage-recovery slithering gait design for a snake-like robot based on reinforcement learning and inverse reinforcement learning","volume":"129","author":"Bing","year":"2020","journal-title":"Neural Netw."},{"key":"ref_4","doi-asserted-by":"crossref","unstructured":"Danielczuk, M., Kurenkov, A., Balakrishna, A., Matl, M., Wang, D., Mart\u00edn-Mart\u00edn, R., Garg, A., Savarese, S., and Goldberg, K. (2019, January 20\u201324). Mechanical search: Multi-step retrieval of a target object occluded by clutter. Proceedings of the 2019 International Conference on Robotics and Automation (ICRA), Montreal, QC, Canada.","DOI":"10.1109\/ICRA.2019.8794143"},{"key":"ref_5","doi-asserted-by":"crossref","unstructured":"Imran, A., Kim, S.-H., Park, Y.-B., Suh, I.H., and Yi, B.-J. (2019). Singulation of Objects in Cluttered Environment Using Dynamic Estimation of Physical Properties. Appl. Sci., 9.","DOI":"10.3390\/app9173536"},{"key":"ref_6","doi-asserted-by":"crossref","unstructured":"Murali, A., Mousavian, A., Eppner, C., Paxton, C., and Fox, D. (August, January 31). 6-dof grasping for target-driven object manipulation in clutter. Proceedings of the 2020 IEEE International Conference on Robotics and Automation (ICRA), Paris, France.","DOI":"10.1109\/ICRA40945.2020.9197318"},{"key":"ref_7","doi-asserted-by":"crossref","unstructured":"Jo, H., and Song, J.-B. (2020). Object-Independent Grasping in Heavy Clutter. Appl. Sci., 10.","DOI":"10.3390\/app10030804"},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"662","DOI":"10.1109\/LRA.2019.2892591","article-title":"Pre-grasp sliding manipulation of thin objects using soft, compliant, or underactuated hands","volume":"4","author":"Hang","year":"2019","journal-title":"IEEE Robot. Autom. Lett."},{"key":"ref_9","doi-asserted-by":"crossref","unstructured":"Shafii, N., Kasaei, S.H., and Lopes, L.S. (2016, January 9\u201314). Learning to grasp familiar objects using object view recognition and template matching. Proceedings of the 2016 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), Deajeon, Korea.","DOI":"10.1109\/IROS.2016.7759448"},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"207","DOI":"10.1109\/TOH.2016.2521378","article-title":"Single-grasp object classification and feature extraction with simple robot hands and tactile sensors","volume":"9","author":"Spiers","year":"2016","journal-title":"IEEE Trans. Haptics"},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"1859","DOI":"10.1109\/ACCESS.2018.2886133","article-title":"Indoor scene understanding in 2.5\/3d for autonomous agents: A survey","volume":"7","author":"Naseer","year":"2018","journal-title":"IEEE Access"},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"221","DOI":"10.1007\/s11263-014-0795-4","article-title":"Scene understanding by reasoning stability and safety","volume":"112","author":"Zheng","year":"2015","journal-title":"Int. J. Comput. Vis."},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"18327","DOI":"10.1073\/pnas.1306572110","article-title":"Simulation as an engine of physical scene understanding","volume":"110","author":"Battaglia","year":"2013","journal-title":"Proc. Natl. Acad. Sci. USA"},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"419","DOI":"10.1016\/j.cageo.2003.06.004","article-title":"Topological models and frameworks for 3D spatial objects","volume":"30","author":"Zlatanova","year":"2004","journal-title":"Comput. Geosci."},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"689","DOI":"10.1080\/13658810110074519","article-title":"Topology revisited: Representing spatial relations","volume":"15","author":"Theobald","year":"2001","journal-title":"Int. J. Geogr. Inf. Sci."},{"key":"ref_16","doi-asserted-by":"crossref","unstructured":"Ziaeetabar, F., Aksoy, E.E., W\u00f6rg\u00f6tter, F., and Tamosiunaite, M. (June, January 29). Semantic analysis of manipulation actions using spatial relations. Proceedings of the 2017 IEEE International Conference on Robotics and Automation (ICRA), Singapore.","DOI":"10.1109\/ICRA.2017.7989536"},{"key":"ref_17","doi-asserted-by":"crossref","unstructured":"Aksoy, E.E., Aein, M.J., Tamosiunaite, M., and W\u00f6rg\u00f6tter, F. (October, January 28). Semantic parsing of human manipulation activities using on-line learned models for robot imitation. Proceedings of the 2015 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany.","DOI":"10.1109\/IROS.2015.7353773"},{"key":"ref_18","doi-asserted-by":"crossref","unstructured":"Shen, J., Zhang, L., and Chen, M. (2018). Topological relations between spherical spatial regions with holes. Int. J. Digit. Earth.","DOI":"10.1080\/17538947.2018.1523958"},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"1093","DOI":"10.1016\/j.robot.2012.06.001","article-title":"Topological spatial relations for active visual search","volume":"60","author":"Aydemir","year":"2012","journal-title":"Robot. Auton. Syst."},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"2006","DOI":"10.1080\/13658816.2013.781607","article-title":"A complete classification of spatial relations using the Voronoi-based nine-intersection model","volume":"27","author":"Long","year":"2013","journal-title":"Int. J. Geogr. Inf. Sci."},{"key":"ref_21","doi-asserted-by":"crossref","unstructured":"Shen, J., Zhou, T., and Chen, M. (2017). A 27-intersection model for representing detailed topological relations between spatial objects in two-dimensional space. ISPRS Int. J. Geo-Inf., 6.","DOI":"10.3390\/ijgi6020037"},{"key":"ref_22","doi-asserted-by":"crossref","unstructured":"Fu, L., Yin, P., Li, G., Shi, Z., Liu, Y., and Zhang, J. (2018). Characteristics and Classification of Topological Spatial Relations in 3-D Cadasters. Information, 9.","DOI":"10.3390\/info9040071"},{"key":"ref_23","doi-asserted-by":"crossref","unstructured":"Xu, J., Cao, Y., Zhang, Z., and Hu, H. (November, January 27). Spatial-temporal relation networks for multi-object tracking. Proceedings of the 2019 IEEE International Conference on Computer Vision (ICCV), Seoul, Korea.","DOI":"10.1109\/ICCV.2019.00409"},{"key":"ref_24","doi-asserted-by":"crossref","unstructured":"Zhou, M., and Guan, Q. (2019). A 25-Intersection Model for Representing Topological Relations between Simple Spatial Objects in 3-D Space. ISPRS Int. J. Geo-Inf., 8.","DOI":"10.3390\/ijgi8040182"},{"key":"ref_25","doi-asserted-by":"crossref","first-page":"161","DOI":"10.1080\/02693799108927841","article-title":"Point-set topological spatial relations","volume":"5","author":"Egenhofer","year":"1991","journal-title":"Int. J. Geogr. Inf. Syst."},{"key":"ref_26","doi-asserted-by":"crossref","unstructured":"Clementini, E., Di Felice, P., and Van Oosterom, P. (1993, January 23\u201325). A small set of formal topological relationships suitable for end-user interaction. Proceedings of the 1993 International Symposium on Spatial Databases (ISSD), Singapore.","DOI":"10.1007\/3-540-56869-7_16"},{"key":"ref_27","doi-asserted-by":"crossref","unstructured":"Silberman, N., Hoiem, D., Kohli, P., and Fergus, R. (2012, January 7\u201313). Indoor segmentation and support inference from rgbd images. Proceedings of the 2012 European conference on computer vision (ECCV), Florence, Italy.","DOI":"10.1007\/978-3-642-33715-4_54"},{"key":"ref_28","doi-asserted-by":"crossref","unstructured":"Panda, S., Hafez, A.A., and Jawahar, C. (2013, January 3\u20138). Learning support order for manipulation in clutter. Proceedings of the 2013 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), Chicago, IL, USA.","DOI":"10.1109\/IROS.2013.6696444"},{"key":"ref_29","doi-asserted-by":"crossref","first-page":"3991","DOI":"10.1109\/LRA.2018.2859448","article-title":"Extraction of physically plausible support relations to predict and validate manipulation action effects","volume":"3","author":"Kartmann","year":"2018","journal-title":"IEEE Robot. Autom. Lett."},{"key":"ref_30","doi-asserted-by":"crossref","first-page":"905","DOI":"10.1109\/TPAMI.2014.2359435","article-title":"3d reasoning from blocks to stability","volume":"37","author":"Jia","year":"2014","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"key":"ref_31","doi-asserted-by":"crossref","first-page":"1328","DOI":"10.1177\/0278364911408155","article-title":"Learning spatial relationships between objects","volume":"30","author":"Rosman","year":"2011","journal-title":"Int. J. Robot. Res."},{"key":"ref_32","doi-asserted-by":"crossref","first-page":"99","DOI":"10.1016\/j.robot.2014.12.014","article-title":"Support relation analysis and decision making for safe robotic manipulation tasks","volume":"71","author":"Mojtahedzadeh","year":"2015","journal-title":"Robot. Autonom. Syst."},{"key":"ref_33","doi-asserted-by":"crossref","unstructured":"Zhuo, W., Salzmann, M., He, X., and Liu, M. (2017, January 21\u201326). Indoor scene parsing with instance segmentation, semantic labeling and support relationship inference. Proceedings of the 2017 IEEE Conference on Computer Vision and Pattern Recognition (CVPR), Honolulu, HI, USA.","DOI":"10.1109\/CVPR.2017.664"},{"key":"ref_34","unstructured":"Schneider, P., and Eberly, D.H. (2002). Geometric Tools for Computer Graphics, Elsevier."},{"key":"ref_35","doi-asserted-by":"crossref","first-page":"179","DOI":"10.1007\/s10846-015-0330-z","article-title":"Single and multiple view support order prediction in clutter for manipulation","volume":"83","author":"Panda","year":"2016","journal-title":"J. Intell. Robot. Syst."},{"key":"ref_36","doi-asserted-by":"crossref","unstructured":"Zha, F., Fu, Y., Wang, P., Guo, W., Li, M., Wang, X., and Cai, H. (2020). Semantic 3D Reconstruction for Robotic Manipulators with an Eye-In-Hand Vision System. Appl. Sci., 10.","DOI":"10.3390\/app10031183"},{"key":"ref_37","doi-asserted-by":"crossref","first-page":"469","DOI":"10.1145\/235815.235821","article-title":"The quickhull algorithm for convex hulls","volume":"22","author":"Barber","year":"1996","journal-title":"ACM Trans. Math. Softw. (TOMS)"},{"key":"ref_38","doi-asserted-by":"crossref","first-page":"261","DOI":"10.1177\/0278364917700714","article-title":"Yale-CMU-Berkeley dataset for robotic manipulation research","volume":"36","author":"Calli","year":"2017","journal-title":"Int. J. Robot. Res."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/20\/24\/7181\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T10:45:15Z","timestamp":1760179515000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/20\/24\/7181"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,12,15]]},"references-count":38,"journal-issue":{"issue":"24","published-online":{"date-parts":[[2020,12]]}},"alternative-id":["s20247181"],"URL":"https:\/\/doi.org\/10.3390\/s20247181","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,12,15]]}}}