{"id":"https://openalex.org/W2016003223","doi":"https://doi.org/10.1109/iros.2012.6386083","title":"Tracking complex targets for space rendezvous and debris removal applications","display_name":"Tracking complex targets for space rendezvous and debris removal applications","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W2016003223","doi":"https://doi.org/10.1109/iros.2012.6386083","mag":"2016003223"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2012.6386083","doi":"https://doi.org/10.1109/iros.2012.6386083","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6386083","pdf_url":null,"source":{"id":"https://openalex.org/S4393918188","display_name":"IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":"2153-0858","issn":["2153-0858"],"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":["jufo-1","norway-1"],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"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"},"volume":null,"type":"conference-paper","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":null,"display_name":"Antoine Petit","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I4210133778","display_name":"Centre Inria de l'Universit\u00e9 de Rennes","ror":"https://ror.org/04040yw90","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1326498283","https://openalex.org/I4210133778"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Antoine Petit","raw_affiliation_strings":["Bretagne Atlantique, Lagadic Team, INRIA Rennes, France","INRIA Rennes - Bretagne Atlantique, Lagadic Team, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Bretagne Atlantique, Lagadic Team, INRIA Rennes, France","institution_ids":["https://openalex.org/I1326498283","https://openalex.org/I4210133778"]},{"raw_affiliation_string":"INRIA Rennes - Bretagne Atlantique, Lagadic Team, France","institution_ids":["https://openalex.org/I1326498283","https://openalex.org/I4210133778"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004362037","display_name":"\u00c9ric Marchand","orcid":"https://orcid.org/0000-0001-7096-5236","observed_orcids":["https://orcid.org/0000-0001-7096-5236"]},"institutions":[{"id":"https://openalex.org/I2802519937","display_name":"Institut de Recherche en Informatique et Syst\u00e8mes Al\u00e9atoires","ror":"https://ror.org/00myn0z94","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I205703379","https://openalex.org/I2802204017","https://openalex.org/I2802519937","https://openalex.org/I28221208","https://openalex.org/I4210127572","https://openalex.org/I4210159245","https://openalex.org/I56067802"]},{"id":"https://openalex.org/I4405258264","display_name":"Universit\u00e9 Rennes 1","ror":"https://ror.org/00crteh33","country_code":"FR","type":"education","lineage":["https://openalex.org/I4405258264","https://openalex.org/I56067802"]},{"id":"https://openalex.org/I56067802","display_name":"Universit\u00e9 de Rennes","ror":"https://ror.org/015m7wh34","country_code":"FR","type":"education","lineage":["https://openalex.org/I56067802"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Eric Marchand","raw_affiliation_strings":["IRISA, Lagadic Team, Universit\u00e9 de Rennes 1, France","Universit\u00e9 de Rennes 1, IRISA, Lagadic Team, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IRISA, Lagadic Team, Universit\u00e9 de Rennes 1, France","institution_ids":["https://openalex.org/I2802519937","https://openalex.org/I56067802"]},{"raw_affiliation_string":"Universit\u00e9 de Rennes 1, IRISA, Lagadic Team, France","institution_ids":["https://openalex.org/I2802519937","https://openalex.org/I4405258264","https://openalex.org/I56067802"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110120892","display_name":"Keyvan Kanani","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Keyvan Kanani","raw_affiliation_strings":["Astrium, Toulouse, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Astrium, Toulouse, France","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":7.7498,"has_fulltext":false,"cited_by_count":58,"citation_normalized_percentile":{"value":0.98459465,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"4483","last_page":"4488"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.8003000020980835,"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/T11701","display_name":"Space Satellite Systems and Control","score":0.8003000020980835,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.07750000059604645,"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.07150000333786011,"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":[{"id":"https://openalex.org/keywords/visual-tracking","display_name":"visual object tracking","score":0.6330000162124634},{"id":"https://openalex.org/keywords/spacecraft-rendezvous","display_name":"spacecraft rendezvous","score":0.8500000238418579},{"id":"https://openalex.org/keywords/space-debris-removal","display_name":"space debris removal","score":0.9940000176429749},{"id":"https://openalex.org/keywords/3d-model-based-tracking","display_name":"3D model-based tracking","score":0.800000011920929},{"id":"https://openalex.org/keywords/gpu-acceleration","display_name":"GPU acceleration","score":0.5600000023841858},{"id":"https://openalex.org/keywords/3d-rendering","display_name":"3D rendering","score":0.9599999785423279},{"id":"https://openalex.org/keywords/edge-detection","display_name":"edge detection","score":0.847000002861023},{"id":"https://openalex.org/keywords/depth-discontinuities","display_name":"depth discontinuities","score":0.8870000243186951},{"id":"https://openalex.org/keywords/pose-estimation","display_name":"pose estimation","score":0.7950000166893005},{"id":"https://openalex.org/keywords/multiple-hypothesis-tracking","display_name":"multiple hypothesis tracking","score":0.6970000267028809},{"id":"https://openalex.org/keywords/complex-targets","display_name":"complex targets","score":0.4569999873638153}],"concepts":[{"id":"https://openalex.org/C2779968344","wikidata":"https://www.wikidata.org/wiki/Q3932925","display_name":"Rendezvous","level":3,"score":0.8591623902320862},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.758542537689209},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7527600526809692},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7219113111495972},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6631825566291809},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.6480025053024292},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.5088682174682617},{"id":"https://openalex.org/C15627037","wikidata":"https://www.wikidata.org/wiki/Q541961","display_name":"Classification of discontinuities","level":2,"score":0.43607765436172485},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13928186893463135},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C29829512","wikidata":"https://www.wikidata.org/wiki/Q40218","display_name":"Spacecraft","level":2,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2012.6386083","doi":"https://doi.org/10.1109/iros.2012.6386083","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6386083","pdf_url":null,"source":{"id":"https://openalex.org/S4393918188","display_name":"IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":"2153-0858","issn":["2153-0858"],"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":["jufo-1","norway-1"],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"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":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W170398718","https://openalex.org/W297039922","https://openalex.org/W2050903679","https://openalex.org/W2084551890","https://openalex.org/W2096600681","https://openalex.org/W2099969393","https://openalex.org/W2103203534","https://openalex.org/W2105085370","https://openalex.org/W2108598000","https://openalex.org/W2111589119","https://openalex.org/W2133192405","https://openalex.org/W2158890580","https://openalex.org/W2161505441","https://openalex.org/W2166212176","https://openalex.org/W2170911670","https://openalex.org/W2611234013","https://openalex.org/W3151237375","https://openalex.org/W4248304976","https://openalex.org/W6607029416","https://openalex.org/W6685321772"],"related_works":["https://openalex.org/W2267693493","https://openalex.org/W2212474157","https://openalex.org/W2057289788","https://openalex.org/W2544136224","https://openalex.org/W6982399119","https://openalex.org/W2338199982","https://openalex.org/W7099070443","https://openalex.org/W7098576392","https://openalex.org/W2772865422","https://openalex.org/W1979868736"],"abstract_inverted_index":{"In":[0],"the":[1,21,26,32,39,82,107,113,118],"context":[2],"of":[3,28,31,46,49,75,123],"autonomous":[4],"rendezvous":[5],"and":[6,55,78,92,152],"space":[7],"debris":[8],"removal,":[9],"visual":[10],"model-based":[11],"tracking":[12,22,137],"can":[13],"be":[14],"particularly":[15],"suited.":[16],"Some":[17],"classical":[18],"methods":[19],"achieve":[20],"by":[23],"relying":[24],"on":[25,144],"alignment":[27],"projected":[29],"lines":[30],"3D":[33,44,79],"model":[34],"with":[35,96,149],"edges":[36,86,98],"detected":[37],"in":[38],"image.":[40],"However,":[41],"processing":[42],"complete":[43],"models":[45],"complex":[47],"objects,":[48],"any":[50],"shape,":[51],"presents":[52],"several":[53],"limitations,":[54],"is":[56,133],"not":[57],"always":[58],"suitable":[59],"for":[60],"real-time":[61],"applications.":[62],"This":[63],"paper":[64],"proposes":[65],"an":[66],"approach":[67,111],"to":[68,102,126],"avoid":[69],"these":[70],"shortcomings.":[71],"It":[72],"takes":[73],"advantage":[74],"GPU":[76],"acceleration":[77],"rendering.":[80],"From":[81],"rendered":[83],"model,":[84],"visible":[85],"are":[87,99],"extracted,":[88],"from":[89],"both":[90,145],"depth":[91],"texture":[93],"discontinuities.":[94],"Correspondences":[95],"image":[97],"found":[100],"thanks":[101],"a":[103,124,127],"1D":[104],"search":[105],"along":[106],"edge":[108],"normals.":[109],"Our":[110,139],"addresses":[112],"pose":[114],"estimation":[115],"task":[116],"as":[117],"full":[119],"scale":[120],"nonlinear":[121],"minimization":[122],"distance":[125],"line.":[128],"A":[129],"multiple":[130],"hypothesis":[131],"solution":[132],"also":[134],"proposed,":[135],"improving":[136],"robustness.":[138],"method":[140],"has":[141],"been":[142],"evaluated":[143],"synthetic":[146],"images":[147],"(provided":[148],"ground":[150],"truth)":[151],"real":[153],"images.":[154]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":10},{"year":2016,"cited_by_count":9},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":6},{"year":2013,"cited_by_count":3}],"updated_date":"2026-10-26T11:51:55.731654","created_date":"2016-06-24T00:00:00"}