{"id":"https://openalex.org/W4404520439","doi":"https://doi.org/10.1109/lra.2024.3502052","title":"Temporally Consistent Object 6D Pose Estimation for Robot Control","display_name":"Temporally Consistent Object 6D Pose Estimation for Robot Control","publication_year":2024,"publication_date":"2024-11-19","ids":{"openalex":"https://openalex.org/W4404520439","doi":"https://doi.org/10.1109/lra.2024.3502052"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3502052","doi":"https://doi.org/10.1109/lra.2024.3502052","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3502052","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-b","jufo-2","ki-jl-1","norway-1","poland-200","russia-white-list-1","vabb-shw"],"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":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"volume":null,"type":"article","is_traditional":true,"indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2605.02708","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5086780023","display_name":"Kateryna Zorina","orcid":"https://orcid.org/0000-0002-4697-8966","observed_orcids":["https://orcid.org/0000-0002-4697-8966"]},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Kateryna Zorina","raw_affiliation_strings":["Czech Institute of Informatics, Robotics and Cybernetics, Czech Technical University, Prague, Czechia"],"raw_orcid":"https://orcid.org/0000-0002-4697-8966","affiliations":[{"raw_affiliation_string":"Czech Institute of Informatics, Robotics and Cybernetics, Czech Technical University, Prague, Czechia","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5093241682","display_name":"Vojtech Priban","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Vojtech Priban","raw_affiliation_strings":["Czech Institute of Informatics, Robotics and Cybernetics, Czech Technical University, Prague, Czechia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Czech Institute of Informatics, Robotics and Cybernetics, Czech Technical University, Prague, Czechia","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084681835","display_name":"M\u00e9d\u00e9ric Fourmy","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Mederic Fourmy","raw_affiliation_strings":["Czech Institute of Informatics, Robotics and Cybernetics, Czech Technical University, Prague, Czechia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Czech Institute of Informatics, Robotics and Cybernetics, Czech Technical University, Prague, Czechia","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025398783","display_name":"Josef \u0160ivic","orcid":"https://orcid.org/0000-0002-2554-5301","observed_orcids":["https://orcid.org/0000-0002-2554-5301"]},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Josef Sivic","raw_affiliation_strings":["Czech Institute of Informatics, Robotics and Cybernetics, Czech Technical University, Prague, Czechia"],"raw_orcid":"https://orcid.org/0000-0002-2554-5301","affiliations":[{"raw_affiliation_string":"Czech Institute of Informatics, Robotics and Cybernetics, Czech Technical University, Prague, Czechia","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068303316","display_name":"Vladim\u00edr Petr\u00edk","orcid":"https://orcid.org/0000-0001-9450-4987","observed_orcids":["https://orcid.org/0000-0001-9450-4987"]},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Vladimir Petrik","raw_affiliation_strings":["Czech Institute of Informatics, Robotics and Cybernetics, Czech Technical University, Prague, Czechia"],"raw_orcid":"https://orcid.org/0000-0001-9450-4987","affiliations":[{"raw_affiliation_string":"Czech Institute of Informatics, Robotics and Cybernetics, Czech Technical University, Prague, Czechia","institution_ids":["https://openalex.org/I44504214"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I44504214"],"apc_list":{"value":2495,"currency":"USD","value_usd":2495},"apc_paid":null,"fwci":0.6135,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.58037011,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":93,"max":97},"biblio":{"volume":"10","issue":"1","first_page":"56","last_page":"63"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.8895999789237976,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10653","display_name":"Robot Manipulation and Learning","score":0.8895999789237976,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.07880000025033951,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.013100000098347664,"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/6d-pose-estimation","display_name":"6D pose estimation","score":0.8920000195503235},{"id":"https://openalex.org/keywords/temporal-coherence","display_name":"temporal coherence","score":0.9020000100135803},{"id":"https://openalex.org/keywords/factor-graphs","display_name":"factor graphs","score":0.7839999794960022},{"id":"https://openalex.org/keywords/measurement-uncertainty-evaluation","display_name":"measurement uncertainty evaluation","score":0.7419999837875366},{"id":"https://openalex.org/keywords/online-optimization","display_name":"online optimization","score":0.7739999890327454},{"id":"https://openalex.org/keywords/outlier-removal","display_name":"outlier removal","score":0.9919999837875366},{"id":"https://openalex.org/keywords/smoothing","display_name":"smoothing","score":0.6439999938011169},{"id":"https://openalex.org/keywords/vision-based-robot-control","display_name":"vision-based robot control","score":0.8870000243186951},{"id":"https://openalex.org/keywords/feedback-control","display_name":"feedback control","score":0.7260000109672546}],"concepts":[{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.7967873811721802},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6704091429710388},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6148211359977722},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5802747011184692},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5477097630500793},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.5048413872718811},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47548046708106995},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4647817611694336},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14461374282836914},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/lra.2024.3502052","doi":"https://doi.org/10.1109/lra.2024.3502052","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3502052","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-b","jufo-2","ki-jl-1","norway-1","poland-200","russia-white-list-1","vabb-shw"],"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":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2605.02708","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2605.02708","pdf_url":"https://arxiv.org/pdf/2605.02708","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2605.02708","doi":"https://doi.org/10.48550/arxiv.2605.02708","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.02708","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2605.02708","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2605.02708","pdf_url":"https://arxiv.org/pdf/2605.02708","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"study_designs":[],"awards":[{"id":"https://openalex.org/G1612758553","display_name":"European ROBotics and AI Network","funder_award_id":"101070596","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G2108604508","display_name":"Next generation of AI-powered robotics for agile production","funder_award_id":"101070165","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G4949110533","display_name":null,"funder_award_id":"101097822","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4404520439.pdf","grobid_xml":"https://content.openalex.org/works/W4404520439.grobid-xml"},"referenced_works_count":48,"referenced_works":["https://openalex.org/W12410007","https://openalex.org/W1505952289","https://openalex.org/W2056114668","https://openalex.org/W2080823437","https://openalex.org/W2085261163","https://openalex.org/W2097696373","https://openalex.org/W2112474089","https://openalex.org/W2207670488","https://openalex.org/W2280057228","https://openalex.org/W2670684868","https://openalex.org/W2746349752","https://openalex.org/W2798390501","https://openalex.org/W2887751724","https://openalex.org/W2888144883","https://openalex.org/W2888752296","https://openalex.org/W2938672559","https://openalex.org/W2962783853","https://openalex.org/W2963150697","https://openalex.org/W2963188159","https://openalex.org/W2967352563","https://openalex.org/W3035630023","https://openalex.org/W3035662013","https://openalex.org/W3045696934","https://openalex.org/W3061410621","https://openalex.org/W3087529874","https://openalex.org/W3091727808","https://openalex.org/W3092584126","https://openalex.org/W3131863794","https://openalex.org/W3133557228","https://openalex.org/W3146603992","https://openalex.org/W3192981455","https://openalex.org/W3193676140","https://openalex.org/W3194241004","https://openalex.org/W3210232381","https://openalex.org/W3210687399","https://openalex.org/W4221138279","https://openalex.org/W4225765838","https://openalex.org/W4289145348","https://openalex.org/W4311640782","https://openalex.org/W4312339117","https://openalex.org/W4312442755","https://openalex.org/W4313016343","https://openalex.org/W4390190260","https://openalex.org/W4402727742","https://openalex.org/W4402754209","https://openalex.org/W4402915911","https://openalex.org/W4403842181","https://openalex.org/W6780209230"],"related_works":["https://openalex.org/W4388585418","https://openalex.org/W4388855712","https://openalex.org/W7198276070","https://openalex.org/W7028783481","https://openalex.org/W3090077593","https://openalex.org/W7053534402","https://openalex.org/W4200151779","https://openalex.org/W4401345112","https://openalex.org/W3111787836","https://openalex.org/W4210379546"],"abstract_inverted_index":{"Single-view":[0],"RGB":[1],"object":[2,53,63,70,130],"pose":[3,54,71,109],"estimators":[4],"have":[5],"reached":[6],"a":[7,34,43,122,138],"level":[8],"of":[9,51,117],"precision":[10],"and":[11,28,74,93],"efficiency":[12],"that":[13,30,88],"makes":[14],"them":[15],"good":[16],"candidates":[17],"for":[18,33,121],"vision-based":[19],"robot":[20,124],"control.":[21,37],"However,":[22],"off-the-shelf":[23],"methods":[24],"lack":[25],"temporal":[26,49],"consistency":[27,50],"robustness":[29],"are":[31],"mandatory":[32],"stable":[35],"feedback":[36],"In":[38,56],"this":[39],"work,":[40],"we":[41,101],"develop":[42],"factor":[44,98],"graph":[45,99],"approach":[46,120],"to":[47,137],"enforce":[48],"the":[52,58,69,77,96,105,115,118,129,134],"estimates.":[55],"particular,":[57],"proposed":[59,97,119],"approach:":[60],"(i)":[61],"incorporates":[62],"motion":[64],"models,":[65],"(ii)":[66],"explicitly":[67],"estimates":[68],"measurement":[72],"uncertainty,":[73],"(iii)":[75],"integrates":[76],"above":[78],"two":[79],"components":[80],"in":[81,127],"an":[82],"online":[83],"optimization-based":[84],"estimator.":[85],"We":[86,112],"demonstrate":[87],"with":[89],"appropriate":[90],"outlier":[91],"rejection":[92],"smoothing":[94],"using":[95],"approach,":[100],"can":[102],"significantly":[103],"improve":[104],"results":[106],"on":[107],"standardized":[108],"estimation":[110],"benchmarks.":[111],"experimentally":[113],"validate":[114],"stability":[116],"feedback-based":[123],"control":[125],"task":[126],"which":[128],"is":[131],"tracked":[132],"by":[133],"camera":[135],"attached":[136],"torque":[139],"controlled":[140],"manipulator.":[141]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":2}],"updated_date":"2026-10-31T12:09:11.096373","created_date":"2024-11-20T00:00:00"}