{"id":"https://openalex.org/W4388091112","doi":"https://doi.org/10.1007/s00521-023-09094-8","title":"An analysis of precision: occlusion and perspective geometry\u2019s role in 6D pose estimation","display_name":"An analysis of precision: occlusion and perspective geometry\u2019s role in 6D pose estimation","publication_year":2023,"publication_date":"2023-10-31","ids":{"openalex":"https://openalex.org/W4388091112","doi":"https://doi.org/10.1007/s00521-023-09094-8"},"language":"en","primary_location":{"id":"doi:10.1007/s00521-023-09094-8","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s00521-023-09094-8","pdf_url":"https://link.springer.com/content/pdf/10.1007/s00521-023-09094-8.pdf","source":{"id":"https://openalex.org/S147897268","display_name":"Neural Computing and Applications","issn_l":"0941-0643","issn":["0941-0643","1433-3058"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Neural Computing and Applications","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://link.springer.com/content/pdf/10.1007/s00521-023-09094-8.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5000038542","display_name":"Jeffrey Choate","orcid":"https://orcid.org/0000-0001-5649-3092"},"institutions":[{"id":"https://openalex.org/I55061410","display_name":"U.S. Air Force Institute of Technology","ror":"https://ror.org/03f9f1d95","country_code":"US","type":"education","lineage":["https://openalex.org/I1294991024","https://openalex.org/I1330347796","https://openalex.org/I1330347796","https://openalex.org/I2802362820","https://openalex.org/I4210089612","https://openalex.org/I4210102105","https://openalex.org/I4210102105","https://openalex.org/I55061410"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Jeffrey Choate","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Air Force Institute of Technology, Wright-Patterson AFB, Dayton, OH, 45433, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Air Force Institute of Technology, Wright-Patterson AFB, Dayton, OH, 45433, USA","institution_ids":["https://openalex.org/I55061410"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015494433","display_name":"Derek Worth","orcid":"https://orcid.org/0000-0002-9635-6022"},"institutions":[{"id":"https://openalex.org/I55061410","display_name":"U.S. Air Force Institute of Technology","ror":"https://ror.org/03f9f1d95","country_code":"US","type":"education","lineage":["https://openalex.org/I1294991024","https://openalex.org/I1330347796","https://openalex.org/I1330347796","https://openalex.org/I2802362820","https://openalex.org/I4210089612","https://openalex.org/I4210102105","https://openalex.org/I4210102105","https://openalex.org/I55061410"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Derek Worth","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Air Force Institute of Technology, Wright-Patterson AFB, Dayton, OH, 45433, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Air Force Institute of Technology, Wright-Patterson AFB, Dayton, OH, 45433, USA","institution_ids":["https://openalex.org/I55061410"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045443387","display_name":"Scott Nykl","orcid":"https://orcid.org/0000-0002-4271-2132"},"institutions":[{"id":"https://openalex.org/I55061410","display_name":"U.S. Air Force Institute of Technology","ror":"https://ror.org/03f9f1d95","country_code":"US","type":"education","lineage":["https://openalex.org/I1294991024","https://openalex.org/I1330347796","https://openalex.org/I1330347796","https://openalex.org/I2802362820","https://openalex.org/I4210089612","https://openalex.org/I4210102105","https://openalex.org/I4210102105","https://openalex.org/I55061410"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Scott Nykl","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Air Force Institute of Technology, Wright-Patterson AFB, Dayton, OH, 45433, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Air Force Institute of Technology, Wright-Patterson AFB, Dayton, OH, 45433, USA","institution_ids":["https://openalex.org/I55061410"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084117282","display_name":"Clark N. Taylor","orcid":"https://orcid.org/0000-0002-6417-3715"},"institutions":[{"id":"https://openalex.org/I55061410","display_name":"U.S. Air Force Institute of Technology","ror":"https://ror.org/03f9f1d95","country_code":"US","type":"education","lineage":["https://openalex.org/I1294991024","https://openalex.org/I1330347796","https://openalex.org/I1330347796","https://openalex.org/I2802362820","https://openalex.org/I4210089612","https://openalex.org/I4210102105","https://openalex.org/I4210102105","https://openalex.org/I55061410"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Clark Taylor","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Air Force Institute of Technology, Wright-Patterson AFB, Dayton, OH, 45433, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Air Force Institute of Technology, Wright-Patterson AFB, Dayton, OH, 45433, USA","institution_ids":["https://openalex.org/I55061410"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033187994","display_name":"Brett J. Borghetti","orcid":"https://orcid.org/0000-0003-4982-9859"},"institutions":[{"id":"https://openalex.org/I55061410","display_name":"U.S. Air Force Institute of Technology","ror":"https://ror.org/03f9f1d95","country_code":"US","type":"education","lineage":["https://openalex.org/I1294991024","https://openalex.org/I1330347796","https://openalex.org/I1330347796","https://openalex.org/I2802362820","https://openalex.org/I4210089612","https://openalex.org/I4210102105","https://openalex.org/I4210102105","https://openalex.org/I55061410"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Brett Borghetti","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Air Force Institute of Technology, Wright-Patterson AFB, Dayton, OH, 45433, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Air Force Institute of Technology, Wright-Patterson AFB, Dayton, OH, 45433, USA","institution_ids":["https://openalex.org/I55061410"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029816966","display_name":"Christine M. Schubert Kabban","orcid":"https://orcid.org/0000-0001-9778-0813"},"institutions":[{"id":"https://openalex.org/I55061410","display_name":"U.S. Air Force Institute of Technology","ror":"https://ror.org/03f9f1d95","country_code":"US","type":"education","lineage":["https://openalex.org/I1294991024","https://openalex.org/I1330347796","https://openalex.org/I1330347796","https://openalex.org/I2802362820","https://openalex.org/I4210089612","https://openalex.org/I4210102105","https://openalex.org/I4210102105","https://openalex.org/I55061410"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Christine Schubert Kabban","raw_affiliation_strings":["Department of Mathematics and Statistics, Air Force Institute of Technology, Wright-Patterson AFB, Dayton, OH, 45433, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mathematics and Statistics, Air Force Institute of Technology, Wright-Patterson AFB, Dayton, OH, 45433, USA","institution_ids":["https://openalex.org/I55061410"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5000038542"],"corresponding_institution_ids":["https://openalex.org/I55061410"],"apc_list":{"value":2390,"currency":"EUR","value_usd":2990},"apc_paid":{"value":2390,"currency":"EUR","value_usd":2990},"fwci":1.1256,"has_fulltext":true,"cited_by_count":6,"citation_normalized_percentile":{"value":0.78328608,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"36","issue":"3","first_page":"1261","last_page":"1281"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9993000030517578,"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":0.9993000030517578,"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":0.9950000047683716,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9815999865531921,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7801679372787476},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.76523357629776},{"id":"https://openalex.org/keywords/perspective","display_name":"Perspective (graphical)","score":0.7333197593688965},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.7069350481033325},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6492125391960144},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.6321918964385986},{"id":"https://openalex.org/keywords/perspective-distortion","display_name":"Perspective distortion","score":0.6161248087882996},{"id":"https://openalex.org/keywords/pixel","display_name":"Pixel","score":0.5900065898895264},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.48802700638771057},{"id":"https://openalex.org/keywords/ranging","display_name":"Ranging","score":0.4867229759693146},{"id":"https://openalex.org/keywords/distortion","display_name":"Distortion (music)","score":0.462862104177475},{"id":"https://openalex.org/keywords/pinhole-camera","display_name":"Pinhole camera","score":0.4104216396808624},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.25649338960647583}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7801679372787476},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.76523357629776},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.7333197593688965},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.7069350481033325},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6492125391960144},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.6321918964385986},{"id":"https://openalex.org/C2779989122","wikidata":"https://www.wikidata.org/wiki/Q15889487","display_name":"Perspective distortion","level":3,"score":0.6161248087882996},{"id":"https://openalex.org/C160633673","wikidata":"https://www.wikidata.org/wiki/Q355198","display_name":"Pixel","level":2,"score":0.5900065898895264},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.48802700638771057},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.4867229759693146},{"id":"https://openalex.org/C126780896","wikidata":"https://www.wikidata.org/wiki/Q899871","display_name":"Distortion (music)","level":4,"score":0.462862104177475},{"id":"https://openalex.org/C2776374813","wikidata":"https://www.wikidata.org/wiki/Q313742","display_name":"Pinhole camera","level":2,"score":0.4104216396808624},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.25649338960647583},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"score":0.0},{"id":"https://openalex.org/C194257627","wikidata":"https://www.wikidata.org/wiki/Q211554","display_name":"Amplifier","level":3,"score":0.0},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/s00521-023-09094-8","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s00521-023-09094-8","pdf_url":"https://link.springer.com/content/pdf/10.1007/s00521-023-09094-8.pdf","source":{"id":"https://openalex.org/S147897268","display_name":"Neural Computing and Applications","issn_l":"0941-0643","issn":["0941-0643","1433-3058"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Neural Computing and Applications","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1007/s00521-023-09094-8","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s00521-023-09094-8","pdf_url":"https://link.springer.com/content/pdf/10.1007/s00521-023-09094-8.pdf","source":{"id":"https://openalex.org/S147897268","display_name":"Neural Computing and Applications","issn_l":"0941-0643","issn":["0941-0643","1433-3058"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Neural Computing and Applications","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.6100000143051147,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320332467","display_name":"U.S. Air Force","ror":"https://ror.org/006gmme17"},{"id":"https://openalex.org/F4320337657","display_name":"Naval Air Systems Command","ror":"https://ror.org/054ajk512"},{"id":"https://openalex.org/F4320338294","display_name":"Air Force Research Laboratory","ror":"https://ror.org/02e2egq70"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4388091112.pdf"},"referenced_works_count":43,"referenced_works":["https://openalex.org/W1536680647","https://openalex.org/W1981276685","https://openalex.org/W2090773107","https://openalex.org/W2109255472","https://openalex.org/W2141125852","https://openalex.org/W2151103935","https://openalex.org/W2512334145","https://openalex.org/W2522940611","https://openalex.org/W2570343428","https://openalex.org/W2604236302","https://openalex.org/W2768879211","https://openalex.org/W2887599887","https://openalex.org/W2961662534","https://openalex.org/W2963037989","https://openalex.org/W2963150697","https://openalex.org/W2963177347","https://openalex.org/W2963188159","https://openalex.org/W2963324085","https://openalex.org/W2963756608","https://openalex.org/W2964249569","https://openalex.org/W2982181672","https://openalex.org/W2992610457","https://openalex.org/W3009516594","https://openalex.org/W3023031080","https://openalex.org/W3034986117","https://openalex.org/W3106753828","https://openalex.org/W3135873349","https://openalex.org/W3157441214","https://openalex.org/W3215207332","https://openalex.org/W4293225567","https://openalex.org/W4294009701","https://openalex.org/W4298004595","https://openalex.org/W4312311962","https://openalex.org/W4312670700","https://openalex.org/W4312789460","https://openalex.org/W4313026212","https://openalex.org/W4316468716","https://openalex.org/W4360821473","https://openalex.org/W4376561103","https://openalex.org/W4384562436","https://openalex.org/W6600042225","https://openalex.org/W6601258443","https://openalex.org/W6664298863"],"related_works":["https://openalex.org/W2786887078","https://openalex.org/W2800536624","https://openalex.org/W3128004133","https://openalex.org/W2620715523","https://openalex.org/W2564409918","https://openalex.org/W3115594293","https://openalex.org/W2999630082","https://openalex.org/W343952165","https://openalex.org/W2046740589","https://openalex.org/W1995265656"],"abstract_inverted_index":{"Abstract":[0],"Achieving":[1],"precise":[2,79],"6":[3],"degrees":[4],"of":[5,10,37,49,95,112,131,159],"freedom":[6],"(6D)":[7],"pose":[8,47,187],"estimation":[9],"rigid":[11],"objects":[12],"from":[13,61,200,205],"color":[14,53],"images":[15],"is":[16],"a":[17,81,103,219],"critical":[18],"challenge":[19],"with":[20,78,87,102,120,163],"wide-ranging":[21],"applications":[22],"in":[23,34,144,212],"robotics":[24],"and":[25,67,194],"close-contact":[26],"aircraft":[27,50],"operations.":[28],"This":[29,74],"study":[30],"investigates":[31],"key":[32,72],"techniques":[33],"the":[35,92,96,109,118,129,155,175,180,206],"application":[36],"YOLOv5":[38],"object":[39,56,85,97],"detection":[40,57],"convolutional":[41],"neural":[42],"network":[43],"(CNN)":[44],"for":[45,174],"6D":[46,149,186],"localization":[48],"using":[51],"only":[52],"imagery.":[54],"Traditional":[55],"labeling":[58],"methods":[59],"suffer":[60],"inaccuracies":[62],"due":[63,98],"to":[64,70,99,202],"perspective":[65,100],"geometry":[66],"being":[68],"limited":[69],"visible":[71],"points.":[73],"research":[75],"demonstrates":[76],"that":[77,138,154],"labeling,":[80],"CNN":[82,119],"can":[83,161],"predict":[84],"features":[86],"near-pixel":[88],"accuracy,":[89],"effectively":[90],"learning":[91],"distinct":[93],"appearance":[94],"distortion":[101],"pinhole":[104],"camera.":[105,207],"Additionally,":[106],"we":[107,152],"highlight":[108],"crucial":[110,173],"role":[111],"knowledge":[113,122],"about":[114],"occluded":[115],"features.":[116],"Training":[117],"such":[121],"slightly":[123],"reduces":[124],"pixel":[125,164],"precision,":[126],"but":[127],"enables":[128],"prediction":[130],"3":[132],"times":[133,217],"more":[134],"features,":[135],"including":[136],"those":[137],"are":[139,172],"not":[140],"initially":[141],"visible,":[142],"resulting":[143],"an":[145],"overall":[146],"better":[147],"performing":[148],"system.":[150],"Notably,":[151],"reveal":[153],"data":[156],"augmentation":[157],"technique":[158],"scale":[160],"interfere":[162],"precision":[165],"when":[166],"used":[167],"during":[168],"training.":[169],"These":[170],"findings":[171],"entire":[176],"system,":[177],"which":[178],"leverages":[179],"Solve":[181],"Perspective-N-Point":[182],"(Solve-PnP)":[183],"algorithm,":[184],"achieving":[185,214],"accuracy":[188],"within":[189],"1":[190],"$$^\\circ$$":[191],"<mml:math":[192],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"><mml:msup><mml:mrow/><mml:mo>\u2218</mml:mo></mml:msup></mml:math>":[193],"7":[195],"cm":[196],"at":[197],"distances":[198],"ranging":[199],"7.5":[201],"35":[203],"m":[204],"Moreover,":[208],"this":[209],"solution":[210],"operates":[211],"real-time,":[213],"sub-10ms":[215],"processing":[216],"on":[218],"desktop":[220],"PC.":[221]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":1}],"updated_date":"2026-01-22T23:29:09.771500","created_date":"2025-10-10T00:00:00"}
