{"id":"https://openalex.org/W3011176523","doi":"https://doi.org/10.1007/s12559-020-09717-5","title":"Cognitive Template-Clustering Improved LineMod for Efficient Multi-object Pose Estimation","display_name":"Cognitive Template-Clustering Improved LineMod for Efficient Multi-object Pose Estimation","publication_year":2020,"publication_date":"2020-03-17","ids":{"openalex":"https://openalex.org/W3011176523","doi":"https://doi.org/10.1007/s12559-020-09717-5","mag":"3011176523"},"language":"en","primary_location":{"id":"doi:10.1007/s12559-020-09717-5","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s12559-020-09717-5","pdf_url":"https://link.springer.com/content/pdf/10.1007/s12559-020-09717-5.pdf","source":{"id":"https://openalex.org/S133078663","display_name":"Cognitive Computation","issn_l":"1866-9956","issn":["1866-9956","1866-9964"],"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":"Cognitive Computation","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/s12559-020-09717-5.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5027787838","display_name":"Tielin Zhang","orcid":"https://orcid.org/0000-0002-5111-9891"},"institutions":[{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Tielin Zhang","raw_affiliation_strings":["Research Center for Brain-inspired Intelligence, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Research Center for Brain-inspired Intelligence, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100397835","display_name":"Yang Yang","orcid":"https://orcid.org/0009-0004-2934-6870"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Yang","raw_affiliation_strings":["School of Software and Microelectronics, Peking University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Software and Microelectronics, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025846619","display_name":"Yi Zeng","orcid":"https://orcid.org/0000-0002-9595-9091"},"institutions":[{"id":"https://openalex.org/I4210097554","display_name":"Center for Excellence in Brain Science and Intelligence Technology","ror":"https://ror.org/00vpwhm04","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210097554"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yi Zeng","raw_affiliation_strings":["Center for Excellence in Brain Science and Intelligence Technology, Chinese Academy of Sciences, Shanghai, China","National Laboratory of Pattern Recognition, Institute of Automation, Chinese Academy of Sciences, Beijing, China","Research Center for Brain-inspired Intelligence, Institute of Automation, Chinese Academy of Sciences, Beijing, China","University of Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Center for Excellence in Brain Science and Intelligence Technology, Chinese Academy of Sciences, Shanghai, China","institution_ids":["https://openalex.org/I4210097554","https://openalex.org/I19820366"]},{"raw_affiliation_string":"National Laboratory of Pattern Recognition, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Research Center for Brain-inspired Intelligence, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035267308","display_name":"Yuxuan Zhao","orcid":"https://orcid.org/0000-0001-7506-1703"},"institutions":[{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuxuan Zhao","raw_affiliation_strings":["Research Center for Brain-inspired Intelligence, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Research Center for Brain-inspired Intelligence, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5027787838"],"corresponding_institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210112150"],"apc_list":{"value":2190,"currency":"EUR","value_usd":2790},"apc_paid":{"value":2190,"currency":"EUR","value_usd":2790},"fwci":2.7952,"has_fulltext":true,"cited_by_count":21,"citation_normalized_percentile":{"value":0.9031239,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"12","issue":"4","first_page":"834","last_page":"843"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9983999729156494,"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":0.9983999729156494,"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":0.9975000023841858,"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/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9896000027656555,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"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/computer-science","display_name":"Computer science","score":0.763019323348999},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7373153567314148},{"id":"https://openalex.org/keywords/cluster-analysis","display_name":"Cluster analysis","score":0.6596454381942749},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.616295337677002},{"id":"https://openalex.org/keywords/template-matching","display_name":"Template matching","score":0.5472093820571899},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.5009245872497559},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.44774115085601807},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4291536808013916},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4283980131149292},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.2008397877216339}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.763019323348999},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7373153567314148},{"id":"https://openalex.org/C73555534","wikidata":"https://www.wikidata.org/wiki/Q622825","display_name":"Cluster analysis","level":2,"score":0.6596454381942749},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.616295337677002},{"id":"https://openalex.org/C158096908","wikidata":"https://www.wikidata.org/wiki/Q3983303","display_name":"Template matching","level":3,"score":0.5472093820571899},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.5009245872497559},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.44774115085601807},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4291536808013916},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4283980131149292},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.2008397877216339},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/s12559-020-09717-5","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s12559-020-09717-5","pdf_url":"https://link.springer.com/content/pdf/10.1007/s12559-020-09717-5.pdf","source":{"id":"https://openalex.org/S133078663","display_name":"Cognitive Computation","issn_l":"1866-9956","issn":["1866-9956","1866-9964"],"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":"Cognitive Computation","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1007/s12559-020-09717-5","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s12559-020-09717-5","pdf_url":"https://link.springer.com/content/pdf/10.1007/s12559-020-09717-5.pdf","source":{"id":"https://openalex.org/S133078663","display_name":"Cognitive Computation","issn_l":"1866-9956","issn":["1866-9956","1866-9964"],"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":"Cognitive Computation","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/15","display_name":"Life in Land","score":0.5299999713897705}],"awards":[{"id":"https://openalex.org/G3740616577","display_name":null,"funder_award_id":"61806195","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3011176523.pdf","grobid_xml":"https://content.openalex.org/works/W3011176523.grobid-xml"},"referenced_works_count":29,"referenced_works":["https://openalex.org/W806160384","https://openalex.org/W1022526533","https://openalex.org/W1502564648","https://openalex.org/W1526868886","https://openalex.org/W1909903157","https://openalex.org/W1955471442","https://openalex.org/W2083624955","https://openalex.org/W2101199297","https://openalex.org/W2125188427","https://openalex.org/W2161168419","https://openalex.org/W2187089797","https://openalex.org/W2488101876","https://openalex.org/W2490390106","https://openalex.org/W2520352517","https://openalex.org/W2776279030","https://openalex.org/W2888752296","https://openalex.org/W2930504712","https://openalex.org/W2952422028","https://openalex.org/W2960503565","https://openalex.org/W2963037989","https://openalex.org/W2963139856","https://openalex.org/W2963177347","https://openalex.org/W2963188159","https://openalex.org/W2964249569","https://openalex.org/W3009516594","https://openalex.org/W3100052745","https://openalex.org/W3101102451","https://openalex.org/W3103919331","https://openalex.org/W6766096475"],"related_works":["https://openalex.org/W2123263858","https://openalex.org/W3127959533","https://openalex.org/W4387967917","https://openalex.org/W4298130764","https://openalex.org/W4387968151","https://openalex.org/W2804364458","https://openalex.org/W4386925306","https://openalex.org/W3132124459","https://openalex.org/W2946083937","https://openalex.org/W3101088080"],"abstract_inverted_index":{"Abstract":[0],"Various":[1],"types":[2],"of":[3,36,47,57,96,103,122,191,222],"theoretical":[4],"algorithms":[5],"have":[6],"been":[7,173],"proposed":[8,193],"for":[9,238],"6D":[10,44,240],"pose":[11,45,205,241],"estimation,":[12],"e.g.,":[13],"the":[14,34,55,58,62,93,100,113,125,136,140,160,176,187,192,215,223],"point":[15],"pair":[16],"method,":[17,20,23,142],"template":[18,161,201],"matching":[19,162],"Hough":[21],"forest":[22],"and":[24,120,143,153,167,180,189,200],"deep":[25],"learning":[26],"method.":[27],"However,":[28],"they":[29],"are":[30],"still":[31],"far":[32],"from":[33],"performance":[35],"our":[37],"natural":[38],"biological":[39,63,216],"systems,":[40],"which":[41,99,158,185],"can":[42],"undertake":[43],"estimation":[46,206,242],"multi-objects":[48],"efficiently,":[49],"especially":[50],"with":[51,118],"severe":[52,208,244],"occlusion.":[53,209,245],"With":[54],"inspiration":[56],"M\u00fcller-Lyer":[59,126,224],"illusion":[60],"in":[61,66,92,98,124,214],"visual":[64,217],"system,":[65],"this":[67],"paper,":[68],"we":[69],"propose":[70],"a":[71,81,182,234],"cognitive":[72,83,101,196],"template-clustering":[73],"improved":[74],"LineMod":[75],"(CT-LineMod)":[76],"model.":[77],"The":[78,128,170,210],"model":[79,171,194],"uses":[80],"7D":[82,129],"feature":[84,197,212],"vector":[85,130,138],"to":[86,149,227],"replace":[87],"standard":[88,177],"3D":[89,105,137],"spatial":[90,106],"points":[91,107],"clustering":[94],"procedure":[95],"Patch-LineMod,":[97],"distance":[102,198],"different":[104],"will":[108,131,230],"be":[109,132],"further":[110,145],"influenced":[111],"by":[112,139,147],"additional":[114],"4D":[115],"information":[116],"related":[117],"direction":[119],"magnitude":[121],"features":[123],"illusion.":[127],"dimensionally":[133],"reduced":[134],"into":[135],"gradient-descent":[141],"then":[144],"clustered":[146],"K-means":[148],"aggregately":[150],"match":[151],"templates":[152],"automatically":[154],"eliminate":[155],"superfluous":[156],"clusters,":[157],"makes":[159],"possible":[163],"on":[164,175,195,203],"both":[165],"holistic":[166],"part-based":[168],"scales.":[169],"has":[172],"verified":[174],"Doumanoglou":[178],"dataset":[179],"demonstrates":[181],"state-of-the-art":[183],"performance,":[184],"shows":[186],"accuracy":[188],"efficiency":[190],"measurement":[199],"selection":[202],"multiple":[204],"under":[207,243],"powerful":[211],"representation":[213],"system":[218],"also":[219],"includes":[220],"characteristics":[221],"illusion,":[225],"which,":[226],"some":[228],"extent,":[229],"provide":[231],"guidance":[232],"towards":[233],"biologically":[235],"plausible":[236],"algorithm":[237],"efficient":[239]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":7}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}