{"id":"https://openalex.org/W4318827814","doi":"https://doi.org/10.1109/access.2023.3241250","title":"6D Object Pose Estimation Using a Particle Filter With Better Initialization","display_name":"6D Object Pose Estimation Using a Particle Filter With Better Initialization","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4318827814","doi":"https://doi.org/10.1109/access.2023.3241250"},"language":"en","primary_location":{"id":"doi:10.1109/access.2023.3241250","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3241250","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/10005208/10034745.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"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 Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/10005208/10034745.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5029955701","display_name":"Gijae Lee","orcid":"https://orcid.org/0000-0002-8231-8439"},"institutions":[{"id":"https://openalex.org/I4210140519","display_name":"Korean Association Of Science and Technology Studies","ror":"https://ror.org/04qh86j58","country_code":"KR","type":"other","lineage":["https://openalex.org/I4210140519"]},{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Gijae Lee","raw_affiliation_strings":["Artificial Intelligence and Robotics Institute, Korea Institute of Science and Technology, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-8231-8439","affiliations":[{"raw_affiliation_string":"Artificial Intelligence and Robotics Institute, Korea Institute of Science and Technology, Seoul, South Korea","institution_ids":["https://openalex.org/I58716616","https://openalex.org/I4210140519"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077031773","display_name":"Jun-Sik Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I4210140519","display_name":"Korean Association Of Science and Technology Studies","ror":"https://ror.org/04qh86j58","country_code":"KR","type":"other","lineage":["https://openalex.org/I4210140519"]},{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jun-Sik Kim","raw_affiliation_strings":["Artificial Intelligence and Robotics Institute, Korea Institute of Science and Technology, Seoul, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Artificial Intelligence and Robotics Institute, Korea Institute of Science and Technology, Seoul, South Korea","institution_ids":["https://openalex.org/I58716616","https://openalex.org/I4210140519"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085363061","display_name":"Seungryong Kim","orcid":"https://orcid.org/0000-0003-2927-6273"},"institutions":[{"id":"https://openalex.org/I197347611","display_name":"Korea University","ror":"https://ror.org/047dqcg40","country_code":"KR","type":"education","lineage":["https://openalex.org/I197347611"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Seungryong Kim","raw_affiliation_strings":["Department of Computer Science and Engineering, Korea University, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0003-2927-6273","affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, Korea University, Seoul, South Korea","institution_ids":["https://openalex.org/I197347611"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017976438","display_name":"KangGeon Kim","orcid":"https://orcid.org/0000-0001-9467-2323"},"institutions":[{"id":"https://openalex.org/I4210140519","display_name":"Korean Association Of Science and Technology Studies","ror":"https://ror.org/04qh86j58","country_code":"KR","type":"other","lineage":["https://openalex.org/I4210140519"]},{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Kanggeon Kim","raw_affiliation_strings":["Artificial Intelligence and Robotics Institute, Korea Institute of Science and Technology, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0001-9467-2323","affiliations":[{"raw_affiliation_string":"Artificial Intelligence and Robotics Institute, Korea Institute of Science and Technology, Seoul, South Korea","institution_ids":["https://openalex.org/I58716616","https://openalex.org/I4210140519"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5029955701"],"corresponding_institution_ids":["https://openalex.org/I4210140519","https://openalex.org/I58716616"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.8874,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.7250973,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"11","issue":null,"first_page":"11451","last_page":"11462"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":1.0,"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":1.0,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9865999817848206,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.9817000031471252,"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":0.8072088956832886},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.7926881313323975},{"id":"https://openalex.org/keywords/initialization","display_name":"Initialization","score":0.7379515171051025},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7323483228683472},{"id":"https://openalex.org/keywords/particle-filter","display_name":"Particle filter","score":0.6877408027648926},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.5606144666671753},{"id":"https://openalex.org/keywords/3d-pose-estimation","display_name":"3D pose estimation","score":0.5427390336990356},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5365680456161499},{"id":"https://openalex.org/keywords/centroid","display_name":"Centroid","score":0.5040003657341003},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.49669772386550903},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4652844965457916},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.46212100982666016},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.45860347151756287},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4577954411506653},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.34297633171081543}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8072088956832886},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.7926881313323975},{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.7379515171051025},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7323483228683472},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.6877408027648926},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.5606144666671753},{"id":"https://openalex.org/C36613465","wikidata":"https://www.wikidata.org/wiki/Q4636322","display_name":"3D pose estimation","level":3,"score":0.5427390336990356},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5365680456161499},{"id":"https://openalex.org/C146599234","wikidata":"https://www.wikidata.org/wiki/Q511093","display_name":"Centroid","level":2,"score":0.5040003657341003},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.49669772386550903},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4652844965457916},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.46212100982666016},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.45860347151756287},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4577954411506653},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.34297633171081543},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2023.3241250","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3241250","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/10005208/10034745.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"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 Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:91c019be1a80436dbb615b90e14a6be4","is_oa":true,"landing_page_url":"https://doaj.org/article/91c019be1a80436dbb615b90e14a6be4","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 11, Pp 11451-11462 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2023.3241250","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3241250","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/10005208/10034745.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"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 Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1244226802","display_name":null,"funder_award_id":"2E32302","funder_id":"https://openalex.org/F4320322091","funder_display_name":"Korea Institute of Science and Technology"},{"id":"https://openalex.org/G6476093974","display_name":null,"funder_award_id":"2E31581","funder_id":"https://openalex.org/F4320322091","funder_display_name":"Korea Institute of Science and Technology"}],"funders":[{"id":"https://openalex.org/F4320322091","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4318827814.pdf","grobid_xml":"https://content.openalex.org/works/W4318827814.grobid-xml"},"referenced_works_count":55,"referenced_works":["https://openalex.org/W132147841","https://openalex.org/W1483307070","https://openalex.org/W1505952289","https://openalex.org/W1526868886","https://openalex.org/W1573338884","https://openalex.org/W1977077642","https://openalex.org/W2011792403","https://openalex.org/W2034950486","https://openalex.org/W2053138020","https://openalex.org/W2058761328","https://openalex.org/W2068127265","https://openalex.org/W2098613108","https://openalex.org/W2110762409","https://openalex.org/W2120113516","https://openalex.org/W2130363011","https://openalex.org/W2141664020","https://openalex.org/W2213832156","https://openalex.org/W2419056630","https://openalex.org/W2519911873","https://openalex.org/W2580726517","https://openalex.org/W2738786772","https://openalex.org/W2768879211","https://openalex.org/W2888752296","https://openalex.org/W2890783894","https://openalex.org/W2962783853","https://openalex.org/W2963150697","https://openalex.org/W2963177347","https://openalex.org/W2963188159","https://openalex.org/W2963629310","https://openalex.org/W2963756608","https://openalex.org/W2964249569","https://openalex.org/W2965672435","https://openalex.org/W2967450697","https://openalex.org/W2981854237","https://openalex.org/W2981932175","https://openalex.org/W2989915422","https://openalex.org/W3008606906","https://openalex.org/W3009516594","https://openalex.org/W3025800305","https://openalex.org/W3027201070","https://openalex.org/W3034573608","https://openalex.org/W3034986117","https://openalex.org/W3035791417","https://openalex.org/W3081595965","https://openalex.org/W3107730598","https://openalex.org/W3130505889","https://openalex.org/W3133557228","https://openalex.org/W3149878926","https://openalex.org/W3179923621","https://openalex.org/W4249866455","https://openalex.org/W4289489637","https://openalex.org/W6754677871","https://openalex.org/W6756486208","https://openalex.org/W6763422710","https://openalex.org/W6793652844"],"related_works":["https://openalex.org/W1988485990","https://openalex.org/W290666912","https://openalex.org/W3108980762","https://openalex.org/W3002248669","https://openalex.org/W1970672735","https://openalex.org/W2099272513","https://openalex.org/W1537622850","https://openalex.org/W2931206373","https://openalex.org/W2096272322","https://openalex.org/W2011792403"],"abstract_inverted_index":{"Estimation":[0],"of":[1,97,142,208],"6D":[2,38,56,67,88,148,177,237],"object":[3,89,100,230],"poses":[4],"is":[5,120,129],"a":[6,49,104,109,123,191,200,212],"key":[7],"issue":[8],"in":[9,135,170],"robotic":[10],"grasping":[11,192],"tasks.":[12],"Recently,":[13],"many":[14,35],"high-performance":[15],"learning-based":[16],"methods":[17,29,183],"have":[18],"been":[19],"introduced":[20],"using":[21,199],"robust":[22],"deep":[23,111],"learning":[24],"techniques;":[25],"however,":[26],"applying":[27],"these":[28],"to":[30,204,211,224],"real":[31,201],"robot":[32,202],"environments":[33],"requires":[34],"ground":[36,65],"truth":[37,66],"pose":[39,57,82,149,178,238],"annotations":[40],"for":[41,55,84,101,131,164,184],"training.":[42],"To":[43],"address":[44],"this":[45],"problem,":[46],"we":[47,92,189],"propose":[48],"template":[50],"matching-based":[51],"particle":[52,70,105],"filter":[53,71,106],"approach":[54],"estimation;":[58],"the":[59,98,114,136,140,143,146,158,162,171],"proposed":[60,115,147,197],"method":[61,151,180,198,210,220],"does":[62],"not":[63,134,169],"require":[64,79],"poses.":[68],"Although":[69],"approaches":[72],"can":[73,160,221],"stochastically":[74],"avoid":[75],"local":[76],"optima,":[77],"they":[78],"adequate":[80],"initial":[81,95],"hypotheses":[83],"estimating":[85],"an":[86,94,206],"accurate":[87],"pose.":[90],"Therefore,":[91],"estimated":[93],"translation":[96],"target":[99],"accurately":[102],"initializing":[103],"by":[107],"developing":[108],"new":[110,132],"network.":[112],"Once":[113],"centroid":[116,163],"prediction":[117],"network":[118],"(CPN)":[119],"trained":[121],"with":[122,236],"specific":[124],"dataset,":[125],"no":[126],"additional":[127],"training":[128,172,234],"required":[130],"objects":[133],"dataset.":[137],"We":[138],"evaluated":[139],"performance":[141],"CPN":[144,159],"and":[145,174,229,242],"estimation":[150,179],"on":[152,195],"benchmark":[153],"datasets,":[154],"which":[155],"demonstrated":[156],"that":[157,175,218],"predict":[161],"any":[165],"object,":[166],"including":[167],"those":[168],"data,":[173],"our":[176,196,209,219],"outperforms":[181],"existing":[182],"partially":[185],"occluded":[186],"objects.":[187],"Finally,":[188],"tested":[190],"task":[193],"based":[194],"platform":[203],"demonstrate":[205],"application":[207],"downstream":[213],"task.":[214],"This":[215],"experiment":[216],"shows":[217],"be":[222],"applied":[223],"part":[225],"assembly,":[226],"bin":[227],"picking,":[228],"manipulation":[231],"without":[232],"large":[233],"datasets":[235],"annotations.":[239],"The":[240],"code":[241],"models":[243],"are":[244],"available":[245],"at:":[246],"<uri":[247],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[248],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">https://github.com/oorrppp2/Particle_filter_approach_6D_pose_estimation</uri>":[249],".":[250]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}