{"id":"https://openalex.org/W4410949908","doi":"https://doi.org/10.1109/access.2025.3575778","title":"MG6D: A Deep Fusion Approach for 6D Pose Estimation With Mamba and Graph Convolution Network","display_name":"MG6D: A Deep Fusion Approach for 6D Pose Estimation With Mamba and Graph Convolution Network","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4410949908","doi":"https://doi.org/10.1109/access.2025.3575778"},"language":"en","primary_location":{"id":"doi:10.1109/access.2025.3575778","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3575778","pdf_url":null,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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://doi.org/10.1109/access.2025.3575778","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Jiaqi Zhu","orcid":"https://orcid.org/0009-0000-8116-3984"},"institutions":[{"id":"https://openalex.org/I136765683","display_name":"Tianjin University of Technology","ror":"https://ror.org/00zbe0w13","country_code":"CN","type":"education","lineage":["https://openalex.org/I136765683"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiaqi Zhu","raw_affiliation_strings":["School of Computer Science and Engineering, Tianjin University of Technology, Tianjin, China"],"raw_orcid":"https://orcid.org/0009-0000-8116-3984","affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Tianjin University of Technology, Tianjin, China","institution_ids":["https://openalex.org/I136765683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100903135","display_name":"Bin Li","orcid":null},"institutions":[{"id":"https://openalex.org/I136765683","display_name":"Tianjin University of Technology","ror":"https://ror.org/00zbe0w13","country_code":"CN","type":"education","lineage":["https://openalex.org/I136765683"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bin Li","raw_affiliation_strings":["Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, School of Mechanical Engineering, Tianjin University of Technology, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, School of Mechanical Engineering, Tianjin University of Technology, Tianjin, China","institution_ids":["https://openalex.org/I136765683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063260254","display_name":"Xinhua Zhao","orcid":"https://orcid.org/0000-0003-2599-6492"},"institutions":[{"id":"https://openalex.org/I136765683","display_name":"Tianjin University of Technology","ror":"https://ror.org/00zbe0w13","country_code":"CN","type":"education","lineage":["https://openalex.org/I136765683"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinhua Zhao","raw_affiliation_strings":["School of Computer Science and Engineering, Tianjin University of Technology, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Tianjin University of Technology, Tianjin, China","institution_ids":["https://openalex.org/I136765683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I136765683"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.11563939,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"13","issue":null,"first_page":"100433","last_page":"100445"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9994999766349792,"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":0.9994999766349792,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.989799976348877,"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/T12549","display_name":"Image and Object Detection Techniques","score":0.9815999865531921,"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/computer-science","display_name":"Computer science","score":0.6769876480102539},{"id":"https://openalex.org/keywords/convolution","display_name":"Convolution (computer science)","score":0.6166635155677795},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5708023905754089},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.5147433280944824},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.45048072934150696},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4389665126800537},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.21985360980033875},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.12901675701141357}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6769876480102539},{"id":"https://openalex.org/C45347329","wikidata":"https://www.wikidata.org/wiki/Q5166604","display_name":"Convolution (computer science)","level":3,"score":0.6166635155677795},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5708023905754089},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.5147433280944824},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.45048072934150696},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4389665126800537},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.21985360980033875},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.12901675701141357},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2025.3575778","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3575778","pdf_url":null,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:bdec6f87e2784d32a9bedcaee4aeb743","is_oa":true,"landing_page_url":"https://doaj.org/article/bdec6f87e2784d32a9bedcaee4aeb743","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 13, Pp 100433-100445 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2025.3575778","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3575778","pdf_url":null,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.4300000071525574,"display_name":"Climate action","id":"https://metadata.un.org/sdg/13"}],"awards":[{"id":"https://openalex.org/G179383021","display_name":null,"funder_award_id":"52375026","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":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":55,"referenced_works":["https://openalex.org/W132147841","https://openalex.org/W1526868886","https://openalex.org/W2604236302","https://openalex.org/W2938425859","https://openalex.org/W2950921159","https://openalex.org/W2963177347","https://openalex.org/W2963188159","https://openalex.org/W2963756608","https://openalex.org/W2964062501","https://openalex.org/W2972211064","https://openalex.org/W2981378444","https://openalex.org/W2988715931","https://openalex.org/W2988766935","https://openalex.org/W2989915422","https://openalex.org/W3002286706","https://openalex.org/W3034268164","https://openalex.org/W3034479523","https://openalex.org/W3034603747","https://openalex.org/W3034986117","https://openalex.org/W3093548137","https://openalex.org/W3107730598","https://openalex.org/W3135435163","https://openalex.org/W3157974746","https://openalex.org/W3177052299","https://openalex.org/W3177069133","https://openalex.org/W3179923621","https://openalex.org/W4214519684","https://openalex.org/W4285048975","https://openalex.org/W4313037736","https://openalex.org/W4313047263","https://openalex.org/W4313176116","https://openalex.org/W4313429295","https://openalex.org/W4317497215","https://openalex.org/W4382365515","https://openalex.org/W4383109488","https://openalex.org/W4386066268","https://openalex.org/W4386075737","https://openalex.org/W4386075813","https://openalex.org/W4388208015","https://openalex.org/W4389666592","https://openalex.org/W4390637904","https://openalex.org/W4390872355","https://openalex.org/W4391341562","https://openalex.org/W4397023700","https://openalex.org/W4402401589","https://openalex.org/W4402660131","https://openalex.org/W4402727113","https://openalex.org/W4402754209","https://openalex.org/W4402775367","https://openalex.org/W4405953164","https://openalex.org/W4407614753","https://openalex.org/W4408704947","https://openalex.org/W6795288823","https://openalex.org/W6857871685","https://openalex.org/W6873608391"],"related_works":["https://openalex.org/W2123263858","https://openalex.org/W3127959533","https://openalex.org/W4391695420","https://openalex.org/W2711238126","https://openalex.org/W4308083507","https://openalex.org/W2162788266","https://openalex.org/W2286009621","https://openalex.org/W2900273708","https://openalex.org/W3103544346","https://openalex.org/W4282941460"],"abstract_inverted_index":{"Accurate":[0],"and":[1,36,83,127,147,163],"efficient":[2],"6D":[3,44],"pose":[4,45,156],"estimation":[5,46,157],"is":[6,97,117],"a":[7,42,53,61,111],"fundamental":[8],"technology":[9],"in":[10,25,74,155],"many":[11],"industrial":[12],"applications.":[13],"While":[14],"existing":[15],"dense":[16],"correspondence":[17],"methods":[18],"have":[19],"shown":[20],"progress,":[21],"they":[22],"face":[23],"challenges":[24],"multimodal":[26],"feature":[27,108],"fusion":[28,64,95],"under":[29],"complex":[30],"scenarios":[31],"involving":[32],"occlusions,":[33],"illumination":[34],"variations,":[35],"sensor":[37],"noise.":[38],"This":[39],"paper":[40],"proposes":[41],"novel":[43],"framework":[47],"that":[48,137],"addresses":[49],"these":[50],"limitations":[51],"through":[52],"hybrid":[54],"Mamba-Graph":[55],"architecture.":[56],"The":[57],"algorithm":[58,140],"first":[59],"introduces":[60],"panoramic":[62],"attention":[63],"Mamba":[65],"module,":[66],"leveraging":[67],"state-space":[68],"modeling":[69,105],"to":[70,86,100,119],"capture":[71],"long-range":[72],"dependencies":[73],"multi-modal":[75,107],"data":[76],"while":[77],"establishing":[78],"cross-dimensional":[79],"interactions":[80],"between":[81],"channel":[82],"spatial":[84,125],"features":[85],"emphasize":[87],"critical":[88],"information.":[89],"A":[90],"dynamic":[91],"graph":[92],"convolutional":[93],"adaptive":[94],"module":[96],"then":[98],"designed":[99],"enable":[101],"cross-modal":[102],"geometric":[103],"consistency":[104],"via":[106],"integration.":[109],"Finally,":[110],"texture-geometry":[112],"co-driven":[113],"keypoint":[114,121],"selection":[115],"mechanism":[116],"proposed":[118,139],"ensure":[120],"distributions":[122],"satisfy":[123],"both":[124],"uniformity":[126],"discriminability":[128],"requirements.":[129],"Experimental":[130],"results":[131],"on":[132],"three":[133],"common":[134],"datasets":[135],"demonstrate":[136],"the":[138],"achieves":[141],"ADD(-S)":[142],"metrics":[143],"of":[144],"99.82%,":[145],"80.26%,":[146],"97.2%,":[148],"respectively.":[149],"Notably,":[150],"it":[151],"exhibits":[152],"significant":[153],"advantages":[154],"for":[158],"objects":[159],"with":[160],"repetitive":[161],"textures":[162],"high":[164],"symmetry.":[165]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
