{"id":"https://openalex.org/W2126624994","doi":"https://doi.org/10.1109/cvpr.2010.5539774","title":"Scale-hierarchical 3D object recognition in cluttered scenes","display_name":"Scale-hierarchical 3D object recognition in cluttered scenes","publication_year":2010,"publication_date":"2010-06-01","ids":{"openalex":"https://openalex.org/W2126624994","doi":"https://doi.org/10.1109/cvpr.2010.5539774","mag":"2126624994"},"language":"en","primary_location":{"id":"doi:10.1109/cvpr.2010.5539774","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cvpr.2010.5539774","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE Computer Society Conference on Computer Vision and Pattern Recognition","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5011266352","display_name":"Prabin Bariya","orcid":null},"institutions":[{"id":"https://openalex.org/I72816309","display_name":"Drexel University","ror":"https://ror.org/04bdffz58","country_code":"US","type":"education","lineage":["https://openalex.org/I72816309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Prabin Bariya","raw_affiliation_strings":["Department of Computer Science, Drexel University, USA","Department of Computer Science, Drexel University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Drexel University, USA","institution_ids":["https://openalex.org/I72816309"]},{"raw_affiliation_string":"Department of Computer Science, Drexel University","institution_ids":["https://openalex.org/I72816309"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5034253077","display_name":"Ko Nishino","orcid":"https://orcid.org/0000-0002-3534-3447"},"institutions":[{"id":"https://openalex.org/I72816309","display_name":"Drexel University","ror":"https://ror.org/04bdffz58","country_code":"US","type":"education","lineage":["https://openalex.org/I72816309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ko Nishino","raw_affiliation_strings":["Department of Computer Science, Drexel University, USA","Department of Computer Science, Drexel University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Drexel University, USA","institution_ids":["https://openalex.org/I72816309"]},{"raw_affiliation_string":"Department of Computer Science, Drexel University","institution_ids":["https://openalex.org/I72816309"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I72816309"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":73,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1657","last_page":"1664"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9990000128746033,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9990000128746033,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9990000128746033,"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/T12549","display_name":"Image and Object Detection Techniques","score":0.9990000128746033,"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/discriminative-model","display_name":"Discriminative model","score":0.8342803716659546},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7631359100341797},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.640943169593811},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.6259458065032959},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6229838132858276},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.6057659983634949},{"id":"https://openalex.org/keywords/clutter","display_name":"Clutter","score":0.5620037317276001},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.5078828930854797},{"id":"https://openalex.org/keywords/scale-space","display_name":"Scale space","score":0.4969668686389923},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.49467870593070984},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.49009501934051514},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2602609395980835},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.1679791510105133},{"id":"https://openalex.org/keywords/image-processing","display_name":"Image processing","score":0.13553661108016968}],"concepts":[{"id":"https://openalex.org/C97931131","wikidata":"https://www.wikidata.org/wiki/Q5282087","display_name":"Discriminative model","level":2,"score":0.8342803716659546},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7631359100341797},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.640943169593811},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.6259458065032959},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6229838132858276},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.6057659983634949},{"id":"https://openalex.org/C132094186","wikidata":"https://www.wikidata.org/wiki/Q641585","display_name":"Clutter","level":3,"score":0.5620037317276001},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.5078828930854797},{"id":"https://openalex.org/C99102927","wikidata":"https://www.wikidata.org/wiki/Q3058184","display_name":"Scale space","level":4,"score":0.4969668686389923},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.49467870593070984},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.49009501934051514},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2602609395980835},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.1679791510105133},{"id":"https://openalex.org/C9417928","wikidata":"https://www.wikidata.org/wiki/Q1070689","display_name":"Image processing","level":3,"score":0.13553661108016968},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","level":1,"score":0.0},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/cvpr.2010.5539774","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cvpr.2010.5539774","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE Computer Society Conference on Computer Vision and Pattern Recognition","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.170.9662","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.170.9662","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.drexel.edu/%7Ekon/publication/PBariya_CVPR10.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.188.9670","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.188.9670","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.drexel.edu/%7Ekon/publication/PBariya_CVPR10_preprint.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.75,"display_name":"Reduced inequalities","id":"https://metadata.un.org/sdg/10"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1532977286","https://openalex.org/W1563354748","https://openalex.org/W2033834476","https://openalex.org/W2096738731","https://openalex.org/W2099606917","https://openalex.org/W2102536844","https://openalex.org/W2103497972","https://openalex.org/W2107235635","https://openalex.org/W2125621169","https://openalex.org/W2128019145","https://openalex.org/W2148777761","https://openalex.org/W2155513645","https://openalex.org/W2161438989","https://openalex.org/W2162411291","https://openalex.org/W6678860739"],"related_works":["https://openalex.org/W17155033","https://openalex.org/W3207760230","https://openalex.org/W1496222301","https://openalex.org/W1590307681","https://openalex.org/W2536018345","https://openalex.org/W4312814274","https://openalex.org/W4285370786","https://openalex.org/W2296488620","https://openalex.org/W2358353312","https://openalex.org/W2353836703"],"abstract_inverted_index":{"3D":[0,102],"object":[1],"recognition":[2,150],"in":[3,27,71,111,173],"scenes":[4,141],"with":[5,142],"occlusion":[6,147],"and":[7,60,94,148],"clutter":[8],"is":[9,33],"a":[10,18,112],"difficult":[11],"task.":[12,29],"In":[13,63],"this":[14,28],"paper,":[15],"we":[16,65,161],"introduce":[17],"method":[19,106,134],"that":[20,116],"exploits":[21,107],"the":[22,36,42,51,67,72,75,83,87,95,99,108,120,130,154,158,164],"geometric":[23,47,68,77,92],"scale-variability":[24],"to":[25,34,49,167],"aid":[26],"Our":[30],"key":[31],"insight":[32],"leverage":[35],"rich":[37],"discriminative":[38,96],"information":[39,110],"provided":[40],"by":[41],"scale":[43,69,78],"variation":[44],"of":[45,55,74,79,89,98,122,132,139,145],"local":[46,100],"structures":[48],"constrain":[50],"massive":[52],"search":[53],"space":[54,121],"potential":[56,124],"correspondences":[57,125],"between":[58],"model":[59],"scene":[61],"points.":[62],"particular,":[64],"exploit":[66],"variability":[70],"form":[73],"intrinsic":[76,91],"each":[80],"computed":[81],"feature,":[82],"hierarchy":[84],"induced":[85],"within":[86],"set":[88,138],"these":[90],"scales,":[93],"power":[97],"scale-dependent/invariant":[101],"shape":[103],"descriptors.":[104],"The":[105],"added":[109],"hierarchical":[113],"coarse-to-fine":[114],"manner":[115],"lets":[117],"it":[118],"cull":[119],"all":[123],"effectively.":[126],"We":[127],"experimentally":[128],"evaluate":[129],"accuracy":[131],"our":[133],"on":[135],"an":[136],"extensive":[137],"real":[140],"varying":[143],"amounts":[144],"partial":[146],"achieve":[149],"rates":[151],"higher":[152],"than":[153],"state-of-the-art.":[155],"Furthermore,":[156],"for":[157],"first":[159],"time":[160],"systematically":[162],"demonstrate":[163],"method's":[165],"ability":[166],"accurately":[168],"localize":[169],"objects":[170],"despite":[171],"changes":[172],"their":[174],"global":[175],"scales.":[176]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":10},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":10},{"year":2012,"cited_by_count":12}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
