{"id":"https://openalex.org/W1949568868","doi":"https://doi.org/10.1109/cvpr.2015.7299105","title":"Aligning 3D models to RGB-D images of cluttered scenes","display_name":"Aligning 3D models to RGB-D images of cluttered scenes","publication_year":2015,"publication_date":"2015-06-01","ids":{"openalex":"https://openalex.org/W1949568868","doi":"https://doi.org/10.1109/cvpr.2015.7299105","mag":"1949568868"},"language":"en","primary_location":{"id":"doi:10.1109/cvpr.2015.7299105","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cvpr.2015.7299105","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE Conference on Computer Vision and Pattern Recognition (CVPR)","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/A5040211080","display_name":"Saurabh Gupta","orcid":"https://orcid.org/0000-0003-0095-4704"},"institutions":[{"id":"https://openalex.org/I134446601","display_name":"Berkeley College","ror":"https://ror.org/02xewxa75","country_code":"US","type":"education","lineage":["https://openalex.org/I134446601"]},{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Saurabh Gupta","raw_affiliation_strings":["UC Berkeley","UC Berkeley, USA#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"UC Berkeley","institution_ids":["https://openalex.org/I134446601","https://openalex.org/I95457486"]},{"raw_affiliation_string":"UC Berkeley, USA#TAB#","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013512298","display_name":"Pablo Arbel\u00e1ez","orcid":"https://orcid.org/0000-0001-5244-2407"},"institutions":[{"id":"https://openalex.org/I162096671","display_name":"Universidad de Los Andes","ror":"https://ror.org/02mhbdp94","country_code":"CO","type":"education","lineage":["https://openalex.org/I162096671"]}],"countries":["CO"],"is_corresponding":false,"raw_author_name":"Pablo Arbelaez","raw_affiliation_strings":["Universidad de los Andes, Colombia","Universidad de los Andes Colombia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universidad de los Andes, Colombia","institution_ids":["https://openalex.org/I162096671"]},{"raw_affiliation_string":"Universidad de los Andes Colombia","institution_ids":["https://openalex.org/I162096671"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049246408","display_name":"Ross Girshick","orcid":null},"institutions":[{"id":"https://openalex.org/I1290206253","display_name":"Microsoft (United States)","ror":"https://ror.org/00d0nc645","country_code":"US","type":"company","lineage":["https://openalex.org/I1290206253"]},{"id":"https://openalex.org/I4210164937","display_name":"Microsoft Research (United Kingdom)","ror":"https://ror.org/05k87vq12","country_code":"GB","type":"company","lineage":["https://openalex.org/I1290206253","https://openalex.org/I4210164937"]}],"countries":["GB","US"],"is_corresponding":false,"raw_author_name":"Ross Girshick","raw_affiliation_strings":["Microsoft Research","Microsoft Research,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Microsoft Research","institution_ids":["https://openalex.org/I4210164937"]},{"raw_affiliation_string":"Microsoft Research,USA","institution_ids":["https://openalex.org/I1290206253"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001594573","display_name":"Jitendra Malik","orcid":"https://orcid.org/0000-0003-3695-1580"},"institutions":[{"id":"https://openalex.org/I134446601","display_name":"Berkeley College","ror":"https://ror.org/02xewxa75","country_code":"US","type":"education","lineage":["https://openalex.org/I134446601"]},{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jitendra Malik","raw_affiliation_strings":["UC Berkeley","UC Berkeley, USA#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"UC Berkeley","institution_ids":["https://openalex.org/I134446601","https://openalex.org/I95457486"]},{"raw_affiliation_string":"UC Berkeley, USA#TAB#","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":14.8121,"has_fulltext":false,"cited_by_count":218,"citation_normalized_percentile":{"value":0.99150734,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":93,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"4731","last_page":"4740"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9998000264167786,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994999766349792,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.8376968502998352},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8063143491744995},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.7201309204101562},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.7008266448974609},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6866194009780884},{"id":"https://openalex.org/keywords/pixel","display_name":"Pixel","score":0.6100097894668579},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5474657416343689},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.49913978576660156},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.45883908867836},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.43879014253616333},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.43815380334854126},{"id":"https://openalex.org/keywords/image-segmentation","display_name":"Image segmentation","score":0.41136786341667175}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8376968502998352},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8063143491744995},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.7201309204101562},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.7008266448974609},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6866194009780884},{"id":"https://openalex.org/C160633673","wikidata":"https://www.wikidata.org/wiki/Q355198","display_name":"Pixel","level":2,"score":0.6100097894668579},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5474657416343689},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.49913978576660156},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.45883908867836},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.43879014253616333},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.43815380334854126},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.41136786341667175},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/cvpr.2015.7299105","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cvpr.2015.7299105","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE Conference on Computer Vision and Pattern Recognition (CVPR)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.714.5534","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.714.5534","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.berkeley.edu/%7Erbg/papers/cvpr15/align2rgbd.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.725.4006","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.725.4006","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.eecs.berkeley.edu/%7Esgupta/pdf/rgbd-pose.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":58,"referenced_works":["https://openalex.org/W78159342","https://openalex.org/W116751493","https://openalex.org/W125693051","https://openalex.org/W130423592","https://openalex.org/W187508873","https://openalex.org/W255162053","https://openalex.org/W1507506748","https://openalex.org/W1519402791","https://openalex.org/W1565402342","https://openalex.org/W1591677984","https://openalex.org/W1818727054","https://openalex.org/W1934027668","https://openalex.org/W1949483711","https://openalex.org/W1969366022","https://openalex.org/W2005175937","https://openalex.org/W2010625607","https://openalex.org/W2048343491","https://openalex.org/W2049351243","https://openalex.org/W2066813062","https://openalex.org/W2067912884","https://openalex.org/W2073700113","https://openalex.org/W2075214536","https://openalex.org/W2075274454","https://openalex.org/W2076874408","https://openalex.org/W2097696373","https://openalex.org/W2098245519","https://openalex.org/W2098883970","https://openalex.org/W2102605133","https://openalex.org/W2113107168","https://openalex.org/W2114111978","https://openalex.org/W2114779816","https://openalex.org/W2115150266","https://openalex.org/W2119851068","https://openalex.org/W2125713050","https://openalex.org/W2127911825","https://openalex.org/W2152571752","https://openalex.org/W2156222070","https://openalex.org/W2161969291","https://openalex.org/W2164598857","https://openalex.org/W2168356304","https://openalex.org/W2397854647","https://openalex.org/W2402140145","https://openalex.org/W6603109438","https://openalex.org/W6604820715","https://openalex.org/W6605121731","https://openalex.org/W6609684742","https://openalex.org/W6630336748","https://openalex.org/W6631135043","https://openalex.org/W6633727509","https://openalex.org/W6635363735","https://openalex.org/W6638472885","https://openalex.org/W6640491516","https://openalex.org/W6641001580","https://openalex.org/W6642295358","https://openalex.org/W6666899075","https://openalex.org/W6675133265","https://openalex.org/W6678668498","https://openalex.org/W6679152795"],"related_works":["https://openalex.org/W4293226380","https://openalex.org/W3135697610","https://openalex.org/W2085033728","https://openalex.org/W4285411112","https://openalex.org/W2171299904","https://openalex.org/W1647606319","https://openalex.org/W2922442631","https://openalex.org/W4390494008","https://openalex.org/W2969228573","https://openalex.org/W2963690996"],"abstract_inverted_index":{"The":[0],"goal":[1],"of":[2,46,61,96,123,135],"this":[3,22,81],"work":[4],"is":[5,51],"to":[6,42,91,99],"represent":[7],"objects":[8],"in":[9,31,57,118],"an":[10,133],"RGB-D":[11],"scene":[12,33,106],"with":[13,86],"corresponding":[14],"3D":[15,124],"models":[16,98],"from":[17],"a":[18,37,93,114],"library.":[19],"We":[20,78,112],"approach":[21],"problem":[23],"by":[24],"first":[25],"detecting":[26],"and":[27,34,102],"segmenting":[28],"object":[29],"instances":[30],"the":[32,44,47,87,100,105,107,121,127],"then":[35,79],"using":[36,53],"convolutional":[38],"neural":[39],"network":[40],"(CNN)":[41],"predict":[43],"pose":[45,83],"object.":[48],"This":[49],"CNN":[50],"trained":[52,74],"pixel":[54,89],"surface":[55],"normals":[56],"images":[58],"containing":[59],"renderings":[60],"synthetic":[62],"objects.":[63],"When":[64],"tested":[65],"on":[66,75],"real":[67,76],"data,":[68,101],"our":[69],"method":[70],"outperforms":[71],"alternative":[72],"algorithms":[73],"data.":[77],"use":[80],"coarse":[82],"estimate":[84],"along":[85],"inferred":[88],"support":[90],"align":[92],"small":[94],"number":[95],"prototypical":[97],"place":[103],"into":[104],"model":[108],"that":[109],"fits":[110],"best.":[111],"observe":[113],"48%":[115],"relative":[116],"improvement":[117],"performance":[119],"at":[120],"task":[122],"detection":[125],"over":[126],"current":[128],"state-of-the-art":[129],"[34],":[130],"while":[131],"being":[132],"order":[134],"magnitude":[136],"faster.":[137]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":12},{"year":2021,"cited_by_count":16},{"year":2020,"cited_by_count":28},{"year":2019,"cited_by_count":33},{"year":2018,"cited_by_count":41},{"year":2017,"cited_by_count":36},{"year":2016,"cited_by_count":27},{"year":2015,"cited_by_count":6}],"updated_date":"2026-08-26T07:47:46.906454","created_date":"2025-10-10T00:00:00"}
