{"id":"https://openalex.org/W4402623738","doi":"https://doi.org/10.1109/cvpr52733.2024.00950","title":"SecondPose: SE(3)-Consistent Dual-Stream Feature Fusion for Category-Level Pose Estimation","display_name":"SecondPose: SE(3)-Consistent Dual-Stream Feature Fusion for Category-Level Pose Estimation","publication_year":2024,"publication_date":"2024-06-16","ids":{"openalex":"https://openalex.org/W4402623738","doi":"https://doi.org/10.1109/cvpr52733.2024.00950"},"language":"en","primary_location":{"id":"doi:10.1109/cvpr52733.2024.00950","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cvpr52733.2024.00950","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)","raw_type":"proceedings-article"},"type":"article","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/A5002537755","display_name":"Yamei Chen","orcid":"https://orcid.org/0000-0002-9072-5157"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Yamei Chen","raw_affiliation_strings":["Technical University of Munich"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Munich","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101895081","display_name":"Di Yan","orcid":"https://orcid.org/0000-0003-1977-8448"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Yan Di","raw_affiliation_strings":["Technical University of Munich"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Munich","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054810193","display_name":"Guangyao Zhai","orcid":"https://orcid.org/0000-0002-6702-8302"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Guangyao Zhai","raw_affiliation_strings":["Technical University of Munich"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Munich","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006401089","display_name":"Fabian Manhardt","orcid":"https://orcid.org/0000-0002-4577-4590"},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Fabian Manhardt","raw_affiliation_strings":["Google"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Google","institution_ids":["https://openalex.org/I1291425158"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029834032","display_name":"Chenyangguang Zhang","orcid":"https://orcid.org/0009-0005-7852-4124"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chenyangguang Zhang","raw_affiliation_strings":["Tsinghua University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035771614","display_name":"Ruida Zhang","orcid":"https://orcid.org/0000-0002-2693-3322"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruida Zhang","raw_affiliation_strings":["Tsinghua University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041092666","display_name":"Federico Tombari","orcid":"https://orcid.org/0000-0001-5598-5212"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Federico Tombari","raw_affiliation_strings":["Technical University of Munich"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Munich","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046896448","display_name":"Nassir Navab","orcid":"https://orcid.org/0000-0002-6032-5611"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Nassir Navab","raw_affiliation_strings":["Technical University of Munich"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Munich","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067135033","display_name":"Benjamin Busam","orcid":"https://orcid.org/0000-0002-0620-5774"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Benjamin Busam","raw_affiliation_strings":["Technical University of Munich"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Munich","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5002537755"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":8.3773,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":{"value":0.98256305,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"9959","last_page":"9969"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9994000196456909,"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":0.9994000196456909,"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":0.974399983882904,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9733999967575073,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.6970136761665344},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5905142426490784},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.5842401385307312},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5584697127342224},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5015051364898682},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.48191383481025696},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.327526718378067}],"concepts":[{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.6970136761665344},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5905142426490784},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.5842401385307312},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5584697127342224},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5015051364898682},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.48191383481025696},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.327526718378067},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"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":1,"locations":[{"id":"doi:10.1109/cvpr52733.2024.00950","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cvpr52733.2024.00950","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":63,"referenced_works":["https://openalex.org/W1969868017","https://openalex.org/W2128019145","https://openalex.org/W2161168419","https://openalex.org/W2242920192","https://openalex.org/W2344474200","https://openalex.org/W2624503621","https://openalex.org/W2753858160","https://openalex.org/W2781064046","https://openalex.org/W2895439318","https://openalex.org/W2963121255","https://openalex.org/W2963150697","https://openalex.org/W2963177347","https://openalex.org/W2963188159","https://openalex.org/W2963756608","https://openalex.org/W2963892972","https://openalex.org/W2964249569","https://openalex.org/W2981378444","https://openalex.org/W3034597466","https://openalex.org/W3034986117","https://openalex.org/W3092774272","https://openalex.org/W3107992529","https://openalex.org/W3151772196","https://openalex.org/W3163945288","https://openalex.org/W3177069133","https://openalex.org/W3179923621","https://openalex.org/W3193676140","https://openalex.org/W3193686508","https://openalex.org/W3202459445","https://openalex.org/W3202538459","https://openalex.org/W3213539602","https://openalex.org/W4221167997","https://openalex.org/W4226321491","https://openalex.org/W4226322645","https://openalex.org/W4285219362","https://openalex.org/W4293374772","https://openalex.org/W4312296985","https://openalex.org/W4312445439","https://openalex.org/W4312604533","https://openalex.org/W4312670700","https://openalex.org/W4312877043","https://openalex.org/W4313027996","https://openalex.org/W4313189197","https://openalex.org/W4317496717","https://openalex.org/W4323644231","https://openalex.org/W4366208220","https://openalex.org/W4378474398","https://openalex.org/W4378499177","https://openalex.org/W4383108845","https://openalex.org/W4385008541","https://openalex.org/W4385965690","https://openalex.org/W4386075656","https://openalex.org/W4390872210","https://openalex.org/W4390873313","https://openalex.org/W4390873470","https://openalex.org/W4399419060","https://openalex.org/W4401415428","https://openalex.org/W6803063336","https://openalex.org/W6839728850","https://openalex.org/W6852616512","https://openalex.org/W6852690433","https://openalex.org/W6855828098","https://openalex.org/W6856549790","https://openalex.org/W6990034122"],"related_works":["https://openalex.org/W2317351040","https://openalex.org/W2952466936","https://openalex.org/W1988622314","https://openalex.org/W2393949104","https://openalex.org/W2099421762","https://openalex.org/W3046201198","https://openalex.org/W2530546662","https://openalex.org/W4293061921","https://openalex.org/W2515288625","https://openalex.org/W4386159726"],"abstract_inverted_index":{"Category-level":[0],"object":[1,95],"pose":[2,9,114],"estimation,":[3],"aiming":[4],"to":[5,76,91,106],"predict":[6],"the":[7,58,101,107,129],"6D":[8],"and":[10],"3D":[11],"size":[12],"of":[13,33,60,72],"objects":[14],"from":[15,55,103],"known":[16],"categories,":[17],"typically":[18],"struggles":[19],"with":[20,51,88],"large":[21,150],"intra-class":[22],"shape":[23],"variation.":[24,36],"Existing":[25],"works":[26],"utilizing":[27],"mean":[28],"shapes":[29],"often":[30],"fall":[31],"short":[32],"cap-turing":[34],"this":[35,39],"To":[37],"address":[38],"issue,":[40],"we":[41,67],"present":[42],"Sec-ondPose,":[43],"a":[44,93,124,133,149],"novel":[45],"approach":[46],"integrating":[47],"object-specific":[48,80],"ge-ometric":[49],"features":[50,75,84,90],"semantic":[52,65],"category":[53],"priors":[54],"DI-NOv2.":[56],"Leveraging":[57],"advantage":[59],"DINOv2":[61,89],"in":[62],"providing":[63],"SE(3)-consistent":[64],"features,":[66],"hierarchically":[68],"extract":[69],"two":[70],"types":[71],"SE(3)-invariant":[73],"geometric":[74,83],"further":[77,112],"encapsulate":[78],"local-to-global":[79],"information.":[81],"These":[82],"are":[85],"then":[86],"point-aligned":[87],"establish":[92],"consistent":[94],"represen-tation":[96],"under":[97],"SE(3)":[98],"transformations,":[99],"facilitating":[100],"map-ping":[102],"camera":[104],"space":[105],"pre-defined":[108],"canonical":[109],"space,":[110],"thus":[111],"enhancing":[113],"estimation.":[115],"Extensive":[116],"exper-iments":[117],"on":[118,132],"NOCS-REAL275":[119],"demonstrate":[120],"that":[121],"SecondPose":[122,143],"achieves":[123],"12.4%":[125],"leap":[126],"forward":[127],"over":[128],"state-of-the-art.":[130],"Moreover,":[131],"more":[134],"complex":[135],"dataset":[136],"HouseCat6D":[137],"which":[138],"provides":[139],"photometrically":[140],"challenging":[141],"objects,":[142],"still":[144],"surpasses":[145],"other":[146],"competitors":[147],"by":[148],"margin.":[151]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":20},{"year":2024,"cited_by_count":3}],"updated_date":"2026-05-05T08:41:31.759640","created_date":"2025-10-10T00:00:00"}
