{"id":"https://openalex.org/W2980852690","doi":"https://doi.org/10.1109/etfa.2019.8869384","title":"A Framework for 3D Object Detection and Pose Estimation in Unstructured Environment Using Single Shot Detector and Refined LineMOD Template Matching","display_name":"A Framework for 3D Object Detection and Pose Estimation in Unstructured Environment Using Single Shot Detector and Refined LineMOD Template Matching","publication_year":2019,"publication_date":"2019-09-01","ids":{"openalex":"https://openalex.org/W2980852690","doi":"https://doi.org/10.1109/etfa.2019.8869384","mag":"2980852690"},"language":"en","primary_location":{"id":"doi:10.1109/etfa.2019.8869384","is_oa":false,"landing_page_url":"https://doi.org/10.1109/etfa.2019.8869384","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)","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/A5101805007","display_name":"Shili Chen","orcid":"https://orcid.org/0000-0001-7691-0033"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Shili Chen","raw_affiliation_strings":["Biomimetic and Intelligent Robotics Lab (BIRL), Guangdong University of Technology, Guangzhou, China, 510006"],"affiliations":[{"raw_affiliation_string":"Biomimetic and Intelligent Robotics Lab (BIRL), Guangdong University of Technology, Guangzhou, China, 510006","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057904986","display_name":"Jie Hong","orcid":"https://orcid.org/0000-0002-2831-7523"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Hong","raw_affiliation_strings":["Biomimetic and Intelligent Robotics Lab (BIRL), Guangdong University of Technology, Guangzhou, China, 510006"],"affiliations":[{"raw_affiliation_string":"Biomimetic and Intelligent Robotics Lab (BIRL), Guangdong University of Technology, Guangzhou, China, 510006","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090171773","display_name":"Xineng Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xineng Liu","raw_affiliation_strings":["Biomimetic and Intelligent Robotics Lab (BIRL), Guangdong University of Technology, Guangzhou, China, 510006"],"affiliations":[{"raw_affiliation_string":"Biomimetic and Intelligent Robotics Lab (BIRL), Guangdong University of Technology, Guangzhou, China, 510006","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100773867","display_name":"Jian Li","orcid":"https://orcid.org/0000-0003-1914-2466"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Li","raw_affiliation_strings":["Biomimetic and Intelligent Robotics Lab (BIRL), Guangdong University of Technology, Guangzhou, China, 510006"],"affiliations":[{"raw_affiliation_string":"Biomimetic and Intelligent Robotics Lab (BIRL), Guangdong University of Technology, Guangzhou, China, 510006","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100709161","display_name":"Tao Zhang","orcid":"https://orcid.org/0000-0001-8236-8818"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tao Zhang","raw_affiliation_strings":["Biomimetic and Intelligent Robotics Lab (BIRL), Guangdong University of Technology, Guangzhou, China, 510006"],"affiliations":[{"raw_affiliation_string":"Biomimetic and Intelligent Robotics Lab (BIRL), Guangdong University of Technology, Guangzhou, China, 510006","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083472752","display_name":"Danwei Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Danwei Wang","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore, 639798"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore, 639798","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013471002","display_name":"Yisheng Guan","orcid":"https://orcid.org/0000-0002-7011-0331"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yisheng Guan","raw_affiliation_strings":["Biomimetic and Intelligent Robotics Lab (BIRL), Guangdong University of Technology, Guangzhou, China, 510006"],"affiliations":[{"raw_affiliation_string":"Biomimetic and Intelligent Robotics Lab (BIRL), Guangdong University of Technology, Guangzhou, China, 510006","institution_ids":["https://openalex.org/I139024713"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5101805007"],"corresponding_institution_ids":["https://openalex.org/I139024713"],"apc_list":null,"apc_paid":null,"fwci":0.2024,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.54639406,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"499","last_page":"504"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9994000196456909,"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":0.9994000196456909,"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":0.9991000294685364,"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/T12549","display_name":"Image and Object Detection Techniques","score":0.9979000091552734,"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":0.7626157402992249},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.7085071206092834},{"id":"https://openalex.org/keywords/detector","display_name":"Detector","score":0.7047803997993469},{"id":"https://openalex.org/keywords/single-shot","display_name":"Single shot","score":0.6942091584205627},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.659981906414032},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6506307125091553},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.6497945785522461},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.615218997001648},{"id":"https://openalex.org/keywords/template-matching","display_name":"Template matching","score":0.5422696471214294},{"id":"https://openalex.org/keywords/shot","display_name":"Shot (pellet)","score":0.48908764123916626},{"id":"https://openalex.org/keywords/one-shot","display_name":"One shot","score":0.4325401484966278},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4017137289047241},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.13576841354370117},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11231082677841187},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10480934381484985},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.09209051728248596},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.07669064402580261},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.05673918128013611},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.050092458724975586}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7626157402992249},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.7085071206092834},{"id":"https://openalex.org/C94915269","wikidata":"https://www.wikidata.org/wiki/Q1834857","display_name":"Detector","level":2,"score":0.7047803997993469},{"id":"https://openalex.org/C3019835501","wikidata":"https://www.wikidata.org/wiki/Q1310130","display_name":"Single shot","level":2,"score":0.6942091584205627},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.659981906414032},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6506307125091553},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.6497945785522461},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.615218997001648},{"id":"https://openalex.org/C158096908","wikidata":"https://www.wikidata.org/wiki/Q3983303","display_name":"Template matching","level":3,"score":0.5422696471214294},{"id":"https://openalex.org/C2778344882","wikidata":"https://www.wikidata.org/wiki/Q278938","display_name":"Shot (pellet)","level":2,"score":0.48908764123916626},{"id":"https://openalex.org/C2992734406","wikidata":"https://www.wikidata.org/wiki/Q413267","display_name":"One shot","level":2,"score":0.4325401484966278},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4017137289047241},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.13576841354370117},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11231082677841187},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10480934381484985},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.09209051728248596},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.07669064402580261},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.05673918128013611},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.050092458724975586},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C178790620","wikidata":"https://www.wikidata.org/wiki/Q11351","display_name":"Organic chemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/etfa.2019.8869384","is_oa":false,"landing_page_url":"https://doi.org/10.1109/etfa.2019.8869384","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4099999964237213,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W62794737","https://openalex.org/W639708223","https://openalex.org/W1022526533","https://openalex.org/W1536680647","https://openalex.org/W1845766086","https://openalex.org/W2020682184","https://openalex.org/W2049981393","https://openalex.org/W2101199297","https://openalex.org/W2135625544","https://openalex.org/W2160643963","https://openalex.org/W2160821342","https://openalex.org/W2161168419","https://openalex.org/W2163605009","https://openalex.org/W2357520300","https://openalex.org/W2522592219","https://openalex.org/W2613718673","https://openalex.org/W2789145755","https://openalex.org/W2953384591","https://openalex.org/W2963037989","https://openalex.org/W2963150697","https://openalex.org/W2964249569","https://openalex.org/W3106250896","https://openalex.org/W6620707391","https://openalex.org/W6628973269","https://openalex.org/W6684191040","https://openalex.org/W6713134421","https://openalex.org/W6748617018","https://openalex.org/W6785652829"],"related_works":["https://openalex.org/W3142396426","https://openalex.org/W2471333042","https://openalex.org/W2497720472","https://openalex.org/W4292659306","https://openalex.org/W2955491601","https://openalex.org/W3044321615","https://openalex.org/W4294892107","https://openalex.org/W2806221744","https://openalex.org/W146529714","https://openalex.org/W2316500695"],"abstract_inverted_index":{"In":[0,223],"order":[1,102],"to":[2,80,99,219],"improve":[3],"the":[4,9,13,48,64,90,96,100,104,110,115,126,129,132,135,155,165,171,178,182,189,202,205,225,238],"robot's":[5],"perception":[6],"ability":[7],"in":[8,181],"complicated":[10],"environment,":[11,15],"especially":[12],"unstructured":[14],"a":[16,234],"framework":[17,210],"of":[18,66,69,103,134,159,170,188,204,227,237],"3D":[19],"object":[20,50,136,147,166,212],"detection":[21,51,118,148,213],"and":[22,30,42,62,113,214],"pose":[23,45,133,167,183,215],"estimation":[24,184,216],"using":[25,140],"single":[26,58],"shot":[27,59],"detector":[28,60],"(SSD)":[29],"modified":[31],"LineMOD":[32,74],"template":[33,75],"matching":[34,76],"is":[35,55,77,137,174,192,217,230,233],"proposed,":[36],"which":[37,232],"can":[38],"detect":[39],"multiple":[40,117],"objects":[41,71,161],"estimate":[43],"their":[44],"simultaneously.":[46],"Firstly,":[47],"initial":[49],"(the":[52,120],"first":[53],"detection)":[54],"realized":[56],"by":[57,89,139],"network":[61],"therefore":[63],"region":[65],"interest":[67],"(RoI)":[68],"target":[70],"are":[72,87],"generated.":[73],"then":[78],"applied":[79],"provide":[81,114],"candidate":[82],"templates.":[83],"These":[84],"calculated":[85],"templates":[86],"grouped":[88],"designed":[91],"clustering":[92],"algorithm.":[93,145],"After":[94],"sorting":[95],"clusters":[97],"according":[98],"descending":[101],"average":[105,156],"similarity,":[106],"non-maximum":[107],"suppression":[108],"removes":[109],"similar":[111],"results":[112,119,127],"further":[116],"second":[121,130],"detection).":[122],"Finally,":[123],"based":[124],"on":[125,152],"from":[128],"detection,":[131],"estimated":[138],"iterative":[141],"closest":[142],"point":[143],"(ICP)":[144],"The":[146],"experiments":[149,200],"show":[150],"that":[151],"Tejani":[153],"dataset,":[154],"recognition":[157],"rate":[158],"six":[160],"reaches":[162],"99.25%.":[163],"For":[164],"estimation,":[168],"F1":[169,187],"proposed":[172,206],"method":[173,180],"21.7%":[175],"higher":[176,194],"than":[177,195],"conventional":[179],"experiments.":[185],"Also,":[186],"presented":[190],"algorithm":[191],"9.5%":[193],"Deep-6Dpose":[196],"method.":[197],"Both":[198],"comparison":[199],"verify":[201],"effectiveness":[203],"framework.":[207],"Further,":[208],"this":[209],"for":[211],"employed":[218],"do":[220],"robotic":[221],"grasping.":[222],"particular,":[224],"workpiece":[226],"steel":[228],"plates":[229],"grabbed,":[231],"necessary":[235],"procedure":[236],"polishing":[239],"technique.":[240]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}