{"id":"https://openalex.org/W3090568501","doi":"https://doi.org/10.1109/etfa46521.2020.9211967","title":"Kinematic Structures Estimation on the RGB-D Images","display_name":"Kinematic Structures Estimation on the RGB-D Images","publication_year":2020,"publication_date":"2020-09-01","ids":{"openalex":"https://openalex.org/W3090568501","doi":"https://doi.org/10.1109/etfa46521.2020.9211967","mag":"3090568501"},"language":"en","primary_location":{"id":"doi:10.1109/etfa46521.2020.9211967","is_oa":false,"landing_page_url":"https://doi.org/10.1109/etfa46521.2020.9211967","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 25th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)","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/A5090443600","display_name":"Rafa\u0142 Staszak","orcid":"https://orcid.org/0000-0002-5235-4201"},"institutions":[{"id":"https://openalex.org/I46597724","display_name":"Pozna\u0144 University of Technology","ror":"https://ror.org/00p7p3302","country_code":"PL","type":"education","lineage":["https://openalex.org/I46597724"]}],"countries":["PL"],"is_corresponding":false,"raw_author_name":"Rafal Staszak","raw_affiliation_strings":["Institute of Robotics and Machine Intelligence, Poznan University of Technology, Poznan, Poland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Machine Intelligence, Poznan University of Technology, Poznan, Poland","institution_ids":["https://openalex.org/I46597724"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058530064","display_name":"Milena Molska","orcid":"https://orcid.org/0000-0001-8001-6464"},"institutions":[{"id":"https://openalex.org/I46597724","display_name":"Pozna\u0144 University of Technology","ror":"https://ror.org/00p7p3302","country_code":"PL","type":"education","lineage":["https://openalex.org/I46597724"]}],"countries":["PL"],"is_corresponding":false,"raw_author_name":"Milena Molska","raw_affiliation_strings":["Institute of Robotics and Machine Intelligence, Poznan University of Technology, Poznan, Poland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Machine Intelligence, Poznan University of Technology, Poznan, Poland","institution_ids":["https://openalex.org/I46597724"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058513166","display_name":"Kamil M\u0142odzikowski","orcid":"https://orcid.org/0000-0002-9761-1400"},"institutions":[{"id":"https://openalex.org/I46597724","display_name":"Pozna\u0144 University of Technology","ror":"https://ror.org/00p7p3302","country_code":"PL","type":"education","lineage":["https://openalex.org/I46597724"]}],"countries":["PL"],"is_corresponding":false,"raw_author_name":"Kamil Mlodzikowski","raw_affiliation_strings":["Institute of Robotics and Machine Intelligence, Poznan University of Technology, Poznan, Poland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Machine Intelligence, Poznan University of Technology, Poznan, Poland","institution_ids":["https://openalex.org/I46597724"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063968173","display_name":"Justyna Ataman","orcid":null},"institutions":[{"id":"https://openalex.org/I46597724","display_name":"Pozna\u0144 University of Technology","ror":"https://ror.org/00p7p3302","country_code":"PL","type":"education","lineage":["https://openalex.org/I46597724"]}],"countries":["PL"],"is_corresponding":false,"raw_author_name":"Justyna Ataman","raw_affiliation_strings":["Institute of Robotics and Machine Intelligence, Poznan University of Technology, Poznan, Poland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Machine Intelligence, Poznan University of Technology, Poznan, Poland","institution_ids":["https://openalex.org/I46597724"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065531863","display_name":"Dominik Belter","orcid":"https://orcid.org/0000-0003-3002-9747"},"institutions":[{"id":"https://openalex.org/I46597724","display_name":"Pozna\u0144 University of Technology","ror":"https://ror.org/00p7p3302","country_code":"PL","type":"education","lineage":["https://openalex.org/I46597724"]}],"countries":["PL"],"is_corresponding":false,"raw_author_name":"Dominik Belter","raw_affiliation_strings":["Institute of Robotics and Machine Intelligence, Poznan University of Technology, Poznan, Poland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Machine Intelligence, Poznan University of Technology, Poznan, Poland","institution_ids":["https://openalex.org/I46597724"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I46597724"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"675","last_page":"681"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.9997000098228455,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9997000098228455,"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":0.9994000196456909,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9991000294685364,"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-vision","display_name":"Computer vision","score":0.8373157978057861},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.8305985927581787},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7442589998245239},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.6371952891349792},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6076247096061707},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.602414071559906},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6016842722892761},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5834478735923767},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.5811415314674377},{"id":"https://openalex.org/keywords/doors","display_name":"Doors","score":0.5319167971611023},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5141613483428955},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.45927363634109497},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.4458509087562561},{"id":"https://openalex.org/keywords/3d-pose-estimation","display_name":"3D pose estimation","score":0.43629083037376404},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4179118871688843},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.15667608380317688}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.8373157978057861},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8305985927581787},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7442589998245239},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.6371952891349792},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6076247096061707},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.602414071559906},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6016842722892761},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5834478735923767},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.5811415314674377},{"id":"https://openalex.org/C125209513","wikidata":"https://www.wikidata.org/wiki/Q4037520","display_name":"Doors","level":2,"score":0.5319167971611023},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5141613483428955},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.45927363634109497},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.4458509087562561},{"id":"https://openalex.org/C36613465","wikidata":"https://www.wikidata.org/wiki/Q4636322","display_name":"3D pose estimation","level":3,"score":0.43629083037376404},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4179118871688843},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.15667608380317688},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/etfa46521.2020.9211967","is_oa":false,"landing_page_url":"https://doi.org/10.1109/etfa46521.2020.9211967","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 25th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6800000071525574,"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":26,"referenced_works":["https://openalex.org/W1504587477","https://openalex.org/W1517508454","https://openalex.org/W1570540164","https://openalex.org/W2002553951","https://openalex.org/W2026373015","https://openalex.org/W2044454000","https://openalex.org/W2113325037","https://openalex.org/W2138537392","https://openalex.org/W2152195021","https://openalex.org/W2168224686","https://openalex.org/W2294729144","https://openalex.org/W2326638937","https://openalex.org/W2475779945","https://openalex.org/W2543580944","https://openalex.org/W2557728737","https://openalex.org/W2962811204","https://openalex.org/W2963150697","https://openalex.org/W2963327026","https://openalex.org/W2964249569","https://openalex.org/W2968108377","https://openalex.org/W3104073816","https://openalex.org/W3106250896","https://openalex.org/W6684698518","https://openalex.org/W6735463952","https://openalex.org/W6746154266","https://openalex.org/W6785652829"],"related_works":["https://openalex.org/W4253893311","https://openalex.org/W3089306886","https://openalex.org/W2113785214","https://openalex.org/W2798721181","https://openalex.org/W3201205132","https://openalex.org/W4387967917","https://openalex.org/W4312694060","https://openalex.org/W4386075737","https://openalex.org/W4382141741","https://openalex.org/W2951583186"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,100,151],"propose":[4],"a":[5,67,85],"system":[6],"which":[7,34,107],"detects":[8],"and":[9,32,41,121,132],"estimates":[10],"the":[11,17,38,47,56,76,80,97,102,105,110,114,118,124,128,134,137,140,146,157,165],"kinematic":[12],"structures":[13],"of":[14,26,50,87,123,145],"objects":[15,27,78,155],"in":[16,23,37,156],"indoor":[18,158],"environment.":[19],"We":[20,53,65,130],"are":[21,35],"interested":[22],"specific":[24],"types":[25],"like":[28],"doors,":[29,31],"sliding":[30],"drawers":[33],"common":[36],"human":[39],"environment":[40,159],"very":[42],"important":[43],"taking":[44],"into":[45,91],"account":[46,92],"full":[48],"autonomy":[49],"mobile":[51,57,166],"robots.":[52],"assume":[54],"that":[55,150],"robot":[58],"is":[59],"equipped":[60],"with":[61],"an":[62],"RGB-D":[63,88],"camera.":[64],"utilize":[66],"Convolutional":[68],"Neural":[69],"Network-based":[70],"(CNN-based)":[71],"object":[72],"detector":[73],"to":[74,109],"locate":[75],"articulated":[77,98,111,154],"on":[79,104,127,136,164],"input":[81],"image":[82,106],"created":[83],"from":[84,139],"pair":[86],"images.":[89],"Taking":[90],"strong":[93],"prior":[94],"knowledge":[95],"about":[96],"object,":[99],"detect":[101],"segments":[103],"belong":[108],"object.":[112],"Then,":[113],"optimization-based":[115],"procedure":[116],"finds":[117],"3D":[119],"pose":[120],"configuration":[122],"joint":[125],"detected":[126],"scene.":[129],"train":[131],"verify":[133],"method":[135,148],"images":[138],"Kinect":[141],"sensor.":[142],"The":[143],"performance":[144],"proposed":[147],"shows":[149],"can":[152],"estimate":[153],"using":[160],"typical":[161],"sensors":[162],"available":[163],"robot.":[167]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
