{"id":"https://openalex.org/W2980046350","doi":"https://doi.org/10.1109/humanoids43949.2019.9035024","title":"Refining 6D Object Pose Predictions using Abstract Render-and-Compare","display_name":"Refining 6D Object Pose Predictions using Abstract Render-and-Compare","publication_year":2019,"publication_date":"2019-10-01","ids":{"openalex":"https://openalex.org/W2980046350","doi":"https://doi.org/10.1109/humanoids43949.2019.9035024","mag":"2980046350"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids43949.2019.9035024","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids43949.2019.9035024","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1910.03412","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5007129803","display_name":"Arul Selvam Periyasamy","orcid":"https://orcid.org/0000-0002-9320-3928"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Arul Selvam Periyasamy","raw_affiliation_strings":["Autonomous Intelligent Systems (AIS) Group, Computer Science Institute VI, University of Bonn, Germany","University of Bonn >  >  >  >"],"affiliations":[{"raw_affiliation_string":"Autonomous Intelligent Systems (AIS) Group, Computer Science Institute VI, University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"University of Bonn >  >  >  >","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023789533","display_name":"Max Schwarz","orcid":"https://orcid.org/0000-0002-9942-6604"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Max Schwarz","raw_affiliation_strings":["Autonomous Intelligent Systems (AIS) Group, Computer Science Institute VI, University of Bonn, Germany","Autonomous Intelligent Systems (AIS)Group, Computer Science Institute VI, University of Bonn, Germany"],"affiliations":[{"raw_affiliation_string":"Autonomous Intelligent Systems (AIS) Group, Computer Science Institute VI, University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"Autonomous Intelligent Systems (AIS)Group, Computer Science Institute VI, University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5027761977","display_name":"Sven Behnke","orcid":"https://orcid.org/0000-0002-5040-7525"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sven Behnke","raw_affiliation_strings":["Autonomous Intelligent Systems (AIS) Group, Computer Science Institute VI, University of Bonn, Germany","Autonomous Intelligent Systems (AIS)Group, Computer Science Institute VI, University of Bonn, Germany"],"affiliations":[{"raw_affiliation_string":"Autonomous Intelligent Systems (AIS) Group, Computer Science Institute VI, University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"Autonomous Intelligent Systems (AIS)Group, Computer Science Institute VI, University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5007129803"],"corresponding_institution_ids":["https://openalex.org/I135140700"],"apc_list":null,"apc_paid":null,"fwci":0.31691684,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.75376012,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"739","last_page":"746"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994000196456909,"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"}},"topics":[{"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9987000226974487,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9976999759674072,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.7985286712646484},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7769168019294739},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7616950273513794},{"id":"https://openalex.org/keywords/rendering","display_name":"Rendering (computer graphics)","score":0.647994875907898},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5820087790489197},{"id":"https://openalex.org/keywords/pixel","display_name":"Pixel","score":0.5315850377082825},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4864387512207031},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.43996894359588623},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.4183872938156128},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.3518826365470886}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7985286712646484},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7769168019294739},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7616950273513794},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.647994875907898},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5820087790489197},{"id":"https://openalex.org/C160633673","wikidata":"https://www.wikidata.org/wiki/Q355198","display_name":"Pixel","level":2,"score":0.5315850377082825},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4864387512207031},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.43996894359588623},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.4183872938156128},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.3518826365470886},{"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/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/humanoids43949.2019.9035024","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids43949.2019.9035024","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1910.03412","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1910.03412","pdf_url":"https://arxiv.org/pdf/1910.03412","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"doi:10.48550/arxiv.1910.03412","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1910.03412","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"},{"id":"mag:2980046350","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":null}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1910.03412","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1910.03412","pdf_url":"https://arxiv.org/pdf/1910.03412","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[{"score":0.4000000059604645,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2980046350.pdf","grobid_xml":"https://content.openalex.org/works/W2980046350.grobid-xml"},"referenced_works_count":33,"referenced_works":["https://openalex.org/W183071939","https://openalex.org/W2099628660","https://openalex.org/W2119717200","https://openalex.org/W2149550213","https://openalex.org/W2194775991","https://openalex.org/W2558625610","https://openalex.org/W2565356621","https://openalex.org/W2578075911","https://openalex.org/W2797394534","https://openalex.org/W2799123546","https://openalex.org/W2893890202","https://openalex.org/W2902812770","https://openalex.org/W2910764989","https://openalex.org/W2962783853","https://openalex.org/W2963188159","https://openalex.org/W2963207607","https://openalex.org/W2963318131","https://openalex.org/W2963527086","https://openalex.org/W2963730200","https://openalex.org/W2964000117","https://openalex.org/W2964287726","https://openalex.org/W2995747778","https://openalex.org/W3102734218","https://openalex.org/W4254569673","https://openalex.org/W6640425456","https://openalex.org/W6674958124","https://openalex.org/W6681979930","https://openalex.org/W6719936175","https://openalex.org/W6732004936","https://openalex.org/W6735920323","https://openalex.org/W6750429153","https://openalex.org/W6750445966","https://openalex.org/W6785846514"],"related_works":["https://openalex.org/W3011171290","https://openalex.org/W2963629310","https://openalex.org/W2408846072","https://openalex.org/W3015300235","https://openalex.org/W3110103760","https://openalex.org/W2773365015","https://openalex.org/W2950722529","https://openalex.org/W2565814686","https://openalex.org/W2953350888","https://openalex.org/W2578075911","https://openalex.org/W2946127255","https://openalex.org/W2982422620","https://openalex.org/W3138834753","https://openalex.org/W2200873549","https://openalex.org/W2910399693","https://openalex.org/W2991779855","https://openalex.org/W3148422687","https://openalex.org/W3084902463","https://openalex.org/W2907846557","https://openalex.org/W3100901148"],"abstract_inverted_index":{"Robotic":[0],"systems":[1],"often":[2,30],"require":[3],"precise":[4],"scene":[5,55,68],"analysis":[6],"capabilities,":[7],"especially":[8],"in":[9,15,124,147,157],"unstructured,":[10],"cluttered":[11,149],"situations,":[12],"as":[13,46,100],"occurring":[14],"human-made":[16],"environments.":[17],"While":[18],"current":[19],"deep-learning":[20],"based":[21],"methods":[22],"yield":[23],"good":[24],"estimates":[25],"of":[26,35,181],"object":[27,144,186],"poses,":[28],"they":[29],"struggle":[31],"with":[32],"large":[33,174,179],"amounts":[34],"occlusion":[36,91],"and":[37,90,176],"do":[38],"not":[39],"take":[40],"inter-object":[41],"effects":[42,98],"into":[43,118],"account.":[44],"Vision":[45],"inverse":[47,135],"graphics":[48],"is":[49,63,80],"a":[50,64,125,133,153,178],"promising":[51],"concept":[52],"for":[53,60,66],"detailed":[54],"analysis.":[56],"A":[57],"key":[58],"element":[59],"this":[61,138],"idea":[62],"method":[65],"inferring":[67],"parameter":[69],"updates":[70],"from":[71,110,128],"the":[72,77,88,108,111,115,158,167,184],"rasterized":[73,116],"2D":[74],"scene.":[75],"However,":[76],"rasterization":[78],"process":[79,112],"notoriously":[81],"difficult":[82],"to":[83,87,96,106,141],"invert,":[84],"both":[85],"due":[86,95],"projection":[89],"process,":[92],"but":[93],"also":[94],"secondary":[97],"such":[99],"lighting":[101],"or":[102],"reflections.":[103],"We":[104,162],"propose":[105],"remove":[107],"latter":[109],"by":[113,151],"mapping":[114],"image":[117,160],"an":[119],"abstract":[120,159],"feature":[121],"space":[122],"learned":[123],"self-supervised":[126],"way":[127],"pixel":[129],"correspondences.":[130],"Using":[131],"only":[132],"light-weight":[134],"rendering":[136],"module,":[137],"allows":[139],"us":[140],"refine":[142],"6D":[143],"pose":[145],"estimations":[146],"highly":[148],"scenes":[150],"optimizing":[152],"simple":[154],"pixel-wise":[155],"difference":[156],"representation.":[161],"evaluate":[163],"our":[164],"approach":[165],"on":[166],"challenging":[168],"YCB-Video":[169],"dataset,":[170],"where":[171],"it":[172],"yields":[173],"improvements":[175],"demonstrates":[177],"basin":[180],"attraction":[182],"towards":[183],"correct":[185],"poses.":[187]},"counts_by_year":[{"year":2020,"cited_by_count":1}],"updated_date":"2026-02-09T09:26:11.010843","created_date":"2025-10-10T00:00:00"}