{"id":"https://openalex.org/W2117765697","doi":"https://doi.org/10.1109/icra.2011.5980284","title":"A Gaussian measurement model for local interest point based 6 DOF pose estimation","display_name":"A Gaussian measurement model for local interest point based 6 DOF pose estimation","publication_year":2011,"publication_date":"2011-05-01","ids":{"openalex":"https://openalex.org/W2117765697","doi":"https://doi.org/10.1109/icra.2011.5980284","mag":"2117765697"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2011.5980284","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980284","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://mediatum.ub.tum.de/node?id=1327141","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5111017743","display_name":"Thilo Grundmann","orcid":null},"institutions":[{"id":"https://openalex.org/I1325886976","display_name":"Siemens (Germany)","ror":"https://ror.org/059mq0909","country_code":"DE","type":"company","lineage":["https://openalex.org/I1325886976"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Thilo Grundmann","raw_affiliation_strings":["Corporate Technology, Intelligent Systems & Control, Siemens AG, Munich, Germany","Corporate Technology, Intelligent Systems & Control, Siemens AG, D-80200 Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Corporate Technology, Intelligent Systems & Control, Siemens AG, Munich, Germany","institution_ids":["https://openalex.org/I1325886976"]},{"raw_affiliation_string":"Corporate Technology, Intelligent Systems & Control, Siemens AG, D-80200 Munich, Germany","institution_ids":["https://openalex.org/I1325886976"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025706455","display_name":"Wendelin Feiten","orcid":"https://orcid.org/0000-0002-7593-6298"},"institutions":[{"id":"https://openalex.org/I1325886976","display_name":"Siemens (Germany)","ror":"https://ror.org/059mq0909","country_code":"DE","type":"company","lineage":["https://openalex.org/I1325886976"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Wendelin Feiten","raw_affiliation_strings":["Corporate Technology, Intelligent Systems & Control, Siemens AG, Munich, Germany","Corporate Technology, Intelligent Systems & Control, Siemens AG, D-80200 Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Corporate Technology, Intelligent Systems & Control, Siemens AG, Munich, Germany","institution_ids":["https://openalex.org/I1325886976"]},{"raw_affiliation_string":"Corporate Technology, Intelligent Systems & Control, Siemens AG, D-80200 Munich, Germany","institution_ids":["https://openalex.org/I1325886976"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020197129","display_name":"Georg von Wichert","orcid":null},"institutions":[{"id":"https://openalex.org/I1325886976","display_name":"Siemens (Germany)","ror":"https://ror.org/059mq0909","country_code":"DE","type":"company","lineage":["https://openalex.org/I1325886976"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Georg v. Wichert","raw_affiliation_strings":["Corporate Technology, Intelligent Systems & Control, Siemens AG, Munich, Germany","Corporate Technology, Intelligent Systems & Control, Siemens AG, D-80200 Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Corporate Technology, Intelligent Systems & Control, Siemens AG, Munich, Germany","institution_ids":["https://openalex.org/I1325886976"]},{"raw_affiliation_string":"Corporate Technology, Intelligent Systems & Control, Siemens AG, D-80200 Munich, Germany","institution_ids":["https://openalex.org/I1325886976"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5111017743"],"corresponding_institution_ids":["https://openalex.org/I1325886976"],"apc_list":null,"apc_paid":null,"fwci":24.2141,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.98990638,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"2085","last_page":"2090"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9968000054359436,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9927999973297119,"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/robustness","display_name":"Robustness (evolution)","score":0.6873040199279785},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6653884649276733},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.6020601987838745},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5783702731132507},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5686272978782654},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.5528775453567505},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.5163315534591675},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.5027933120727539},{"id":"https://openalex.org/keywords/service-robot","display_name":"Service robot","score":0.48311495780944824},{"id":"https://openalex.org/keywords/particle-filter","display_name":"Particle filter","score":0.42958056926727295},{"id":"https://openalex.org/keywords/statistical-model","display_name":"Statistical model","score":0.4212755858898163},{"id":"https://openalex.org/keywords/bayesian-probability","display_name":"Bayesian probability","score":0.4177362620830536},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3837130069732666},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.2192557156085968}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6873040199279785},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6653884649276733},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.6020601987838745},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5783702731132507},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5686272978782654},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.5528775453567505},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.5163315534591675},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.5027933120727539},{"id":"https://openalex.org/C2776228582","wikidata":"https://www.wikidata.org/wiki/Q7455797","display_name":"Service robot","level":3,"score":0.48311495780944824},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.42958056926727295},{"id":"https://openalex.org/C114289077","wikidata":"https://www.wikidata.org/wiki/Q3284399","display_name":"Statistical model","level":2,"score":0.4212755858898163},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.4177362620830536},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3837130069732666},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.2192557156085968},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2011.5980284","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980284","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1327141","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1327141","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:mediatum.ub.tum.de:node/1327141","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1327141","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321114","display_name":"Bundesministerium f\u00fcr Bildung und Forschung","ror":"https://ror.org/04pz7b180"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W208055789","https://openalex.org/W1497683200","https://openalex.org/W1628937209","https://openalex.org/W1825120835","https://openalex.org/W2033057584","https://openalex.org/W2078577146","https://openalex.org/W2085261163","https://openalex.org/W2088115584","https://openalex.org/W2097320252","https://openalex.org/W2112725185","https://openalex.org/W2119605622","https://openalex.org/W2124386111","https://openalex.org/W2132086397","https://openalex.org/W2133192850","https://openalex.org/W2140187121","https://openalex.org/W2140605430","https://openalex.org/W2146447720","https://openalex.org/W2151103935","https://openalex.org/W2156598602","https://openalex.org/W2157237807","https://openalex.org/W2161112350","https://openalex.org/W2169657771","https://openalex.org/W6608493619","https://openalex.org/W6629675783","https://openalex.org/W6674518899","https://openalex.org/W6679643019"],"related_works":["https://openalex.org/W2123263858","https://openalex.org/W3127959533","https://openalex.org/W2015530857","https://openalex.org/W4387967917","https://openalex.org/W2556064263","https://openalex.org/W1991846142","https://openalex.org/W4387968151","https://openalex.org/W1583020711","https://openalex.org/W4386925306","https://openalex.org/W3132124459"],"abstract_inverted_index":{"One":[0],"of":[1,14,83,135],"the":[2,12,42,52,84,111,119,125,136,141,162],"main":[3],"challenges":[4],"for":[5,28,153],"service":[6],"robots":[7],"during":[8],"operation":[9],"lies":[10],"in":[11,62,173],"handling":[13],"unavoidable":[15],"uncertainties":[16,44],"which":[17,25,63],"originate":[18],"from":[19,161],"model":[20,97,164],"and":[21,24,48,72,101,123],"sensor":[22],"inaccuracies":[23],"are":[26,45,88],"characteristic":[27],"realistic":[29],"application":[30],"scenarios.":[31],"Robustness":[32],"under":[33],"real":[34],"world":[35],"conditions":[36],"can":[37],"only":[38],"be":[39],"achieved":[40],"when":[41],"dominant":[43],"explicitly":[46],"represented":[47],"purposefully":[49],"managed":[50],"by":[51],"robot's":[53,85],"control":[54],"system.":[55,103],"We":[56,130],"therefore":[57],"adopt":[58],"a":[59,68,74,96,132,150,174],"probabilistic":[60,81],"approach":[61],"perception":[64,86],"is":[65,146,158],"regarded":[66],"as":[67,149],"sequential":[69],"estimation":[70,114],"process":[71],"follow":[73],"Bayesian":[75,175],"filtering":[76,176],"methodology.":[77],"Under":[78],"these":[79],"assumptions":[80],"models":[82],"systems":[87],"key.":[89],"In":[90],"this":[91],"paper":[92],"we":[93,105],"shortly":[94],"describe":[95],"based":[98,169],"object":[99,167],"recognition":[100],"localization":[102,168],"However,":[104],"do":[106],"not":[107,108],"focus":[109],"on":[110,118,170],"6D":[112,166],"pose":[113,138],"procedure":[115],"itself,":[116],"but":[117],"method":[120],"to":[121,159],"quantify":[122],"compute":[124],"uncertainty":[126],"associated":[127],"with":[128],"it.":[129],"construct":[131],"Gaussian":[133],"approximation":[134],"resulting":[137],"error":[139],"using":[140],"implicit":[142],"function":[143],"theorem.":[144],"It":[145],"then":[147],"used":[148],"proposal":[151],"density":[152],"importance":[154],"sampling.":[155],"Our":[156],"goal":[157],"sample":[160],"measurement":[163],"describing":[165],"local":[171],"features":[172],"context.":[177]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}