{"id":"https://openalex.org/W2021683594","doi":"https://doi.org/10.1109/icra.2012.6225116","title":"3DNet: Large-scale object class recognition from CAD models","display_name":"3DNet: Large-scale object class recognition from CAD models","publication_year":2012,"publication_date":"2012-05-01","ids":{"openalex":"https://openalex.org/W2021683594","doi":"https://doi.org/10.1109/icra.2012.6225116","mag":"2021683594"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2012.6225116","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6225116","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","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/A5061458052","display_name":"Walter Wohlkinger","orcid":null},"institutions":[{"id":"https://openalex.org/I145847075","display_name":"TU Wien","ror":"https://ror.org/04d836q62","country_code":"AT","type":"education","lineage":["https://openalex.org/I145847075"]}],"countries":["AT"],"is_corresponding":true,"raw_author_name":"Walter Wohlkinger","raw_affiliation_strings":["Vision4Robotics Group Automation and Control Institute, University of Technology, Vienna, Austria","Vision4Robotics group, Automation and Control Institute, Vienna University of Technology, Austria"],"affiliations":[{"raw_affiliation_string":"Vision4Robotics Group Automation and Control Institute, University of Technology, Vienna, Austria","institution_ids":["https://openalex.org/I145847075"]},{"raw_affiliation_string":"Vision4Robotics group, Automation and Control Institute, Vienna University of Technology, Austria","institution_ids":["https://openalex.org/I145847075"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113622338","display_name":"Aitor Aldom\u00e0","orcid":null},"institutions":[{"id":"https://openalex.org/I145847075","display_name":"TU Wien","ror":"https://ror.org/04d836q62","country_code":"AT","type":"education","lineage":["https://openalex.org/I145847075"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Aitor Aldoma","raw_affiliation_strings":["Vision4Robotics Group Automation and Control Institute, University of Technology, Vienna, Austria","Vision4Robotics group, Automation and Control Institute, Vienna University of Technology, Austria"],"affiliations":[{"raw_affiliation_string":"Vision4Robotics Group Automation and Control Institute, University of Technology, Vienna, Austria","institution_ids":["https://openalex.org/I145847075"]},{"raw_affiliation_string":"Vision4Robotics group, Automation and Control Institute, Vienna University of Technology, Austria","institution_ids":["https://openalex.org/I145847075"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112225953","display_name":"Radu Bogdan Rusu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210117999","display_name":"Willow Wood (United States)","ror":"https://ror.org/02hrkdj18","country_code":"US","type":"company","lineage":["https://openalex.org/I4210117999"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Radu B. Rusu","raw_affiliation_strings":["Willow Garage, Inc., Menlo Park, USA","Willow Garage, Menlo Park, USA"],"affiliations":[{"raw_affiliation_string":"Willow Garage, Inc., Menlo Park, USA","institution_ids":[]},{"raw_affiliation_string":"Willow Garage, Menlo Park, USA","institution_ids":["https://openalex.org/I4210117999"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013565399","display_name":"Markus Vincze","orcid":"https://orcid.org/0000-0002-2799-491X"},"institutions":[{"id":"https://openalex.org/I145847075","display_name":"TU Wien","ror":"https://ror.org/04d836q62","country_code":"AT","type":"education","lineage":["https://openalex.org/I145847075"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Markus Vincze","raw_affiliation_strings":["Vision4Robotics Group Automation and Control Institute, University of Technology, Vienna, Austria","Vision4Robotics group, Automation and Control Institute, Vienna University of Technology, Austria"],"affiliations":[{"raw_affiliation_string":"Vision4Robotics Group Automation and Control Institute, University of Technology, Vienna, Austria","institution_ids":["https://openalex.org/I145847075"]},{"raw_affiliation_string":"Vision4Robotics group, Automation and Control Institute, Vienna University of Technology, Austria","institution_ids":["https://openalex.org/I145847075"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5061458052"],"corresponding_institution_ids":["https://openalex.org/I145847075"],"apc_list":null,"apc_paid":null,"fwci":186.7129,"has_fulltext":false,"cited_by_count":140,"citation_normalized_percentile":{"value":0.99933131,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"5384","last_page":"5391"},"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12549","display_name":"Image and Object Detection Techniques","score":0.9965999722480774,"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":0.8030523061752319},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7406774759292603},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.717487096786499},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.6844156384468079},{"id":"https://openalex.org/keywords/cognitive-neuroscience-of-visual-object-recognition","display_name":"Cognitive neuroscience of visual object recognition","score":0.6584020256996155},{"id":"https://openalex.org/keywords/benchmarking","display_name":"Benchmarking","score":0.6452292799949646},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6273322701454163},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6221103072166443},{"id":"https://openalex.org/keywords/3d-single-object-recognition","display_name":"3D single-object recognition","score":0.6219308972358704},{"id":"https://openalex.org/keywords/class","display_name":"Class (philosophy)","score":0.6019268035888672},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.5208961963653564},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.517625629901886},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.43262746930122375},{"id":"https://openalex.org/keywords/cad","display_name":"CAD","score":0.4273250699043274},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.41094809770584106},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.33798110485076904},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3039563298225403},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09761354327201843},{"id":"https://openalex.org/keywords/engineering-drawing","display_name":"Engineering drawing","score":0.07196205854415894}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8030523061752319},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7406774759292603},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.717487096786499},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.6844156384468079},{"id":"https://openalex.org/C64876066","wikidata":"https://www.wikidata.org/wiki/Q5141226","display_name":"Cognitive neuroscience of visual object recognition","level":3,"score":0.6584020256996155},{"id":"https://openalex.org/C86251818","wikidata":"https://www.wikidata.org/wiki/Q816754","display_name":"Benchmarking","level":2,"score":0.6452292799949646},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6273322701454163},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6221103072166443},{"id":"https://openalex.org/C14551309","wikidata":"https://www.wikidata.org/wiki/Q4636325","display_name":"3D single-object recognition","level":4,"score":0.6219308972358704},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.6019268035888672},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.5208961963653564},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.517625629901886},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.43262746930122375},{"id":"https://openalex.org/C194789388","wikidata":"https://www.wikidata.org/wiki/Q17855283","display_name":"CAD","level":2,"score":0.4273250699043274},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.41094809770584106},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.33798110485076904},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3039563298225403},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09761354327201843},{"id":"https://openalex.org/C199639397","wikidata":"https://www.wikidata.org/wiki/Q1788588","display_name":"Engineering drawing","level":1,"score":0.07196205854415894},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.0},{"id":"https://openalex.org/C162853370","wikidata":"https://www.wikidata.org/wiki/Q39809","display_name":"Marketing","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/icra.2012.6225116","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6225116","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","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":32,"referenced_works":["https://openalex.org/W1520396484","https://openalex.org/W1561952261","https://openalex.org/W1966859547","https://openalex.org/W2016845004","https://openalex.org/W2031342017","https://openalex.org/W2033574012","https://openalex.org/W2038721957","https://openalex.org/W2041469568","https://openalex.org/W2049981393","https://openalex.org/W2063463366","https://openalex.org/W2099606917","https://openalex.org/W2104974755","https://openalex.org/W2106766627","https://openalex.org/W2108598243","https://openalex.org/W2110764733","https://openalex.org/W2134601920","https://openalex.org/W2151245724","https://openalex.org/W2152864241","https://openalex.org/W2156222070","https://openalex.org/W2157660645","https://openalex.org/W2157692698","https://openalex.org/W2160643963","https://openalex.org/W2171467993","https://openalex.org/W2901136733","https://openalex.org/W3150575387","https://openalex.org/W4235505822","https://openalex.org/W4239072543","https://openalex.org/W6633448084","https://openalex.org/W6676297131","https://openalex.org/W6683253545","https://openalex.org/W6684958835","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W4320086129","https://openalex.org/W196505194","https://openalex.org/W2578478211","https://openalex.org/W2207218974","https://openalex.org/W2387237626","https://openalex.org/W2182443753","https://openalex.org/W2014001742","https://openalex.org/W2403129783","https://openalex.org/W2188151889","https://openalex.org/W1841786463"],"abstract_inverted_index":{"3D":[0,51],"object":[1,3,24,85,116],"and":[2,15,35,56,68,88,108,114,149,166],"class":[4,25,86],"recognition":[5,26,87],"gained":[6],"momentum":[7],"with":[8,103,110,119,128,155],"the":[9,42,62,140],"arrival":[10],"of":[11,29,58,106,125,151],"low-cost":[12],"RGB-D":[13,130],"sensors":[14],"enables":[16],"robotics":[17,73,161],"tasks":[18,162],"not":[19],"feasible":[20],"years":[21],"ago.":[22],"Scaling":[23],"to":[27,159],"hundreds":[28],"classes":[30,107,117],"still":[31],"requires":[32],"extensive":[33],"time":[34],"many":[36],"objects":[37,60],"for":[38,49,72,84,145],"learning.":[39],"To":[40],"overcome":[41],"training":[43],"issue,":[44],"we":[45],"introduce":[46],"a":[47,81,98,129],"methodology":[48],"learning":[50],"descriptors":[52,148,153],"from":[53,92],"synthetic":[54],"CAD-models":[55],"classification":[57,66],"never-before-seen":[59],"at":[61],"first":[63],"glance,":[64],"where":[65],"rates":[67],"speed":[69],"are":[70],"suited":[71],"tasks.":[74],"We":[75],"provide":[76],"this":[77],"in":[78],"3DNet":[79,96,132],"(3d-net.org),":[80],"free":[82],"resource":[83],"6DOF":[89],"pose":[90,156],"estimation":[91,157],"point":[93],"cloud":[94],"data.":[95],"provides":[97,134],"large-scale":[99],"hierarchical":[100],"CAD-model":[101],"databases":[102],"increasing":[104],"numbers":[105],"difficulty":[109],"10,":[111],"50,":[112],"100":[113],"200":[115],"together":[118,154],"evaluation":[120],"datasets":[121],"that":[122],"contain":[123],"thousands":[124],"scenes":[126],"captured":[127],"sensor.":[131],"further":[133],"an":[135],"open-source":[136],"framework":[137],"based":[138],"on":[139],"Point":[141],"Cloud":[142],"Library":[143],"(PCL)":[144],"testing":[146],"new":[147],"benchmarking":[150],"state-of-the-art":[152],"procedures":[158],"enable":[160],"such":[163],"as":[164],"search":[165],"grasping.":[167]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":12},{"year":2021,"cited_by_count":15},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":14},{"year":2018,"cited_by_count":13},{"year":2017,"cited_by_count":13},{"year":2016,"cited_by_count":15},{"year":2015,"cited_by_count":9},{"year":2014,"cited_by_count":12},{"year":2013,"cited_by_count":4}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}