{"id":"https://openalex.org/W2904687705","doi":"https://doi.org/10.1109/icra.2019.8793973","title":"Factored Pose Estimation of Articulated Objects using Efficient Nonparametric Belief Propagation","display_name":"Factored Pose Estimation of Articulated Objects using Efficient Nonparametric Belief Propagation","publication_year":2019,"publication_date":"2019-05-01","ids":{"openalex":"https://openalex.org/W2904687705","doi":"https://doi.org/10.1109/icra.2019.8793973","mag":"2904687705"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2019.8793973","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8793973","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","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/1812.03647","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5052038649","display_name":"Karthik Desingh","orcid":"https://orcid.org/0000-0002-1817-1575"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Karthik Desingh","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, Robotics Institute, University of Michigan, Ann Arbor"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, Robotics Institute, University of Michigan, Ann Arbor","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059497086","display_name":"Shiyang Lu","orcid":"https://orcid.org/0000-0003-1805-8094"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shiyang Lu","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, Robotics Institute, University of Michigan, Ann Arbor"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, Robotics Institute, University of Michigan, Ann Arbor","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006804543","display_name":"Anthony W. Opipari","orcid":"https://orcid.org/0000-0002-4093-302X"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anthony Opipari","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, Robotics Institute, University of Michigan, Ann Arbor"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, Robotics Institute, University of Michigan, Ann Arbor","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071106238","display_name":"Odest Chadwicke Jenkins","orcid":"https://orcid.org/0000-0003-3750-7334"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Odest Chadwicke Jenkins","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, Robotics Institute, University of Michigan, Ann Arbor"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, Robotics Institute, University of Michigan, Ann Arbor","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5052038649"],"corresponding_institution_ids":["https://openalex.org/I27837315"],"apc_list":null,"apc_paid":null,"fwci":0.1022,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.40135958,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","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"}},"topics":[{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","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"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9987000226974487,"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":0.998199999332428,"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/pose","display_name":"Pose","score":0.7605369091033936},{"id":"https://openalex.org/keywords/belief-propagation","display_name":"Belief propagation","score":0.6634255647659302},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6222907900810242},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5970812439918518},{"id":"https://openalex.org/keywords/pairwise-comparison","display_name":"Pairwise comparison","score":0.5255811810493469},{"id":"https://openalex.org/keywords/articulated-body-pose-estimation","display_name":"Articulated body pose estimation","score":0.505793571472168},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.49358952045440674},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4808928966522217},{"id":"https://openalex.org/keywords/markov-random-field","display_name":"Markov random field","score":0.47965314984321594},{"id":"https://openalex.org/keywords/curse-of-dimensionality","display_name":"Curse of dimensionality","score":0.45080843567848206},{"id":"https://openalex.org/keywords/nonparametric-statistics","display_name":"Nonparametric statistics","score":0.4464447498321533},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.42725902795791626},{"id":"https://openalex.org/keywords/active-perception","display_name":"Active perception","score":0.41324174404144287},{"id":"https://openalex.org/keywords/3d-pose-estimation","display_name":"3D pose estimation","score":0.39196017384529114},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2622736692428589},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.257528156042099},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.15712496638298035},{"id":"https://openalex.org/keywords/image-segmentation","display_name":"Image segmentation","score":0.1449708640575409}],"concepts":[{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.7605369091033936},{"id":"https://openalex.org/C152948882","wikidata":"https://www.wikidata.org/wiki/Q4060686","display_name":"Belief propagation","level":3,"score":0.6634255647659302},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6222907900810242},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5970812439918518},{"id":"https://openalex.org/C184898388","wikidata":"https://www.wikidata.org/wiki/Q1435712","display_name":"Pairwise comparison","level":2,"score":0.5255811810493469},{"id":"https://openalex.org/C22100474","wikidata":"https://www.wikidata.org/wiki/Q4800952","display_name":"Articulated body pose estimation","level":4,"score":0.505793571472168},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.49358952045440674},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4808928966522217},{"id":"https://openalex.org/C2778045648","wikidata":"https://www.wikidata.org/wiki/Q176827","display_name":"Markov random field","level":4,"score":0.47965314984321594},{"id":"https://openalex.org/C111030470","wikidata":"https://www.wikidata.org/wiki/Q1430460","display_name":"Curse of dimensionality","level":2,"score":0.45080843567848206},{"id":"https://openalex.org/C102366305","wikidata":"https://www.wikidata.org/wiki/Q1097688","display_name":"Nonparametric statistics","level":2,"score":0.4464447498321533},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.42725902795791626},{"id":"https://openalex.org/C2776010242","wikidata":"https://www.wikidata.org/wiki/Q4677575","display_name":"Active perception","level":3,"score":0.41324174404144287},{"id":"https://openalex.org/C36613465","wikidata":"https://www.wikidata.org/wiki/Q4636322","display_name":"3D pose estimation","level":3,"score":0.39196017384529114},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2622736692428589},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.257528156042099},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.15712496638298035},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.1449708640575409},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C57273362","wikidata":"https://www.wikidata.org/wiki/Q576722","display_name":"Decoding methods","level":2,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra.2019.8793973","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8793973","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1812.03647","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1812.03647","pdf_url":"https://arxiv.org/pdf/1812.03647","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"mag:2904687705","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/1812.03647","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.1812.03647","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1812.03647","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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1812.03647","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1812.03647","pdf_url":"https://arxiv.org/pdf/1812.03647","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2904687705.pdf","grobid_xml":"https://content.openalex.org/works/W2904687705.grobid-xml"},"referenced_works_count":36,"referenced_works":["https://openalex.org/W62794737","https://openalex.org/W94449998","https://openalex.org/W1246348620","https://openalex.org/W1517508454","https://openalex.org/W1526868886","https://openalex.org/W1547713566","https://openalex.org/W1570540164","https://openalex.org/W2080069335","https://openalex.org/W2102605133","https://openalex.org/W2108190040","https://openalex.org/W2122768476","https://openalex.org/W2141218264","https://openalex.org/W2167947196","https://openalex.org/W2198955913","https://openalex.org/W2222800472","https://openalex.org/W2295692686","https://openalex.org/W2415775569","https://openalex.org/W2419056630","https://openalex.org/W2537677623","https://openalex.org/W2570352092","https://openalex.org/W2576665611","https://openalex.org/W2605206714","https://openalex.org/W2811115116","https://openalex.org/W2884843549","https://openalex.org/W2890783894","https://openalex.org/W2963188159","https://openalex.org/W6603818018","https://openalex.org/W6620707391","https://openalex.org/W6633434192","https://openalex.org/W6657157912","https://openalex.org/W6687781503","https://openalex.org/W6716216872","https://openalex.org/W6752790366","https://openalex.org/W6753847952","https://openalex.org/W6756486208","https://openalex.org/W6757260058"],"related_works":["https://openalex.org/W2946148408","https://openalex.org/W3202609861","https://openalex.org/W2948562860","https://openalex.org/W3104073816","https://openalex.org/W3088577561","https://openalex.org/W2046589395","https://openalex.org/W3149854738","https://openalex.org/W2762815792","https://openalex.org/W2033323859","https://openalex.org/W3131200446","https://openalex.org/W3040902650","https://openalex.org/W2562176677","https://openalex.org/W3012125685","https://openalex.org/W2125432594","https://openalex.org/W2261636736","https://openalex.org/W2056205004","https://openalex.org/W2293210482","https://openalex.org/W1985217382","https://openalex.org/W2771955916","https://openalex.org/W856339213"],"abstract_inverted_index":{"Robots":[0],"working":[1],"in":[2,35,48],"human":[3],"environments":[4],"often":[5],"encounter":[6],"a":[7,33,36,55,68,83,127,153,163],"wide":[8],"range":[9],"of":[10,29,60,64,90,155],"articulated":[11,22,65,91,159,181],"objects,":[12],"such":[13],"as":[14,32,103,126],"tools,":[15],"cabinets,":[16],"and":[17,62,75,109,145,173],"other":[18],"jointed":[19],"objects.":[20,182],"Such":[21],"objects":[23,66,92],"can":[24],"take":[25],"an":[26,94,141,149],"infinite":[27],"number":[28],"possible":[30],"poses,":[31],"point":[34],"potentially":[37],"high-dimensional":[38],"continuous":[39,46],"space.":[40],"A":[41],"robot":[42],"must":[43],"perceive":[44],"this":[45,79],"pose":[47,119,138,144,160],"order":[49],"to":[50,54,71,86],"manipulate":[51],"the":[52,88],"object":[53],"desired":[56],"pose.":[57],"This":[58],"problem":[59,123],"perception":[61],"manipulation":[63],"remains":[67],"challenge":[69],"due":[70],"its":[72,175],"high":[73],"dimensionality":[74],"multi-modal":[76],"uncertainty.":[77],"In":[78],"paper,":[80],"we":[81],"propose":[82,158],"factored":[84],"approach":[85],"estimate":[87],"poses":[89],"using":[93],"efficient":[95],"non-parametric":[96],"belief":[97],"propagation":[98],"algorithm.":[99],"We":[100,157],"consider":[101],"inputs":[102],"geometrical":[104],"models":[105,140],"with":[106,180],"articulation":[107,150],"constraints,":[108],"observed":[110,142],"3D":[111],"sensor":[112],"data.":[113],"The":[114,122],"proposed":[115],"framework":[116],"produces":[117],"object-part":[118],"beliefs":[120],"iteratively.":[121],"is":[124],"formulated":[125],"pairwise":[128],"Markov":[129],"Random":[130],"Field":[131],"(MRF)":[132],"where":[133],"each":[134,146],"hidden":[135],"node":[136],"(continuous":[137],"variable)":[139],"object-part's":[143],"edge":[147],"denotes":[148],"constraint":[151],"between":[152],"pair":[154],"parts.":[156],"estimation":[161],"by":[162],"Pull":[164],"Message":[165],"Passing":[166],"algorithm":[167],"for":[168],"Nonparametric":[169],"Belief":[170],"Propagation":[171],"(PMPNBP)":[172],"evaluate":[174],"convergence":[176],"properties":[177],"over":[178],"scenes":[179]},"counts_by_year":[{"year":2019,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
