{"id":"https://openalex.org/W2967450697","doi":"https://doi.org/10.1109/icra.2019.8794448","title":"Multi-Task Template Matching for Object Detection, Segmentation and Pose Estimation Using Depth Images","display_name":"Multi-Task Template Matching for Object Detection, Segmentation and Pose Estimation Using Depth Images","publication_year":2019,"publication_date":"2019-05-01","ids":{"openalex":"https://openalex.org/W2967450697","doi":"https://doi.org/10.1109/icra.2019.8794448","mag":"2967450697"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2019.8794448","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8794448","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":"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/A5054753271","display_name":"Kiru Park","orcid":"https://orcid.org/0000-0002-9891-4788"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kiru Park","raw_affiliation_strings":["Vision for Robotics Laboratory, Automation and Control Institute, Austria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Vision for Robotics Laboratory, Automation and Control Institute, Austria","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004136969","display_name":"Timothy Patten","orcid":"https://orcid.org/0000-0003-1139-9451"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Timothy Patten","raw_affiliation_strings":["Vision for Robotics Laboratory, Automation and Control Institute, Austria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Vision for Robotics Laboratory, Automation and Control Institute, Austria","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049409847","display_name":"Johann Prankl","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Johann Prankl","raw_affiliation_strings":["Vision for Robotics Laboratory, Automation and Control Institute, Austria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Vision for Robotics Laboratory, Automation and Control Institute, Austria","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013565399","display_name":"Markus Vincze","orcid":"https://orcid.org/0000-0002-2799-491X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Markus Vincze","raw_affiliation_strings":["Vision for Robotics Laboratory, Automation and Control Institute, Austria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Vision for Robotics Laboratory, Automation and Control Institute, Austria","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":11.8456,"has_fulltext":false,"cited_by_count":49,"citation_normalized_percentile":{"value":0.99482469,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"7207","last_page":"7213"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10653","display_name":"Robot Manipulation and Learning","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/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/T10036","display_name":"Advanced Neural Network Applications","score":0.9961000084877014,"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":0.8781427145004272},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.7801477909088135},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7738059759140015},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7150291204452515},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.6951216459274292},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.5755428075790405},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5576196908950806},{"id":"https://openalex.org/keywords/3d-pose-estimation","display_name":"3D pose estimation","score":0.5468709468841553},{"id":"https://openalex.org/keywords/template-matching","display_name":"Template matching","score":0.5448018908500671},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.4646890163421631},{"id":"https://openalex.org/keywords/image-segmentation","display_name":"Image segmentation","score":0.4523547291755676},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.450851172208786},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.43897801637649536},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.42773330211639404},{"id":"https://openalex.org/keywords/template","display_name":"Template","score":0.4253446161746979},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.4153084456920624},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.22579818964004517},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17396295070648193}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8781427145004272},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.7801477909088135},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7738059759140015},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7150291204452515},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.6951216459274292},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.5755428075790405},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5576196908950806},{"id":"https://openalex.org/C36613465","wikidata":"https://www.wikidata.org/wiki/Q4636322","display_name":"3D pose estimation","level":3,"score":0.5468709468841553},{"id":"https://openalex.org/C158096908","wikidata":"https://www.wikidata.org/wiki/Q3983303","display_name":"Template matching","level":3,"score":0.5448018908500671},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.4646890163421631},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.4523547291755676},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.450851172208786},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.43897801637649536},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.42773330211639404},{"id":"https://openalex.org/C82714645","wikidata":"https://www.wikidata.org/wiki/Q438331","display_name":"Template","level":2,"score":0.4253446161746979},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.4153084456920624},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.22579818964004517},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17396295070648193},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2019.8794448","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8794448","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320315971","display_name":"OMRON Corporation","ror":"https://ror.org/00q0w1h45"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W62794737","https://openalex.org/W132147841","https://openalex.org/W1526868886","https://openalex.org/W1909903157","https://openalex.org/W1970741595","https://openalex.org/W2108598243","https://openalex.org/W2161168419","https://openalex.org/W2174199761","https://openalex.org/W2194775991","https://openalex.org/W2229637417","https://openalex.org/W2412515392","https://openalex.org/W2488101876","https://openalex.org/W2529170537","https://openalex.org/W2580726517","https://openalex.org/W2604236302","https://openalex.org/W2768379550","https://openalex.org/W2772745342","https://openalex.org/W2773456899","https://openalex.org/W2777195424","https://openalex.org/W2794907582","https://openalex.org/W2804855082","https://openalex.org/W2963150697","https://openalex.org/W2963169129","https://openalex.org/W2963188159","https://openalex.org/W2963742370","https://openalex.org/W2964249569","https://openalex.org/W3100621253","https://openalex.org/W3100901148","https://openalex.org/W3101102451","https://openalex.org/W3101524204","https://openalex.org/W3103919331","https://openalex.org/W4299420313","https://openalex.org/W4300948447","https://openalex.org/W6605377543","https://openalex.org/W6707094720","https://openalex.org/W6722693925","https://openalex.org/W6728043242","https://openalex.org/W6751887607","https://openalex.org/W6785056413"],"related_works":["https://openalex.org/W2361315595","https://openalex.org/W4253893311","https://openalex.org/W2602219756","https://openalex.org/W2798721181","https://openalex.org/W3201205132","https://openalex.org/W2092361839","https://openalex.org/W2360986010","https://openalex.org/W4287600488","https://openalex.org/W4312694060","https://openalex.org/W4281696776"],"abstract_inverted_index":{"Template":[0,56],"matching":[1],"has":[2],"been":[3],"shown":[4],"to":[5,142],"accurately":[6],"estimate":[7],"the":[8,61,81,88,91,96,129,132,143],"pose":[9,21,78,108,133,156],"of":[10,18,23,64,95,114,119,131,158],"a":[11,15,52,65,69,77,84,120],"new":[12],"object":[13,67,86,97],"given":[14],"limited":[16],"number":[17],"samples.":[19],"However,":[20],"estimation":[22,134,157],"occluded":[24,159],"objects":[25,36,160],"is":[26],"still":[27],"challenging.":[28],"Furthermore,":[29],"many":[30],"robot":[31],"application":[32],"domains":[33],"encounter":[34],"texture-less":[35],"for":[37,153],"which":[38],"depth":[39,70,164],"images":[40],"are":[41],"more":[42],"suitable":[43],"than":[44],"color":[45],"images.":[46,165],"In":[47],"this":[48,126],"paper,":[49],"we":[50],"propose":[51],"novel":[53],"framework,":[54],"Multi-Task":[55],"Matching":[57],"(MTTM),":[58],"that":[59,138,148],"finds":[60],"nearest":[62],"template":[63,82],"target":[66],"from":[68,125],"image":[71],"while":[72],"predicting":[73],"segmentation":[74,105,123,154],"masks":[75,106],"and":[76,83,107,116,155],"transformation":[79],"between":[80],"detected":[85],"in":[87],"scene":[89],"using":[90,162],"same":[92],"feature":[93,101,112],"map":[94],"region.":[98],"The":[99,122],"proposed":[100],"comparison":[102],"network":[103,127],"computes":[104],"predictions":[109],"by":[110,135],"comparing":[111],"maps":[113],"templates":[115],"cropped":[117],"features":[118],"scene.":[121],"result":[124],"improves":[128],"robustness":[130],"excluding":[136],"points":[137],"do":[139],"not":[140],"belong":[141],"object.":[144],"Experimental":[145],"results":[146],"show":[147],"MTTM":[149],"outperforms":[150],"baseline":[151],"methods":[152],"despite":[161],"only":[163]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
