{"id":"https://openalex.org/W3091357794","doi":"https://doi.org/10.1109/icra40945.2020.9196679","title":"6-PACK: Category-level 6D Pose Tracker with Anchor-Based Keypoints","display_name":"6-PACK: Category-level 6D Pose Tracker with Anchor-Based Keypoints","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3091357794","doi":"https://doi.org/10.1109/icra40945.2020.9196679","mag":"3091357794"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9196679","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196679","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","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/A5100337582","display_name":"Chen Wang","orcid":"https://orcid.org/0000-0002-4630-0805"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Chen Wang","raw_affiliation_strings":["Department of Computer Science, Shanghai Jiao Tong University"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Shanghai Jiao Tong University","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065655761","display_name":"Roberto Mart\u00edn-Mart\u00edn","orcid":"https://orcid.org/0000-0002-9586-2759"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Roberto Martin-Martin","raw_affiliation_strings":["Department of Computer Science, Stanford University"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Stanford University","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028834865","display_name":"Danfei Xu","orcid":"https://orcid.org/0000-0002-8744-3861"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Danfei Xu","raw_affiliation_strings":["Department of Computer Science, Stanford University"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Stanford University","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110336552","display_name":"Jun Lv","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jun Lv","raw_affiliation_strings":["Department of Computer Science, Shanghai Jiao Tong University"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Shanghai Jiao Tong University","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010726528","display_name":"Cewu Lu","orcid":"https://orcid.org/0009-0003-7254-9318"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Cewu Lu","raw_affiliation_strings":["Department of Computer Science, Shanghai Jiao Tong University"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Shanghai Jiao Tong University","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100450462","display_name":"Li Fei-Fei","orcid":"https://orcid.org/0000-0002-7481-0810"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Li Fei-Fei","raw_affiliation_strings":["Department of Computer Science, Stanford University"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Stanford University","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042646536","display_name":"Silvio Savarese","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Silvio Savarese","raw_affiliation_strings":["Department of Computer Science, Stanford University"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Stanford University","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5030826237","display_name":"Yuke Zhu","orcid":"https://orcid.org/0000-0002-9198-2227"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yuke Zhu","raw_affiliation_strings":["Department of Computer Science, Stanford University"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Stanford University","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5100337582"],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":10.419,"has_fulltext":false,"cited_by_count":159,"citation_normalized_percentile":{"value":0.9874098,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"10059","last_page":"10066"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.9993000030517578,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9993000030517578,"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":0.9987999796867371,"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":0.9979000091552734,"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":0.8043242692947388},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7847981452941895},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.7611657381057739},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7480581998825073},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6420362591743469},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.6207185983657837},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.558444082736969},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.511569082736969},{"id":"https://openalex.org/keywords/video-tracking","display_name":"Video tracking","score":0.4899064898490906},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.48167169094085693},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.47537961602211},{"id":"https://openalex.org/keywords/code","display_name":"Code (set theory)","score":0.4615045189857483},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.41412973403930664},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.25721555948257446},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13403058052062988}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8043242692947388},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7847981452941895},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.7611657381057739},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7480581998825073},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6420362591743469},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.6207185983657837},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.558444082736969},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.511569082736969},{"id":"https://openalex.org/C202474056","wikidata":"https://www.wikidata.org/wiki/Q1931635","display_name":"Video tracking","level":3,"score":0.4899064898490906},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.48167169094085693},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.47537961602211},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.4615045189857483},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.41412973403930664},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.25721555948257446},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13403058052062988},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra40945.2020.9196679","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196679","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":74,"referenced_works":["https://openalex.org/W1491719799","https://openalex.org/W1532362218","https://openalex.org/W1677409904","https://openalex.org/W1861492603","https://openalex.org/W1949483711","https://openalex.org/W1988874269","https://openalex.org/W1992047056","https://openalex.org/W1995903777","https://openalex.org/W2012804028","https://openalex.org/W2017161545","https://openalex.org/W2058761328","https://openalex.org/W2106922332","https://openalex.org/W2115579991","https://openalex.org/W2117228865","https://openalex.org/W2124211486","https://openalex.org/W2150066425","https://openalex.org/W2151103935","https://openalex.org/W2154889144","https://openalex.org/W2155696107","https://openalex.org/W2163922914","https://openalex.org/W2184393491","https://openalex.org/W2190691619","https://openalex.org/W2280057228","https://openalex.org/W2295692686","https://openalex.org/W2537677623","https://openalex.org/W2600447016","https://openalex.org/W2604698059","https://openalex.org/W2613718673","https://openalex.org/W2768879211","https://openalex.org/W2776685160","https://openalex.org/W2785694322","https://openalex.org/W2786036844","https://openalex.org/W2812468425","https://openalex.org/W2891001608","https://openalex.org/W2893763910","https://openalex.org/W2925241625","https://openalex.org/W2936404177","https://openalex.org/W2945685071","https://openalex.org/W2950921159","https://openalex.org/W2952069407","https://openalex.org/W2953106684","https://openalex.org/W2962783853","https://openalex.org/W2962887041","https://openalex.org/W2962888833","https://openalex.org/W2963037989","https://openalex.org/W2963121817","https://openalex.org/W2963177347","https://openalex.org/W2963419873","https://openalex.org/W2963727135","https://openalex.org/W2963876278","https://openalex.org/W2963892972","https://openalex.org/W2964062501","https://openalex.org/W2964253307","https://openalex.org/W3100907676","https://openalex.org/W4249866455","https://openalex.org/W4288414710","https://openalex.org/W4289489637","https://openalex.org/W4394671432","https://openalex.org/W6620707391","https://openalex.org/W6637400245","https://openalex.org/W6639102338","https://openalex.org/W6686211706","https://openalex.org/W6687484953","https://openalex.org/W6744231340","https://openalex.org/W6745896446","https://openalex.org/W6746752887","https://openalex.org/W6747827861","https://openalex.org/W6750429153","https://openalex.org/W6752936729","https://openalex.org/W6754677871","https://openalex.org/W6754689416","https://openalex.org/W6760546089","https://openalex.org/W6761481031","https://openalex.org/W6762391802"],"related_works":["https://openalex.org/W2378211422","https://openalex.org/W2745001401","https://openalex.org/W4321353415","https://openalex.org/W2130974462","https://openalex.org/W972276598","https://openalex.org/W2964084369","https://openalex.org/W4287991909","https://openalex.org/W4390721878","https://openalex.org/W2965594636","https://openalex.org/W2912550626"],"abstract_inverted_index":{"We":[0],"present":[1],"6-PACK,":[2],"a":[3,43,100],"deep":[4],"learning":[5],"approach":[6],"to":[7,37,74,103],"category-level":[8,93],"6D":[9,94],"object":[10,23,27,41,56],"pose":[11,95],"tracking":[12],"on":[13,49,90],"RGB-D":[14],"data.":[15],"Our":[16,80,110],"method":[17,85],"tracks":[18],"in":[19,72],"real":[20],"time":[21],"novel":[22],"instances":[24],"of":[25,45,54],"known":[26],"categories":[28],"such":[29],"as":[30],"bowls,":[31],"laptops,":[32],"and":[33,98,112],"mugs.":[34],"6-PACK":[35],"learns":[36],"compactly":[38],"represent":[39],"an":[40,55],"by":[42],"handful":[44],"3D":[46],"keypoints,":[47],"based":[48],"which":[50],"the":[51,91],"interframe":[52],"motion":[53],"instance":[57],"can":[58],"be":[59,75],"estimated":[60],"through":[61],"keypoint":[62],"matching.":[63],"These":[64],"keypoints":[65],"are":[66,114],"learned":[67],"end-to-end":[68],"without":[69],"manual":[70],"supervision":[71],"order":[73],"most":[76],"effective":[77],"for":[78],"tracking.":[79],"experiments":[81],"show":[82],"that":[83],"our":[84],"substantially":[86],"outperforms":[87],"existing":[88],"methods":[89],"NOCS":[92],"estimation":[96],"benchmark":[97],"supports":[99],"physical":[101],"robot":[102],"perform":[104],"simple":[105],"vision-based":[106],"closed-loop":[107],"manipulation":[108],"tasks.":[109],"code":[111],"video":[113],"available":[115],"at":[116],"https://sites.google.com/view/6packtracking.":[117]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":18},{"year":2024,"cited_by_count":29},{"year":2023,"cited_by_count":27},{"year":2022,"cited_by_count":38},{"year":2021,"cited_by_count":30},{"year":2020,"cited_by_count":11}],"updated_date":"2026-04-04T08:04:53.788161","created_date":"2025-10-10T00:00:00"}