{"id":"https://openalex.org/W3091481715","doi":"https://doi.org/10.1109/icra40945.2020.9197461","title":"6D Object Pose Regression via Supervised Learning on Point Clouds","display_name":"6D Object Pose Regression via Supervised Learning on Point Clouds","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3091481715","doi":"https://doi.org/10.1109/icra40945.2020.9197461","mag":"3091481715"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9197461","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197461","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/A5020584921","display_name":"Ge Gao","orcid":"https://orcid.org/0000-0002-8159-9101"},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Ge Gao","raw_affiliation_strings":["Department of Informatics, University of Hamburg, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Informatics, University of Hamburg, Germany","institution_ids":["https://openalex.org/I159176309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088501074","display_name":"Mikko Lauri","orcid":"https://orcid.org/0000-0002-2223-9253"},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Mikko Lauri","raw_affiliation_strings":["Department of Informatics, University of Hamburg, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Informatics, University of Hamburg, Germany","institution_ids":["https://openalex.org/I159176309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100449204","display_name":"Yulong Wang","orcid":"https://orcid.org/0009-0002-6851-3788"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yulong Wang","raw_affiliation_strings":["State Key Laboratory of Intelligent Technology and Systems, Tsinghua University, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Intelligent Technology and Systems, Tsinghua University, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004579631","display_name":"Xiaolin Hu","orcid":"https://orcid.org/0000-0002-4907-7354"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaolin Hu","raw_affiliation_strings":["State Key Laboratory of Intelligent Technology and Systems, Tsinghua University, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Intelligent Technology and Systems, Tsinghua University, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100326970","display_name":"Jianwei Zhang","orcid":"https://orcid.org/0000-0002-7856-5760"},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jianwei Zhang","raw_affiliation_strings":["Department of Informatics, University of Hamburg, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Informatics, University of Hamburg, Germany","institution_ids":["https://openalex.org/I159176309"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5038082633","display_name":"Simone Frintrop","orcid":"https://orcid.org/0000-0002-9475-3593"},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Simone Frintrop","raw_affiliation_strings":["Department of Informatics, University of Hamburg, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Informatics, University of Hamburg, Germany","institution_ids":["https://openalex.org/I159176309"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5020584921"],"corresponding_institution_ids":["https://openalex.org/I159176309"],"apc_list":null,"apc_paid":null,"fwci":6.9144,"has_fulltext":false,"cited_by_count":88,"citation_normalized_percentile":{"value":0.97524703,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"3643","last_page":"3649"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9994000196456909,"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":0.9994000196456909,"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":0.9980999827384949,"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":0.9979000091552734,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.7738322019577026},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7418268918991089},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7210692763328552},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.6344196796417236},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.6225662231445312},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.5855724215507507},{"id":"https://openalex.org/keywords/geodesic","display_name":"Geodesic","score":0.5653371810913086},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.5267233848571777},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5210087299346924},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4978671073913574},{"id":"https://openalex.org/keywords/quaternion","display_name":"Quaternion","score":0.4895714223384857},{"id":"https://openalex.org/keywords/translation","display_name":"Translation (biology)","score":0.48784351348876953},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.4852266311645508},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4843948483467102},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20862576365470886},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.13074219226837158}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7738322019577026},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7418268918991089},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7210692763328552},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.6344196796417236},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.6225662231445312},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.5855724215507507},{"id":"https://openalex.org/C165818556","wikidata":"https://www.wikidata.org/wiki/Q213488","display_name":"Geodesic","level":2,"score":0.5653371810913086},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.5267233848571777},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5210087299346924},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4978671073913574},{"id":"https://openalex.org/C200127275","wikidata":"https://www.wikidata.org/wiki/Q173853","display_name":"Quaternion","level":2,"score":0.4895714223384857},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.48784351348876953},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.4852266311645508},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4843948483467102},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20862576365470886},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.13074219226837158},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C105580179","wikidata":"https://www.wikidata.org/wiki/Q188928","display_name":"Messenger RNA","level":3,"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/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra40945.2020.9197461","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197461","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":[{"display_name":"Peace, Justice and strong institutions","score":0.8100000023841858,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":50,"referenced_works":["https://openalex.org/W132147841","https://openalex.org/W1022526533","https://openalex.org/W1526868886","https://openalex.org/W1855641990","https://openalex.org/W1969868017","https://openalex.org/W2016959837","https://openalex.org/W2160821342","https://openalex.org/W2161168419","https://openalex.org/W2200124539","https://openalex.org/W2400577036","https://openalex.org/W2560535692","https://openalex.org/W2560609797","https://openalex.org/W2563408008","https://openalex.org/W2575429826","https://openalex.org/W2605111497","https://openalex.org/W2773456899","https://openalex.org/W2777195424","https://openalex.org/W2786036844","https://openalex.org/W2797394534","https://openalex.org/W2804855082","https://openalex.org/W2885242432","https://openalex.org/W2887843334","https://openalex.org/W2893763910","https://openalex.org/W2962688642","https://openalex.org/W2963139856","https://openalex.org/W2963177347","https://openalex.org/W2963188159","https://openalex.org/W2963835812","https://openalex.org/W2964056579","https://openalex.org/W2964062501","https://openalex.org/W2964249569","https://openalex.org/W3099587965","https://openalex.org/W3100621253","https://openalex.org/W3101102451","https://openalex.org/W3101524204","https://openalex.org/W4248598408","https://openalex.org/W4289489637","https://openalex.org/W6605377543","https://openalex.org/W6626613076","https://openalex.org/W6631711059","https://openalex.org/W6683542970","https://openalex.org/W6740978277","https://openalex.org/W6747827861","https://openalex.org/W6748877343","https://openalex.org/W6750186335","https://openalex.org/W6750445966","https://openalex.org/W6753487920","https://openalex.org/W6754677871","https://openalex.org/W6763422710","https://openalex.org/W6785056413"],"related_works":["https://openalex.org/W3108980762","https://openalex.org/W1988485990","https://openalex.org/W4290774832","https://openalex.org/W1537622850","https://openalex.org/W2989915422","https://openalex.org/W2401401198","https://openalex.org/W3206828132","https://openalex.org/W3135923011","https://openalex.org/W2801801420","https://openalex.org/W2931206373"],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"the":[3,7,38,63,71,83,105,136,148,161],"task":[4],"of":[5,10,13,62],"estimating":[6],"6":[8],"degrees":[9],"freedom":[11],"pose":[12,91],"a":[14,23,109,118],"known":[15],"3D":[16],"object":[17,46,64,72],"from":[18,33],"depth":[19,49,56,76],"information":[20,35,50,57,61,77],"represented":[21,78],"by":[22,29,79],"point":[24,80],"cloud.":[25],"Deep":[26],"features":[27,40],"learned":[28],"convolutional":[30],"neural":[31],"networks":[32,88,96],"color":[34],"have":[36],"been":[37],"dominant":[39],"to":[41,85],"be":[42],"used":[43],"for":[44,69,97,113,122],"inferring":[45,70],"poses,":[47],"while":[48],"receives":[51],"much":[52],"less":[53],"attention.":[54],"However,":[55],"contains":[58],"rich":[59],"geometric":[60],"shape,":[65],"which":[66],"is":[67,108],"important":[68],"pose.":[73],"We":[74,102],"use":[75,94,117],"clouds":[81],"as":[82,135],"input":[84],"both":[86],"deep":[87,114],"and":[89,93,99,116,139,145],"geometry-based":[90],"refinement":[92],"separate":[95],"rotation":[98,111,123,146],"translation":[100,144],"regression.":[101,124],"argue":[103],"that":[104,128],"axis-angle":[106],"representation":[107,112,138],"suitable":[110],"learning,":[115],"geodesic":[119],"loss":[120],"function":[121],"Ablation":[125],"studies":[126],"show":[127],"these":[129],"design":[130],"choices":[131],"outperform":[132],"alternatives":[133],"such":[134],"quaternion":[137],"L2":[140],"loss,":[141],"or":[142],"regressing":[143],"with":[147],"same":[149],"network.":[150],"Our":[151],"simple":[152],"yet":[153],"effective":[154],"approach":[155],"clearly":[156],"outperforms":[157],"state-of-the-art":[158],"methods":[159],"on":[160],"YCB-video":[162],"dataset.":[163]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":15},{"year":2024,"cited_by_count":23},{"year":2023,"cited_by_count":13},{"year":2022,"cited_by_count":20},{"year":2021,"cited_by_count":12},{"year":2020,"cited_by_count":2}],"updated_date":"2026-02-25T08:12:03.925757","created_date":"2025-10-10T00:00:00"}