{"id":"https://openalex.org/W3090077593","doi":"https://doi.org/10.1109/icra40945.2020.9197555","title":"Robust 6D Object Pose Estimation by Learning RGB-D Features","display_name":"Robust 6D Object Pose Estimation by Learning RGB-D Features","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3090077593","doi":"https://doi.org/10.1109/icra40945.2020.9197555","mag":"3090077593"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9197555","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197555","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/A5101491634","display_name":"Meng Tian","orcid":"https://orcid.org/0000-0001-9937-8975"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Meng Tian","raw_affiliation_strings":["Department of Mechanical Engineering, National University of Singapore","National University of Singapore,Department of Mechanical Engineering"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National University of Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"National University of Singapore,Department of Mechanical Engineering","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100612025","display_name":"Liang Pan","orcid":"https://orcid.org/0000-0003-1821-4296"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Liang Pan","raw_affiliation_strings":["Department of Mechanical Engineering, National University of Singapore","National University of Singapore,Department of Mechanical Engineering"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National University of Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"National University of Singapore,Department of Mechanical Engineering","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064469965","display_name":"Marcelo H. Ang","orcid":"https://orcid.org/0000-0001-8277-6408"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Marcelo H Ang","raw_affiliation_strings":["Department of Mechanical Engineering, National University of Singapore","National University of Singapore,Department of Mechanical Engineering"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National University of Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"National University of Singapore,Department of Mechanical Engineering","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071967339","display_name":"Gim Hee Lee","orcid":"https://orcid.org/0000-0002-1583-0475"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Gim Hee Lee","raw_affiliation_strings":["Computer Vision and Robotic Perception Lab, Department of Computer Science, School of Computing, National University of Singapore","School of Computing, National University of Singapore,Computer Vision and Robotic Perception Lab, Department of Computer Science"],"affiliations":[{"raw_affiliation_string":"Computer Vision and Robotic Perception Lab, Department of Computer Science, School of Computing, National University of Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"School of Computing, National University of Singapore,Computer Vision and Robotic Perception Lab, Department of Computer Science","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5101491634"],"corresponding_institution_ids":["https://openalex.org/I165932596"],"apc_list":null,"apc_paid":null,"fwci":4.5995,"has_fulltext":false,"cited_by_count":50,"citation_normalized_percentile":{"value":0.95273193,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"6218","last_page":"6224"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"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":0.9998000264167786,"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":0.996999979019165,"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/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9915000200271606,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"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":0.8031353950500488},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7225143909454346},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6899183988571167},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.6662264466285706},{"id":"https://openalex.org/keywords/code","display_name":"Code (set theory)","score":0.6141474843025208},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5947970151901245},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5901733636856079},{"id":"https://openalex.org/keywords/ambiguity","display_name":"Ambiguity","score":0.5197593569755554},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.5183690190315247},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4535244405269623},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.38589048385620117},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.25303077697753906},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.07601824402809143}],"concepts":[{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.8031353950500488},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7225143909454346},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6899183988571167},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.6662264466285706},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.6141474843025208},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5947970151901245},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5901733636856079},{"id":"https://openalex.org/C2780522230","wikidata":"https://www.wikidata.org/wiki/Q1140419","display_name":"Ambiguity","level":2,"score":0.5197593569755554},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.5183690190315247},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4535244405269623},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.38589048385620117},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.25303077697753906},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.07601824402809143},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra40945.2020.9197555","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197555","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":61,"referenced_works":["https://openalex.org/W132147841","https://openalex.org/W639708223","https://openalex.org/W1022526533","https://openalex.org/W1505952289","https://openalex.org/W1526868886","https://openalex.org/W1855641990","https://openalex.org/W1975611886","https://openalex.org/W2124386111","https://openalex.org/W2151103935","https://openalex.org/W2194775991","https://openalex.org/W2472269674","https://openalex.org/W2488101876","https://openalex.org/W2529170537","https://openalex.org/W2560023338","https://openalex.org/W2560535692","https://openalex.org/W2560544142","https://openalex.org/W2560609797","https://openalex.org/W2574567538","https://openalex.org/W2604236302","https://openalex.org/W2613718673","https://openalex.org/W2768879211","https://openalex.org/W2795014656","https://openalex.org/W2795999188","https://openalex.org/W2797394534","https://openalex.org/W2888752296","https://openalex.org/W2893763910","https://openalex.org/W2895439318","https://openalex.org/W2915414978","https://openalex.org/W2950921159","https://openalex.org/W2962697512","https://openalex.org/W2962783853","https://openalex.org/W2963150697","https://openalex.org/W2963177347","https://openalex.org/W2963188159","https://openalex.org/W2963756608","https://openalex.org/W2963857746","https://openalex.org/W2963881378","https://openalex.org/W2964056579","https://openalex.org/W2964249569","https://openalex.org/W2979750740","https://openalex.org/W2981410089","https://openalex.org/W2981556384","https://openalex.org/W3106250896","https://openalex.org/W4289489637","https://openalex.org/W6605377543","https://openalex.org/W6620707391","https://openalex.org/W6626613076","https://openalex.org/W6631711059","https://openalex.org/W6722693925","https://openalex.org/W6732350924","https://openalex.org/W6745401828","https://openalex.org/W6747904511","https://openalex.org/W6750429153","https://openalex.org/W6754227600","https://openalex.org/W6754677871","https://openalex.org/W6754838991","https://openalex.org/W6756062947","https://openalex.org/W6757215953","https://openalex.org/W6759032116","https://openalex.org/W6763422710","https://openalex.org/W6785652829"],"related_works":["https://openalex.org/W2353179089","https://openalex.org/W2923538289","https://openalex.org/W2353125546","https://openalex.org/W2470643824","https://openalex.org/W2349635380","https://openalex.org/W2353819554","https://openalex.org/W2359488321","https://openalex.org/W2389866386","https://openalex.org/W4353089801","https://openalex.org/W2131379912"],"abstract_inverted_index":{"Accurate":[0],"6D":[1],"object":[2,83],"pose":[3],"estimation":[4],"is":[5,85,113],"fundamental":[6],"to":[7,27,48,68,92],"robotic":[8],"manipulation":[9],"and":[10,60,101],"grasping.":[11],"Previous":[12],"methods":[13],"follow":[14],"a":[15,40,62],"local":[16],"optimization":[17],"approach":[18],"which":[19],"minimizes":[20],"the":[21,29,69,78,82,93,105],"distance":[22],"between":[23],"closest":[24],"point":[25],"pairs":[26],"handle":[28],"rotation":[30,46,56],"ambiguity":[31],"of":[32],"symmetric":[33],"objects.":[34],"In":[35],"this":[36,50],"work,":[37],"we":[38],"propose":[39],"novel":[41],"discrete-":[42],"continuous":[43],"formulation":[44],"for":[45,76],"regression":[47],"resolve":[49],"local-optimum":[51],"problem.":[52],"We":[53],"uniformly":[54],"sample":[55],"anchors":[57],"in":[58],"SO(3),":[59],"predict":[61],"constrained":[63],"deviation":[64],"from":[65],"each":[66],"anchor":[67],"target,":[70],"as":[71,73],"well":[72],"uncertainty":[74],"scores":[75],"selecting":[77],"best":[79],"prediction.":[80],"Additionally,":[81],"location":[84],"detected":[86],"by":[87],"aggregating":[88],"point-wise":[89],"vectors":[90],"pointing":[91],"3D":[94],"center.":[95],"Experiments":[96],"on":[97],"two":[98],"benchmarks:":[99],"LINEMOD":[100],"YCB-Video,":[102],"show":[103],"that":[104],"proposed":[106],"method":[107],"outperforms":[108],"state-of-the-art":[109],"approaches.":[110],"Our":[111],"code":[112],"available":[114],"at":[115],"https://github.com/mentian/object-posenet.":[116]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":4}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}