{"id":"https://openalex.org/W3109323799","doi":"https://doi.org/10.1109/icra48506.2021.9561100","title":"DRACO: Weakly Supervised Dense Reconstruction And Canonicalization of Objects","display_name":"DRACO: Weakly Supervised Dense Reconstruction And Canonicalization of Objects","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3109323799","doi":"https://doi.org/10.1109/icra48506.2021.9561100","mag":"3109323799"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561100","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561100","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2011.12912","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5030173417","display_name":"Rahul Sajnani","orcid":"https://orcid.org/0000-0001-7714-5855"},"institutions":[{"id":"https://openalex.org/I65181880","display_name":"Indian Institute of Technology Hyderabad","ror":"https://ror.org/01j4v3x97","country_code":"IN","type":"education","lineage":["https://openalex.org/I65181880"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Rahul Sajnani","raw_affiliation_strings":["Robotics Research Center, KCIS, IIIT, Hyderabad, India","Robotics Research Center, KCIS, IIIT,Hyderabad,India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Research Center, KCIS, IIIT, Hyderabad, India","institution_ids":["https://openalex.org/I65181880"]},{"raw_affiliation_string":"Robotics Research Center, KCIS, IIIT,Hyderabad,India","institution_ids":["https://openalex.org/I65181880"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044092289","display_name":"AadilMehdi Sanchawala","orcid":null},"institutions":[{"id":"https://openalex.org/I65181880","display_name":"Indian Institute of Technology Hyderabad","ror":"https://ror.org/01j4v3x97","country_code":"IN","type":"education","lineage":["https://openalex.org/I65181880"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"AadilMehdi Sanchawala","raw_affiliation_strings":["Robotics Research Center, KCIS, IIIT, Hyderabad, India","Robotics Research Center, KCIS, IIIT,Hyderabad,India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Research Center, KCIS, IIIT, Hyderabad, India","institution_ids":["https://openalex.org/I65181880"]},{"raw_affiliation_string":"Robotics Research Center, KCIS, IIIT,Hyderabad,India","institution_ids":["https://openalex.org/I65181880"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047370393","display_name":"Krishna Murthy Jatavallabhula","orcid":"https://orcid.org/0000-0003-4927-3387"},"institutions":[{"id":"https://openalex.org/I70931966","display_name":"Universit\u00e9 de Montr\u00e9al","ror":"https://ror.org/0161xgx34","country_code":"CA","type":"education","lineage":["https://openalex.org/I70931966"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Krishna Murthy Jatavallabhula","raw_affiliation_strings":["Mila, Universite de Montreal, Canada","MILA, Universit\u00e9 de Montr\u00e9al, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mila, Universite de Montreal, Canada","institution_ids":["https://openalex.org/I70931966"]},{"raw_affiliation_string":"MILA, Universit\u00e9 de Montr\u00e9al, Canada","institution_ids":["https://openalex.org/I70931966"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108128157","display_name":"Srinath Sridhar","orcid":null},"institutions":[{"id":"https://openalex.org/I175594653","display_name":"John Brown University","ror":"https://ror.org/02ct41q97","country_code":"US","type":"education","lineage":["https://openalex.org/I175594653"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Srinath Sridhar","raw_affiliation_strings":["Brown University, USA","brown university, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Brown University, USA","institution_ids":["https://openalex.org/I175594653"]},{"raw_affiliation_string":"brown university, USA","institution_ids":["https://openalex.org/I175594653"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075816776","display_name":"K. Madhava Krishna","orcid":"https://orcid.org/0000-0001-7846-7901"},"institutions":[{"id":"https://openalex.org/I65181880","display_name":"Indian Institute of Technology Hyderabad","ror":"https://ror.org/01j4v3x97","country_code":"IN","type":"education","lineage":["https://openalex.org/I65181880"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"K. Madhava Krishna","raw_affiliation_strings":["Robotics Research Center, KCIS, IIIT, Hyderabad, India","Robotics Research Center, KCIS, IIIT,Hyderabad,India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Research Center, KCIS, IIIT, Hyderabad, India","institution_ids":["https://openalex.org/I65181880"]},{"raw_affiliation_string":"Robotics Research Center, KCIS, IIIT,Hyderabad,India","institution_ids":["https://openalex.org/I65181880"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"271","issue":"20","first_page":"11761","last_page":"11766"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9998999834060669,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9998999834060669,"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":0.9994000196456909,"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/T10638","display_name":"Optical measurement and interference techniques","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/artificial-intelligence","display_name":"Artificial intelligence","score":0.7116626501083374},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6579278707504272},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6298989057540894},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6256000399589539},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.5699791312217712},{"id":"https://openalex.org/keywords/translation","display_name":"Translation (biology)","score":0.5540185570716858},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.5062496066093445}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7116626501083374},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6579278707504272},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6298989057540894},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6256000399589539},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.5699791312217712},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.5540185570716858},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.5062496066093445},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C105580179","wikidata":"https://www.wikidata.org/wiki/Q188928","display_name":"Messenger RNA","level":3,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/icra48506.2021.9561100","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561100","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2011.12912","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2011.12912","pdf_url":"https://arxiv.org/pdf/2011.12912","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":"doi:10.48550/arxiv.2011.12912","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2011.12912","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":"Preprint"},{"id":"mag:3109323799","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":null},{"id":"mag:3208895355","is_oa":false,"landing_page_url":"https://davrempe.github.io/docs/CaSPR_CR.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306420609","display_name":"Neural Information Processing Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":"Neural Information Processing Systems","raw_type":null}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2011.12912","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2011.12912","pdf_url":"https://arxiv.org/pdf/2011.12912","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/W3109323799.pdf","grobid_xml":"https://content.openalex.org/works/W3109323799.grobid-xml"},"referenced_works_count":68,"referenced_works":["https://openalex.org/W1521825915","https://openalex.org/W1554811167","https://openalex.org/W1564897360","https://openalex.org/W1686810756","https://openalex.org/W1893912098","https://openalex.org/W1938204631","https://openalex.org/W1987648924","https://openalex.org/W2064451896","https://openalex.org/W2102104695","https://openalex.org/W2108703536","https://openalex.org/W2128019145","https://openalex.org/W2154844948","https://openalex.org/W2164474021","https://openalex.org/W2176412452","https://openalex.org/W2190691619","https://openalex.org/W2194775991","https://openalex.org/W2300779272","https://openalex.org/W2331128040","https://openalex.org/W2502312327","https://openalex.org/W2520707372","https://openalex.org/W2526546057","https://openalex.org/W2562637781","https://openalex.org/W2609883120","https://openalex.org/W2735730389","https://openalex.org/W2774989038","https://openalex.org/W2887751724","https://openalex.org/W2888144883","https://openalex.org/W2925241625","https://openalex.org/W2949634581","https://openalex.org/W2952122856","https://openalex.org/W2963091090","https://openalex.org/W2963238691","https://openalex.org/W2963667201","https://openalex.org/W2963892972","https://openalex.org/W2964000117","https://openalex.org/W2964121744","https://openalex.org/W2964233911","https://openalex.org/W2964333437","https://openalex.org/W2970102931","https://openalex.org/W2982024234","https://openalex.org/W3004414671","https://openalex.org/W3008635778","https://openalex.org/W3010952915","https://openalex.org/W3034299016","https://openalex.org/W3034597466","https://openalex.org/W3034603747","https://openalex.org/W3034604951","https://openalex.org/W3035131925","https://openalex.org/W3048438705","https://openalex.org/W3091357794","https://openalex.org/W3110109289","https://openalex.org/W3212743282","https://openalex.org/W3217246742","https://openalex.org/W6631190155","https://openalex.org/W6637373629","https://openalex.org/W6639102338","https://openalex.org/W6685562342","https://openalex.org/W6687484953","https://openalex.org/W6687718950","https://openalex.org/W6724804524","https://openalex.org/W6752823625","https://openalex.org/W6753623111","https://openalex.org/W6760546089","https://openalex.org/W6764941374","https://openalex.org/W6770831807","https://openalex.org/W6774113905","https://openalex.org/W6781893675","https://openalex.org/W6986961146"],"related_works":["https://openalex.org/W2923134635","https://openalex.org/W3035269921","https://openalex.org/W2625542360","https://openalex.org/W2963823554","https://openalex.org/W3108644554","https://openalex.org/W3087865810","https://openalex.org/W3214389227","https://openalex.org/W2566809059","https://openalex.org/W3197921177","https://openalex.org/W3160176911","https://openalex.org/W3125847159","https://openalex.org/W2968940224","https://openalex.org/W2728326942","https://openalex.org/W20439494","https://openalex.org/W2561647543","https://openalex.org/W2500990760","https://openalex.org/W2903206492","https://openalex.org/W2280731587","https://openalex.org/W2769814627","https://openalex.org/W3174118579"],"abstract_inverted_index":{"We":[0],"present":[1],"DRACO,":[2],"a":[3,27,44,97],"method":[4],"for":[5,31,43],"Dense":[6],"Reconstruction":[7],"And":[8],"Canonicalization":[9],"of":[10,46,79,107],"Object":[11],"shape":[12,20,25,114],"from":[13],"one":[14,102],"or":[15,59,103,124],"more":[16,104],"RGB":[17,105],"images.":[18],"Canonical":[19],"reconstruction\u2014":[21],"estimating":[22],"3D":[23,57],"object":[24],"in":[26,76,96],"coordinate":[28],"space":[29],"canonicalized":[30],"scale,":[32],"rotation,":[33],"and":[34,82,116],"translation":[35],"parameters\u2014is":[36],"an":[37,108],"emerging":[38],"paradigm":[39],"that":[40,120],"holds":[41],"promise":[42],"multitude":[45],"robotic":[47],"applications.":[48],"Prior":[49],"approaches":[50],"either":[51],"rely":[52],"on":[53,112],"painstakingly":[54],"gathered":[55],"dense":[56,70,92],"supervision,":[58],"produce":[60],"only":[61,73],"sparse":[62],"canonical":[63,98,113],"representations,":[64],"limiting":[65],"real-world":[66],"applicability.":[67],"DRACO":[68,90,121],"performs":[69],"canonicalization":[71],"using":[72,101],"weak":[74],"supervision":[75],"the":[77],"form":[78],"camera":[80],"poses":[81],"semantic":[83],"keypoints":[84],"at":[85],"train":[86],"time.":[87],"During":[88],"inference,":[89],"predicts":[91],"object-centric":[93],"depth":[94],"maps":[95],"coordinate-space,":[99],"solely":[100],"images":[106],"object.":[109],"Extensive":[110],"experiments":[111],"reconstruction":[115],"pose":[117],"estimation":[118],"show":[119],"is":[122],"competitive":[123],"superior":[125],"to":[126],"fully-supervised":[127],"methods.":[128]},"counts_by_year":[{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
