{"id":"https://openalex.org/W3205185919","doi":"https://doi.org/10.1109/icra48506.2021.9561732","title":"Deep3DRanker: A Novel Framework for Learning to Rank 3D Models with Self-Attention in Robotic Vision","display_name":"Deep3DRanker: A Novel Framework for Learning to Rank 3D Models with Self-Attention in Robotic Vision","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3205185919","doi":"https://doi.org/10.1109/icra48506.2021.9561732","mag":"3205185919"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561732","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561732","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":"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/A5021505567","display_name":"Frank P.-W. Lo","orcid":"https://orcid.org/0000-0002-0358-6567"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Frank Po Wen Lo","raw_affiliation_strings":["Hamlyn Centre, Imperial College London, London, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Hamlyn Centre, Imperial College London, London, United Kingdom","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018695663","display_name":"Yao Guo","orcid":"https://orcid.org/0000-0001-8041-1245"},"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":"Yao Guo","raw_affiliation_strings":["Institute of Medical Robotics and School of Biomedical Engineering, Shanghai Jiaotong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Institute of Medical Robotics and School of Biomedical Engineering, Shanghai Jiaotong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059787157","display_name":"Yingnan Sun","orcid":"https://orcid.org/0000-0002-8566-8055"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Yingnan Sun","raw_affiliation_strings":["Hamlyn Centre, Imperial College London, London, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Hamlyn Centre, Imperial College London, London, United Kingdom","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071693446","display_name":"Jianing Qiu","orcid":"https://orcid.org/0000-0003-4166-3428"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Jianing Qiu","raw_affiliation_strings":["Department of Computing, Imperial College London, London, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Department of Computing, Imperial College London, London, United Kingdom","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063187094","display_name":"Benny Lo","orcid":"https://orcid.org/0000-0002-5080-108X"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Benny Lo","raw_affiliation_strings":["Hamlyn Centre, Imperial College London, London, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Hamlyn Centre, Imperial College London, London, United Kingdom","institution_ids":["https://openalex.org/I47508984"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5021505567"],"corresponding_institution_ids":["https://openalex.org/I47508984"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.1594207,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"38","issue":null,"first_page":"4341","last_page":"4347"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9962000250816345,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9962000250816345,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/T10812","display_name":"Human Pose and Action Recognition","score":0.993399977684021,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9922000169754028,"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/computer-science","display_name":"Computer science","score":0.8355446457862854},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.639550507068634},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.63382887840271},{"id":"https://openalex.org/keywords/ranking","display_name":"Ranking (information retrieval)","score":0.6280345320701599},{"id":"https://openalex.org/keywords/rank","display_name":"Rank (graph theory)","score":0.6147206425666809},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.5053241848945618},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.474018394947052},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4538425803184509},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.45343154668807983},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44804346561431885},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.1039091944694519}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8355446457862854},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.639550507068634},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.63382887840271},{"id":"https://openalex.org/C189430467","wikidata":"https://www.wikidata.org/wiki/Q7293293","display_name":"Ranking (information retrieval)","level":2,"score":0.6280345320701599},{"id":"https://openalex.org/C164226766","wikidata":"https://www.wikidata.org/wiki/Q7293202","display_name":"Rank (graph theory)","level":2,"score":0.6147206425666809},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.5053241848945618},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.474018394947052},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4538425803184509},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.45343154668807983},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44804346561431885},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.1039091944694519},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48506.2021.9561732","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561732","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W2133564696","https://openalex.org/W2560609797","https://openalex.org/W2591598332","https://openalex.org/W2603737562","https://openalex.org/W2737434030","https://openalex.org/W2742710256","https://openalex.org/W2793187686","https://openalex.org/W2886024243","https://openalex.org/W2963188159","https://openalex.org/W2963403868","https://openalex.org/W2963838657","https://openalex.org/W2964308564","https://openalex.org/W2966227314","https://openalex.org/W2977940029","https://openalex.org/W2979750740","https://openalex.org/W2981440248","https://openalex.org/W2988715931","https://openalex.org/W3012628147","https://openalex.org/W3028579689","https://openalex.org/W3035268949","https://openalex.org/W3090584485","https://openalex.org/W3101747393","https://openalex.org/W3164833096","https://openalex.org/W4385245566","https://openalex.org/W6679434410","https://openalex.org/W6733795856","https://openalex.org/W6739901393","https://openalex.org/W6745325305","https://openalex.org/W6745401828","https://openalex.org/W6747904511","https://openalex.org/W6763422710","https://openalex.org/W6777874962"],"related_works":["https://openalex.org/W3016928466","https://openalex.org/W4389574804","https://openalex.org/W2936725271","https://openalex.org/W3150655618","https://openalex.org/W2295788148","https://openalex.org/W1578717197","https://openalex.org/W2188500270","https://openalex.org/W3108295644","https://openalex.org/W2626737336","https://openalex.org/W3160516639"],"abstract_inverted_index":{"Research":[0],"on":[1,40,115],"generating":[2],"or":[3],"processing":[4],"point":[5,41],"clouds":[6,42],"has":[7],"become":[8],"an":[9],"increasingly":[10],"popular":[11],"domain":[12],"in":[13,84,168],"robotic":[14,23,166],"research":[15,38],"due":[16],"to":[17,45,75,111,136,155],"its":[18],"extensive":[19],"applications,":[20,167],"such":[21],"as":[22],"grasping,":[24],"augmented":[25],"reality":[26],"and":[27,104,120,146],"autonomous":[28],"vehicle":[29],"navigation.":[30],"In":[31,55],"this":[32],"paper,":[33],"we":[34,62,89],"explore":[35],"a":[36,51,69,91],"new":[37],"area":[39],"-":[43],"Learning":[44,57],"rank":[46],"3D":[47,72,98],"models":[48,73,99],"captured":[49],"from":[50,153],"single":[52],"depth":[53],"image.":[54],"the":[56,66,76,81,162],"To":[58],"Rank":[59],"(LTR)":[60],"task,":[61],"aim":[63],"at":[64],"optimizing":[65],"order":[67],"of":[68,71,142,161],"list":[70],"according":[74],"given":[77],"query.":[78],"Inspired":[79],"by":[80,100],"recent":[82],"advances":[83],"Natural":[85],"Language":[86],"Processing":[87],"(NLP),":[88],"propose":[90],"novel":[92],"framework,":[93],"namely":[94],"Deep3DRanker,":[95],"for":[96,165,170],"ranking":[97],"leveraging":[101],"graph-based":[102],"encoding":[103],"self-attention":[105],"mechanisms.":[106],"Comprehensive":[107],"experiments":[108],"are":[109],"conducted":[110],"validate":[112],"our":[113,130],"methods":[114],"publicly":[116],"available":[117],"YCB":[118,121],"synthetic":[119],"video":[122],"datasets.":[123],"The":[124],"promising":[125],"results":[126],"have":[127],"shown":[128],"that":[129],"proposed":[131,163],"framework":[132,164],"is":[133],"generic":[134],"enough":[135],"be":[137],"applicable":[138],"with":[139,150],"any":[140],"combinations":[141],"randomly":[143],"positioned,":[144],"oriented,":[145],"unseen":[147],"object":[148],"items":[149],"accuracy":[151],"ranging":[152],"59.2%":[154],"94.9%,":[156],"which":[157],"shows":[158],"great":[159],"potentials":[160],"particular,":[169],"making":[171],"decisions":[172],"under":[173],"different":[174],"circumstances.":[175]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
