{"id":"https://openalex.org/W4383108834","doi":"https://doi.org/10.1109/icra48891.2023.10160546","title":"Robust Collaborative 3D Object Detection in Presence of Pose Errors","display_name":"Robust Collaborative 3D Object Detection in Presence of Pose Errors","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383108834","doi":"https://doi.org/10.1109/icra48891.2023.10160546"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160546","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160546","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5101425156","display_name":"Yifan Lu","orcid":"https://orcid.org/0000-0003-3787-0440"},"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"]},{"id":"https://openalex.org/I4210099312","display_name":"Shandong Jiaotong University","ror":"https://ror.org/01848hk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210099312"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yifan Lu","raw_affiliation_strings":["Shanghai Jiao Tong University,Cooperative Medianet Innovation Center (CMIC),China","Cooperative Medianet Innovation Center (CMIC), Shanghai Jiao Tong University, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,Cooperative Medianet Innovation Center (CMIC),China","institution_ids":["https://openalex.org/I183067930","https://openalex.org/I4210099312"]},{"raw_affiliation_string":"Cooperative Medianet Innovation Center (CMIC), Shanghai Jiao Tong University, China","institution_ids":["https://openalex.org/I183067930","https://openalex.org/I4210099312"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045375675","display_name":"Quanhao Li","orcid":null},"institutions":[{"id":"https://openalex.org/I881766915","display_name":"Nanjing University","ror":"https://ror.org/01rxvg760","country_code":"CN","type":"education","lineage":["https://openalex.org/I881766915"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Quanhao Li","raw_affiliation_strings":["Nanjing University,China","Nanjing University, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanjing University,China","institution_ids":["https://openalex.org/I881766915"]},{"raw_affiliation_string":"Nanjing University, China","institution_ids":["https://openalex.org/I881766915"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052065466","display_name":"Baoan Liu","orcid":"https://orcid.org/0000-0003-4532-3658"},"institutions":[{"id":"https://openalex.org/I4210128585","display_name":"META Health","ror":"https://ror.org/035h67p10","country_code":"US","type":"other","lineage":["https://openalex.org/I4210128585"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Baoan Liu","raw_affiliation_strings":["Meta Reality Labs,USA","Meta Reality Labs, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Meta Reality Labs,USA","institution_ids":["https://openalex.org/I4210128585"]},{"raw_affiliation_string":"Meta Reality Labs, USA","institution_ids":["https://openalex.org/I4210128585"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068530392","display_name":"Mehrdad Dianati","orcid":"https://orcid.org/0000-0001-5119-4499"},"institutions":[{"id":"https://openalex.org/I39555362","display_name":"University of Warwick","ror":"https://ror.org/01a77tt86","country_code":"GB","type":"education","lineage":["https://openalex.org/I39555362"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Mehrdad Dianati","raw_affiliation_strings":["University of Warwick,UK","University of Warwick, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Warwick,UK","institution_ids":["https://openalex.org/I39555362"]},{"raw_affiliation_string":"University of Warwick, UK","institution_ids":["https://openalex.org/I39555362"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100699151","display_name":"Chen Feng","orcid":"https://orcid.org/0000-0003-3211-1576"},"institutions":[{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chen Feng","raw_affiliation_strings":["New York University,USA","New York University, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"New York University,USA","institution_ids":["https://openalex.org/I57206974"]},{"raw_affiliation_string":"New York University, USA","institution_ids":["https://openalex.org/I57206974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066373402","display_name":"Siheng Chen","orcid":"https://orcid.org/0000-0002-9144-0583"},"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"]},{"id":"https://openalex.org/I4210099312","display_name":"Shandong Jiaotong University","ror":"https://ror.org/01848hk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210099312"]},{"id":"https://openalex.org/I4391012619","display_name":"Shanghai Artificial Intelligence Laboratory","ror":"https://ror.org/03wkvpx79","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4391012619"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Siheng Chen","raw_affiliation_strings":["Shanghai Jiao Tong University,Cooperative Medianet Innovation Center (CMIC),China","Cooperative Medianet Innovation Center (CMIC), Shanghai Jiao Tong University, China","Shanghai AI laboratory, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,Cooperative Medianet Innovation Center (CMIC),China","institution_ids":["https://openalex.org/I183067930","https://openalex.org/I4210099312"]},{"raw_affiliation_string":"Cooperative Medianet Innovation Center (CMIC), Shanghai Jiao Tong University, China","institution_ids":["https://openalex.org/I183067930","https://openalex.org/I4210099312"]},{"raw_affiliation_string":"Shanghai AI laboratory, China","institution_ids":["https://openalex.org/I4391012619"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100645705","display_name":"Yanfeng Wang","orcid":"https://orcid.org/0000-0002-3196-2347"},"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"]},{"id":"https://openalex.org/I4210099312","display_name":"Shandong Jiaotong University","ror":"https://ror.org/01848hk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210099312"]},{"id":"https://openalex.org/I4391012619","display_name":"Shanghai Artificial Intelligence Laboratory","ror":"https://ror.org/03wkvpx79","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4391012619"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanfeng Wang","raw_affiliation_strings":["Shanghai Jiao Tong University,Cooperative Medianet Innovation Center (CMIC),China","Cooperative Medianet Innovation Center (CMIC), Shanghai Jiao Tong University, China","Shanghai AI laboratory, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,Cooperative Medianet Innovation Center (CMIC),China","institution_ids":["https://openalex.org/I183067930","https://openalex.org/I4210099312"]},{"raw_affiliation_string":"Cooperative Medianet Innovation Center (CMIC), Shanghai Jiao Tong University, China","institution_ids":["https://openalex.org/I183067930","https://openalex.org/I4210099312"]},{"raw_affiliation_string":"Shanghai AI laboratory, China","institution_ids":["https://openalex.org/I4391012619"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":15.1438,"has_fulltext":false,"cited_by_count":132,"citation_normalized_percentile":{"value":0.9914003,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"4812","last_page":"4818"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9998000264167786,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9998000264167786,"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9955000281333923,"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":0.995199978351593,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8289738297462463},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.8138641715049744},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.655154824256897},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6183310747146606},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.6165672540664673},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4987294673919678},{"id":"https://openalex.org/keywords/3d-pose-estimation","display_name":"3D pose estimation","score":0.4977448284626007},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4751458168029785},{"id":"https://openalex.org/keywords/code","display_name":"Code (set theory)","score":0.4709742069244385},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.4653288722038269},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.46434077620506287},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.45278191566467285},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.43828481435775757},{"id":"https://openalex.org/keywords/articulated-body-pose-estimation","display_name":"Articulated body pose estimation","score":0.43019574880599976},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.35800403356552124},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.3386881947517395},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.24880057573318481},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.1326219141483307},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.08993586897850037}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8289738297462463},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.8138641715049744},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.655154824256897},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6183310747146606},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.6165672540664673},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4987294673919678},{"id":"https://openalex.org/C36613465","wikidata":"https://www.wikidata.org/wiki/Q4636322","display_name":"3D pose estimation","level":3,"score":0.4977448284626007},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4751458168029785},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.4709742069244385},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.4653288722038269},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.46434077620506287},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.45278191566467285},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.43828481435775757},{"id":"https://openalex.org/C22100474","wikidata":"https://www.wikidata.org/wiki/Q4800952","display_name":"Articulated body pose estimation","level":4,"score":0.43019574880599976},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.35800403356552124},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.3386881947517395},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.24880057573318481},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.1326219141483307},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.08993586897850037},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"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/icra48891.2023.10160546","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160546","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/17","display_name":"Partnerships for the goals","score":0.4300000071525574}],"awards":[{"id":"https://openalex.org/G1750173933","display_name":null,"funder_award_id":"62171276","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W1522301498","https://openalex.org/W1656165940","https://openalex.org/W1869778509","https://openalex.org/W2080823437","https://openalex.org/W2256578114","https://openalex.org/W2553603302","https://openalex.org/W2621274416","https://openalex.org/W2788608285","https://openalex.org/W2963285578","https://openalex.org/W2968296999","https://openalex.org/W2985739927","https://openalex.org/W2989150256","https://openalex.org/W2996759437","https://openalex.org/W3095503460","https://openalex.org/W3105338106","https://openalex.org/W3109991383","https://openalex.org/W3116564952","https://openalex.org/W3176465513","https://openalex.org/W3182020006","https://openalex.org/W3201193904","https://openalex.org/W3204792207","https://openalex.org/W3210076120","https://openalex.org/W3212276425","https://openalex.org/W3212352499","https://openalex.org/W4214619833","https://openalex.org/W4280617066","https://openalex.org/W4284701604","https://openalex.org/W4286544732","https://openalex.org/W4295719664","https://openalex.org/W4297411803","https://openalex.org/W4312571135","https://openalex.org/W4312604822","https://openalex.org/W4312939270","https://openalex.org/W4321021640","https://openalex.org/W6608490729","https://openalex.org/W6631190155","https://openalex.org/W6639086533","https://openalex.org/W6685562342","https://openalex.org/W6729999887","https://openalex.org/W6745935785","https://openalex.org/W6772052984","https://openalex.org/W6784490219","https://openalex.org/W6785667878","https://openalex.org/W6802966573","https://openalex.org/W6809840003","https://openalex.org/W6839180059","https://openalex.org/W6842774165"],"related_works":["https://openalex.org/W2113785214","https://openalex.org/W2946083937","https://openalex.org/W2798721181","https://openalex.org/W4299867837","https://openalex.org/W4386075737","https://openalex.org/W2951583186","https://openalex.org/W1974260915","https://openalex.org/W4382141741","https://openalex.org/W2088028039","https://openalex.org/W4294967731"],"abstract_inverted_index":{"Collaborative":[0],"3D":[1],"object":[2,14],"detection":[3,15,164],"exploits":[4],"information":[5],"exchange":[6],"among":[7,83],"multiple":[8,99,148],"agents":[9],"to":[10,31,64,79,94],"enhance":[11,80],"accuracy":[12],"of":[13,18,44,50,140,162,177],"in":[16,25,127],"presence":[17],"sensor":[19],"impairments":[20],"such":[21],"as":[22],"occlusion.":[23],"However,":[24],"practice,":[26],"pose":[27,51,66,76,81,109,125,136,167],"estimation":[28],"errors":[29,168],"due":[30],"imperfect":[32],"localization":[33,156],"would":[34],"cause":[35],"spatial":[36,100],"message":[37],"misalignment":[38],"and":[39,130,158],"significantly":[40,153],"reduce":[41,154],"the":[42,128,141,160,175,178],"performance":[43,165],"collaboration.":[45],"To":[46],"alleviate":[47],"adverse":[48],"impacts":[49],"errors,":[52],"we":[53,87],"propose":[54],"CoAlign,":[55],"a":[56,73,89],"novel":[57,74],"hybrid":[58],"collaboration":[59],"framework":[60],"that":[61,151],"is":[62,116,144],"robust":[63],"unknown":[65],"errors.":[67,137],"The":[68],"proposed":[69,114,142],"solution":[70],"relies":[71],"on":[72,135,147],"agent-object":[75],"graph":[77],"modeling":[78],"consistency":[82],"collaborating":[84],"agents.":[85],"Furthermore,":[86],"adopt":[88],"multiscale":[90],"data":[91],"fusion":[92],"strategy":[93],"aggregate":[95],"intermediate":[96],"features":[97],"at":[98,181],"resolutions.":[101],"Comparing":[102],"with":[103],"previous":[104],"works,":[105],"which":[106],"require":[107,122],"ground-truth":[108,124],"for":[110,174],"training":[111,129],"supervision,":[112],"our":[113],"CoAlign":[115,152],"more":[117],"practical":[118],"since":[119],"it":[120],"doesn't":[121],"any":[123],"supervision":[126],"makes":[131],"no":[132],"specific":[133],"assumptions":[134],"Extensive":[138],"evaluation":[139],"method":[143],"carried":[145],"out":[146],"datasets,":[149],"certifying":[150],"relative":[155],"error":[157],"achieving":[159],"state":[161],"art":[163],"when":[166],"exist.":[169],"Code":[170],"are":[171],"made":[172],"available":[173],"use":[176],"research":[179],"community":[180],"https://github.com/yifanlu0227/CoAlign.":[182]},"counts_by_year":[{"year":2026,"cited_by_count":25},{"year":2025,"cited_by_count":67},{"year":2024,"cited_by_count":28},{"year":2023,"cited_by_count":12}],"updated_date":"2026-08-24T07:32:12.397491","created_date":"2025-10-10T00:00:00"}
