{"id":"https://openalex.org/W4413925221","doi":"https://doi.org/10.1109/icra55743.2025.11128446","title":"3D Whole-Body Pose Estimation Using Graph High-Resolution Network for Humanoid Robot Teleoperation","display_name":"3D Whole-Body Pose Estimation Using Graph High-Resolution Network for Humanoid Robot Teleoperation","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413925221","doi":"https://doi.org/10.1109/icra55743.2025.11128446"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128446","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128446","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5075105655","display_name":"Mingyu Zhang","orcid":"https://orcid.org/0009-0001-5224-0482"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingyu Zhang","raw_affiliation_strings":["School of Electronics and Communication Engineering, Sun Yat-sen University,Shenzhen,China,518107"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronics and Communication Engineering, Sun Yat-sen University,Shenzhen,China,518107","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043311744","display_name":"Qing Gao","orcid":"https://orcid.org/0000-0002-5395-6175"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qing Gao","raw_affiliation_strings":["School of Electronics and Communication Engineering, Sun Yat-sen University,Shenzhen,China,518107"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronics and Communication Engineering, Sun Yat-sen University,Shenzhen,China,518107","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yuanchuan Lai","orcid":null},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuanchuan Lai","raw_affiliation_strings":["School of Electronics and Communication Engineering, Sun Yat-sen University,Shenzhen,China,518107"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronics and Communication Engineering, Sun Yat-sen University,Shenzhen,China,518107","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049536028","display_name":"Ye Zhang","orcid":"https://orcid.org/0000-0002-5919-5661"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ye Zhang","raw_affiliation_strings":["School of Electronics and Communication Engineering, Sun Yat-sen University,Shenzhen,China,518107"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronics and Communication Engineering, Sun Yat-sen University,Shenzhen,China,518107","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088631540","display_name":"Tao Chang","orcid":"https://orcid.org/0000-0002-3572-2877"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tao Chang","raw_affiliation_strings":["National University of Defense Technology,Chang-Sha,China,410003"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National University of Defense Technology,Chang-Sha,China,410003","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013644792","display_name":"Yulan Guo","orcid":"https://orcid.org/0000-0003-0952-476X"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yulan Guo","raw_affiliation_strings":["School of Electronics and Communication Engineering, Sun Yat-sen University,Shenzhen,China,518107"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronics and Communication Engineering, Sun Yat-sen University,Shenzhen,China,518107","institution_ids":["https://openalex.org/I157773358"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1090","last_page":"1096"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.9726999998092651,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9726999998092651,"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/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9271000027656555,"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"}},{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.9264000058174133,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.8097829818725586},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.7532912492752075},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6890782117843628},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.6033426523208618},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5285084843635559},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.48474618792533875},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.43742239475250244},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4278145432472229},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4143410325050354},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3433002233505249},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.056244611740112305}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.8097829818725586},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7532912492752075},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6890782117843628},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.6033426523208618},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5285084843635559},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.48474618792533875},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.43742239475250244},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4278145432472229},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4143410325050354},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3433002233505249},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.056244611740112305}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11128446","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128446","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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":28,"referenced_works":["https://openalex.org/W2916798096","https://openalex.org/W2945729334","https://openalex.org/W2963515833","https://openalex.org/W2964318832","https://openalex.org/W2972662547","https://openalex.org/W2978956737","https://openalex.org/W2984612350","https://openalex.org/W3097623574","https://openalex.org/W3108664802","https://openalex.org/W3110017807","https://openalex.org/W3110095664","https://openalex.org/W3110310592","https://openalex.org/W3116454614","https://openalex.org/W3173811519","https://openalex.org/W3174690545","https://openalex.org/W3177949351","https://openalex.org/W3215052027","https://openalex.org/W4206874420","https://openalex.org/W4292828425","https://openalex.org/W4312676616","https://openalex.org/W4318953217","https://openalex.org/W4386083180","https://openalex.org/W4390874109","https://openalex.org/W4401414032","https://openalex.org/W4401416345","https://openalex.org/W4402715909","https://openalex.org/W4402727682","https://openalex.org/W4402780387"],"related_works":["https://openalex.org/W2046710269","https://openalex.org/W4315881361","https://openalex.org/W817518365","https://openalex.org/W2097059456","https://openalex.org/W4318953217","https://openalex.org/W2141648055","https://openalex.org/W2145103607","https://openalex.org/W4367662652","https://openalex.org/W2022619197","https://openalex.org/W2145960295"],"abstract_inverted_index":{"In":[0,45],"the":[1,71,112,136,155,158],"realm":[2],"of":[3,73,161],"robotics,":[4],"teleoperation":[5,72],"plays":[6],"a":[7,53,87,91,165],"pivotal":[8],"role":[9],"in":[10,32,146,164],"performing":[11],"high-risk":[12],"or":[13],"intricate":[14,125],"tasks,":[15],"and":[16,41,82,90,119,131,174],"obtaining":[17],"precise":[18],"3D":[19,63,122,147],"whole-body":[20,64,148],"pose":[21,65,149],"is":[22,68],"crucial":[23],"for":[24,61,70,124,168,177],"this":[25,162],"purpose.":[26],"Traditional":[27],"two-stage":[28],"methods":[29,145],"have":[30,184],"limitations":[31],"estimating":[33],"different":[34],"body":[35,126],"parts,":[36],"leading":[37],"to":[38,47,104],"complex":[39,180],"systems":[40],"higher":[42],"estimation":[43],"errors.":[44],"order":[46],"address":[48],"these":[49],"issues,the":[50],"paper":[51,156],"introduces":[52],"novel":[54],"framework":[55],"called":[56],"Graph":[57],"High-Resolution":[58,88,96],"Network":[59],"(GraphHRNet)":[60],"accurate":[62,121],"estimation,":[66,150],"which":[67],"essential":[69],"humanoid":[74,169],"robots.":[75],"GraphHRNet":[76,141],"effectively":[77],"captures":[78],"global":[79,109],"structural":[80],"information":[81],"local":[83],"details":[84],"by":[85],"integrating":[86],"Module":[89,97,115],"Multi-branch":[92,113],"Regression":[93,114],"Module.":[94],"The":[95,182],"utilizes":[98],"an":[99,172],"enhanced":[100],"graph":[101],"convolution":[102],"kernel":[103],"fuse":[105],"multi-scale":[106],"features,":[107],"capturing":[108],"information,":[110],"while":[111],"focuses":[116],"on":[117,135],"refining":[118],"predicting":[120],"coordinates":[123],"parts":[127],"such":[128],"as":[129],"hands":[130],"face.":[132],"Experimental":[133],"results":[134],"H3WB":[137],"dataset":[138],"demonstrate":[139],"that":[140],"surpasses":[142],"state-of-the-art":[143],"(SOTA)":[144],"significantly":[151],"improving":[152],"performance.":[153],"Furthermore,":[154],"explores":[157],"potential":[159],"application":[160],"approach":[163],"tele-operation":[166],"system":[167],"robots,":[170],"providing":[171],"intuitive":[173],"high-fidelity":[175],"solution":[176],"remotely":[178],"executing":[179],"tasks.":[181],"code":[183],"been":[185],"publicly":[186],"available":[187],"at":[188],"https://github.com/Z-mingyu/GraphHRNet.git":[189]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}