{"id":"https://openalex.org/W4401416879","doi":"https://doi.org/10.1109/icra57147.2024.10610844","title":"PoseFusion: Multi-Scale Keypoint Correspondence for Monocular Camera-to-Robot Pose Estimation in Robotic Manipulation","display_name":"PoseFusion: Multi-Scale Keypoint Correspondence for Monocular Camera-to-Robot Pose Estimation in Robotic Manipulation","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401416879","doi":"https://doi.org/10.1109/icra57147.2024.10610844"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610844","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610844","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5112121670","display_name":"Xujun Han","orcid":null},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xujun Han","raw_affiliation_strings":["University of Science and Technology of China,Department of Automation,Hefei,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Science and Technology of China,Department of Automation,Hefei,China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038630321","display_name":"Shaochen Wang","orcid":"https://orcid.org/0000-0002-6985-240X"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shaochen Wang","raw_affiliation_strings":["University of Science and Technology of China,Department of Automation,Hefei,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Science and Technology of China,Department of Automation,Hefei,China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029905227","display_name":"Xiucai Huang","orcid":"https://orcid.org/0000-0002-7095-0349"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiucai Huang","raw_affiliation_strings":["Chongqing University,School of Automation,Chongqing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chongqing University,School of Automation,Chongqing,China","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018344952","display_name":"Zhen Kan","orcid":"https://orcid.org/0000-0003-2069-9544"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhen Kan","raw_affiliation_strings":["University of Science and Technology of China,Department of Automation,Hefei,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Science and Technology of China,Department of Automation,Hefei,China","institution_ids":["https://openalex.org/I126520041"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.9136,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.94997488,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"795","last_page":"801"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9993000030517578,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9991999864578247,"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-vision","display_name":"Computer vision","score":0.7721186280250549},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7717776298522949},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.6949142217636108},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6704137921333313},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.5746800899505615},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.5399603247642517},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5189123153686523},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.0780438780784607}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7721186280250549},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7717776298522949},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.6949142217636108},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6704137921333313},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.5746800899505615},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.5399603247642517},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5189123153686523},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0780438780784607},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610844","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610844","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W1522301498","https://openalex.org/W1991544872","https://openalex.org/W1994349244","https://openalex.org/W2023135124","https://openalex.org/W2049981393","https://openalex.org/W2064904149","https://openalex.org/W2107105904","https://openalex.org/W2125188427","https://openalex.org/W2164139712","https://openalex.org/W2741951152","https://openalex.org/W2948537313","https://openalex.org/W2961348656","https://openalex.org/W2963188159","https://openalex.org/W2963350527","https://openalex.org/W2963921470","https://openalex.org/W2968108377","https://openalex.org/W2997225633","https://openalex.org/W3025800305","https://openalex.org/W3035355652","https://openalex.org/W3090564508","https://openalex.org/W3173409700","https://openalex.org/W3195196013","https://openalex.org/W3200540310","https://openalex.org/W3206530241","https://openalex.org/W3213539602","https://openalex.org/W4206024271","https://openalex.org/W4221167790","https://openalex.org/W4243280346","https://openalex.org/W4312456699","https://openalex.org/W4383108397","https://openalex.org/W4386076102","https://openalex.org/W4386083139","https://openalex.org/W4386172325","https://openalex.org/W4386177929","https://openalex.org/W4388617516","https://openalex.org/W4390188602","https://openalex.org/W6631190155","https://openalex.org/W6751733626","https://openalex.org/W6760424586","https://openalex.org/W6803063336"],"related_works":["https://openalex.org/W2123263858","https://openalex.org/W3127959533","https://openalex.org/W200819717","https://openalex.org/W4387967917","https://openalex.org/W4386925306","https://openalex.org/W2736638679","https://openalex.org/W4307623796","https://openalex.org/W4313046826","https://openalex.org/W4394784820","https://openalex.org/W1968716783"],"abstract_inverted_index":{"Visual-based":[0],"robot":[1,104,141],"pose":[2,14,24,56,126],"estimation":[3,57],"is":[4],"a":[5,18,72,78],"fundamental":[6],"challenge,":[7],"involving":[8],"the":[9,12,97,115,120],"determination":[10],"of":[11,110],"camera\u2019s":[13,121],"with":[15],"respect":[16],"to":[17,30,82,91],"robot.":[19],"Conventional":[20],"methods":[21],"for":[22],"camera-to-robot":[23,61],"calibration":[25,62],"rely":[26],"on":[27],"fiducial":[28],"markers":[29],"establish":[31,108],"keypoint":[32,47,67,93],"correspondences.":[33],"However,":[34],"these":[35],"approaches":[36],"exhibit":[37],"significant":[38],"variability":[39],"in":[40,45],"accuracy":[41],"and":[42,66,101,119,132],"robustness,":[43],"particularly":[44],"2D":[46],"detection.":[48],"In":[49],"this":[50],"work,":[51],"we":[52,107],"present":[53],"an":[54],"end-to-end":[55],"approach":[58],"that":[59],"achieves":[60],"using":[63],"monocular":[64],"images":[65],"information.":[68],"Our":[69],"method":[70],"employs":[71],"two-level":[73],"nested":[74],"U-shaped":[75],"architecture,":[76],"featuring":[77],"bottom-level":[79],"residual":[80],"U-block":[81],"extract":[83],"richer":[84],"contextual":[85],"information":[86],"from":[87],"diverse":[88],"receptive":[89],"fields":[90],"enhance":[92],"refinement.":[94],"By":[95],"incorporating":[96],"perspective-n-point":[98],"(PnP)":[99],"algorithm":[100],"leveraging":[102],"3D":[103,111],"joint":[105],"keypoints,":[106],"correspondence":[109],"coordinate":[112,117,122],"points":[113],"between":[114],"robot\u2019s":[116],"system":[118],"system,":[123],"facilitating":[124],"accurate":[125],"estimation.":[127],"Experimental":[128],"evaluations":[129],"encompass":[130],"real-world":[131],"synthetic":[133],"datasets,":[134],"demonstrating":[135],"competitive":[136],"results":[137],"across":[138],"three":[139],"distinct":[140],"manipulators.":[142]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
