{"id":"https://openalex.org/W4401413628","doi":"https://doi.org/10.1109/icra57147.2024.10611012","title":"FSD: Fast Self-Supervised Single RGB-D to Categorical 3D Objects","display_name":"FSD: Fast Self-Supervised Single RGB-D to Categorical 3D Objects","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401413628","doi":"https://doi.org/10.1109/icra57147.2024.10611012"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10611012","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611012","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":"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/A5085147167","display_name":"Mayank Lunayach","orcid":"https://orcid.org/0000-0001-6293-0949"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mayank Lunayach","raw_affiliation_strings":["Georgia Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101485856","display_name":"Sergey Zakharov","orcid":null},"institutions":[{"id":"https://openalex.org/I4391768151","display_name":"Toyota Research Institute","ror":"https://ror.org/04fpkc108","country_code":null,"type":"facility","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4391768151"]}],"countries":[],"is_corresponding":false,"raw_author_name":"Sergey Zakharov","raw_affiliation_strings":["Toyota Research Institute"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Toyota Research Institute","institution_ids":["https://openalex.org/I4391768151"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101949656","display_name":"Dian Chen","orcid":"https://orcid.org/0000-0002-2911-9019"},"institutions":[{"id":"https://openalex.org/I4391768151","display_name":"Toyota Research Institute","ror":"https://ror.org/04fpkc108","country_code":null,"type":"facility","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4391768151"]}],"countries":[],"is_corresponding":false,"raw_author_name":"Dian Chen","raw_affiliation_strings":["Toyota Research Institute"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Toyota Research Institute","institution_ids":["https://openalex.org/I4391768151"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037522398","display_name":"Rare\u015f Ambru\u015f","orcid":"https://orcid.org/0000-0002-3111-3812"},"institutions":[{"id":"https://openalex.org/I4391768151","display_name":"Toyota Research Institute","ror":"https://ror.org/04fpkc108","country_code":null,"type":"facility","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4391768151"]}],"countries":[],"is_corresponding":false,"raw_author_name":"Rares Ambrus","raw_affiliation_strings":["Toyota Research Institute"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Toyota Research Institute","institution_ids":["https://openalex.org/I4391768151"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088892134","display_name":"Zsolt Kira","orcid":"https://orcid.org/0000-0002-2626-2004"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zsolt Kira","raw_affiliation_strings":["Georgia Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009075844","display_name":"Muhammad Zubair Irshad","orcid":"https://orcid.org/0000-0002-1955-6194"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Muhammad Zubair Irshad","raw_affiliation_strings":["Georgia Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.2867,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.92571529,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"14630","last_page":"14637"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9994999766349792,"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":0.9994999766349792,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9966999888420105,"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/categorical-variable","display_name":"Categorical variable","score":0.7047248482704163},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6461477875709534},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5870872735977173},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.47889724373817444},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.47153884172439575},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3936510980129242},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.21976152062416077}],"concepts":[{"id":"https://openalex.org/C5274069","wikidata":"https://www.wikidata.org/wiki/Q2285707","display_name":"Categorical variable","level":2,"score":0.7047248482704163},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6461477875709534},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5870872735977173},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.47889724373817444},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.47153884172439575},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3936510980129242},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.21976152062416077}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10611012","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611012","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":62,"referenced_works":["https://openalex.org/W1022526533","https://openalex.org/W1522301498","https://openalex.org/W1794703952","https://openalex.org/W2488101876","https://openalex.org/W2537677623","https://openalex.org/W2895439318","https://openalex.org/W2955639361","https://openalex.org/W2962849139","https://openalex.org/W2963150697","https://openalex.org/W2963177347","https://openalex.org/W2963188159","https://openalex.org/W2963627347","https://openalex.org/W2963892972","https://openalex.org/W2963926543","https://openalex.org/W2964249569","https://openalex.org/W2981854237","https://openalex.org/W2990578762","https://openalex.org/W3009516594","https://openalex.org/W3034268164","https://openalex.org/W3034597466","https://openalex.org/W3034603747","https://openalex.org/W3034968345","https://openalex.org/W3038073026","https://openalex.org/W3081167590","https://openalex.org/W3084902463","https://openalex.org/W3107730598","https://openalex.org/W3107992529","https://openalex.org/W3111487461","https://openalex.org/W3116978940","https://openalex.org/W3175388581","https://openalex.org/W3176972717","https://openalex.org/W3178144853","https://openalex.org/W3184957317","https://openalex.org/W3196328566","https://openalex.org/W3204319309","https://openalex.org/W3205676116","https://openalex.org/W4212774754","https://openalex.org/W4226322645","https://openalex.org/W4226391004","https://openalex.org/W4283775758","https://openalex.org/W4283808280","https://openalex.org/W4286696412","https://openalex.org/W4312266040","https://openalex.org/W4312445439","https://openalex.org/W4312729859","https://openalex.org/W4312818087","https://openalex.org/W4386075519","https://openalex.org/W4390874575","https://openalex.org/W4394671432","https://openalex.org/W6631190155","https://openalex.org/W6687484953","https://openalex.org/W6748182585","https://openalex.org/W6760424586","https://openalex.org/W6766978945","https://openalex.org/W6770028333","https://openalex.org/W6778711140","https://openalex.org/W6780110325","https://openalex.org/W6781568228","https://openalex.org/W6783432159","https://openalex.org/W6810937846","https://openalex.org/W6839186193","https://openalex.org/W6847255930"],"related_works":["https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2772917594","https://openalex.org/W2775347418","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"In":[0],"this":[1,61,161],"work,":[2],"we":[3],"address":[4],"the":[5,13,25,41,46,85,94,100,119,136,142,168,182],"challenging":[6],"task":[7],"of":[8,32,87,99,129,144],"3D":[9,17,26,101,132,148],"object":[10,78],"recognition":[11,102],"without":[12],"reliance":[14,72],"on":[15,73,151,181],"real-world":[16,97,120,152],"labeled":[18],"data.":[19],"Our":[20,104],"goal":[21],"is":[22,124],"to":[23,113,118],"predict":[24],"shape,":[27],"size,":[28],"and":[29,44,80,96,131,147,171,177],"6D":[30,175,193],"pose":[31,176,194],"objects":[33],"within":[34],"a":[35,108,127,186],"single":[36],"RGB-D":[37],"image,":[38],"operating":[39],"at":[40,201],"category":[42],"level":[43],"eliminating":[45],"need":[47],"for":[48,76,192],"CAD":[49],"models":[50,75],"during":[51,84,135],"inference.":[52],"While":[53],"existing":[54,173],"self-supervised":[55,149,174],"methods":[56],"have":[57],"made":[58],"strides":[59],"in":[60,154,190,198],"field,":[62],"they":[63],"often":[64],"suffer":[65],"from":[66,69],"inefficiencies":[67],"arising":[68],"non-end-to-end":[70],"processing,":[71],"separate":[74],"different":[77],"categories,":[79],"slow":[81],"surface":[82],"extraction":[83],"training":[86,110],"implicit":[88],"reconstruction":[89],"models;":[90],"thus":[91],"hindering":[92],"both":[93],"speed":[95],"applicability":[98],"process.":[103],"proposed":[105],"method":[106,165],"leverages":[107],"multi-stage":[109],"pipeline,":[111],"designed":[112],"efficiently":[114],"transfer":[115],"synthetic":[116,137],"performance":[117],"domain.":[121],"This":[122],"approach":[123],"achieved":[125],"through":[126],"combination":[128],"2D":[130,145],"supervised":[133,146],"losses":[134,150],"domain":[138],"training,":[139],"followed":[140],"by":[141],"incorporation":[143],"data":[153],"two":[155],"additional":[156],"learning":[157],"stages.":[158],"By":[159],"adopting":[160],"comprehensive":[162],"strategy,":[163],"our":[164],"successfully":[166],"overcomes":[167],"aforementioned":[169],"limitations":[170],"outperforms":[172],"size":[178],"estimation":[179,195],"baselines":[180],"NOCS":[183],"test-set":[184],"with":[185],"16.4%":[187],"absolute":[188],"improvement":[189],"mAP":[191],"while":[196],"running":[197],"near":[199],"real-time":[200],"5":[202],"Hz.":[203],"Project":[204],"page:":[205],"fsd6d.github.io":[206]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":5}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
