{"id":"https://openalex.org/W2963302576","doi":"https://doi.org/10.1109/iros.2016.7759605","title":"Iterative Hough Forest with Histogram of Control Points for 6 DoF object registration from depth images","display_name":"Iterative Hough Forest with Histogram of Control Points for 6 DoF object registration from depth images","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2963302576","doi":"https://doi.org/10.1109/iros.2016.7759605","mag":"2963302576"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2016.7759605","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759605","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5065550618","display_name":"Caner \u015eahin","orcid":"https://orcid.org/0000-0002-4591-7168"},"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":"Caner Sahin","raw_affiliation_strings":["Department of Electrical and Electronic Engineering, Imperial Computer Vision and Learning Lab (ICVL), London, UK"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronic Engineering, Imperial Computer Vision and Learning Lab (ICVL), London, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026211910","display_name":"Rigas Kouskouridas","orcid":"https://orcid.org/0000-0002-4866-520X"},"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":"Rigas Kouskouridas","raw_affiliation_strings":["Department of Electrical and Electronic Engineering, Imperial Computer Vision and Learning Lab (ICVL), London, UK"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronic Engineering, Imperial Computer Vision and Learning Lab (ICVL), London, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100653784","display_name":"Tae\u2010Kyun Kim","orcid":"https://orcid.org/0000-0002-7587-6053"},"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":"Tae-Kyun Kim","raw_affiliation_strings":["Department of Electrical and Electronic Engineering, Imperial Computer Vision and Learning Lab (ICVL), London, UK"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronic Engineering, Imperial Computer Vision and Learning Lab (ICVL), London, UK","institution_ids":["https://openalex.org/I47508984"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5065550618"],"corresponding_institution_ids":["https://openalex.org/I47508984"],"apc_list":null,"apc_paid":null,"fwci":1.503,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.88767684,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"4113","last_page":"4118"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12549","display_name":"Image and Object Detection Techniques","score":0.9997000098228455,"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/T12549","display_name":"Image and Object Detection Techniques","score":0.9997000098228455,"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":0.9993000030517578,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9940999746322632,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7534811496734619},{"id":"https://openalex.org/keywords/histogram","display_name":"Histogram","score":0.7264564633369446},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7187893390655518},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6651759147644043},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.610286295413971},{"id":"https://openalex.org/keywords/hough-transform","display_name":"Hough transform","score":0.525407075881958},{"id":"https://openalex.org/keywords/image-registration","display_name":"Image registration","score":0.5093315839767456},{"id":"https://openalex.org/keywords/histogram-matching","display_name":"Histogram matching","score":0.48347407579421997},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.36371463537216187},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.19180312752723694}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7534811496734619},{"id":"https://openalex.org/C53533937","wikidata":"https://www.wikidata.org/wiki/Q185020","display_name":"Histogram","level":3,"score":0.7264564633369446},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7187893390655518},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6651759147644043},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.610286295413971},{"id":"https://openalex.org/C200518788","wikidata":"https://www.wikidata.org/wiki/Q195076","display_name":"Hough transform","level":3,"score":0.525407075881958},{"id":"https://openalex.org/C166704113","wikidata":"https://www.wikidata.org/wiki/Q861092","display_name":"Image registration","level":3,"score":0.5093315839767456},{"id":"https://openalex.org/C127449775","wikidata":"https://www.wikidata.org/wiki/Q3785871","display_name":"Histogram matching","level":4,"score":0.48347407579421997},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.36371463537216187},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.19180312752723694}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2016.7759605","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759605","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/10","score":0.7400000095367432,"display_name":"Reduced inequalities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W132147841","https://openalex.org/W1022526533","https://openalex.org/W1526868886","https://openalex.org/W1557830187","https://openalex.org/W1955471442","https://openalex.org/W1956982159","https://openalex.org/W1974744233","https://openalex.org/W2044397339","https://openalex.org/W2046249243","https://openalex.org/W2049981393","https://openalex.org/W2052789223","https://openalex.org/W2056059782","https://openalex.org/W2089578841","https://openalex.org/W2097832352","https://openalex.org/W2098764590","https://openalex.org/W2116081730","https://openalex.org/W2125621169","https://openalex.org/W2126624994","https://openalex.org/W2139146597","https://openalex.org/W2151579650","https://openalex.org/W2154538673","https://openalex.org/W2160821342","https://openalex.org/W2161168419","https://openalex.org/W2963139856","https://openalex.org/W6605377543","https://openalex.org/W6626613076","https://openalex.org/W6631711059","https://openalex.org/W6640966031","https://openalex.org/W6680399253"],"related_works":["https://openalex.org/W2794704245","https://openalex.org/W2247097764","https://openalex.org/W2066185872","https://openalex.org/W1998334300","https://openalex.org/W2110241600","https://openalex.org/W2375849557","https://openalex.org/W2109325523","https://openalex.org/W2146297113","https://openalex.org/W2324508068","https://openalex.org/W2141966243"],"abstract_inverted_index":{"State-of-the-art":[0],"techniques":[1],"proposed":[2],"for":[3],"6D":[4,47],"object":[5,112],"pose":[6,48,108],"recovery":[7],"depend":[8],"on":[9,117,131],"occlusion-free":[10],"point":[11],"clouds":[12],"to":[13,140,145],"accurately":[14],"register":[15],"objects":[16,134],"in":[17],"3D":[18],"space.":[19],"To":[20],"reduce":[21],"this":[22,99],"dependency,":[23],"we":[24,85],"introduce":[25],"a":[26,50,79,136],"novel":[27],"architecture":[28,143],"called":[29],"Iterative":[30,56,125],"Hough":[31,57,126],"Forest":[32,58],"with":[33,73,147],"Histogram":[34,74],"of":[35,41,75,110,135],"Control":[36,76],"Points":[37,77],"that":[38],"is":[39,59,101,113],"capable":[40],"estimating":[42],"occluded":[43],"and":[44,144],"cluttered":[45],"objects'":[46],"given":[49],"candidate":[51],"2D":[52],"bounding":[53],"box.":[54],"Our":[55],"learnt":[60],"using":[61,123],"patches":[62,70],"extracted":[63],"only":[64],"from":[65,87],"the":[66,106,111,148],"positive":[67],"samples.":[68],"These":[69],"are":[71],"represented":[72],"(HoCP),":[78],"\u201cscale-variant\u201d":[80],"implicit":[81],"volumetric":[82],"description,":[83],"which":[84],"derive":[86],"recently":[88],"introduced":[89],"Implicit":[90],"B-Splines":[91],"(IBS).":[92],"The":[93],"rich":[94],"discriminative":[95,119],"information":[96],"provided":[97],"by":[98,122],"scale-variance":[100],"leveraged":[102],"during":[103],"inference,":[104],"where":[105],"initial":[107],"estimation":[109],"iteratively":[114],"refined":[115],"based":[116],"more":[118],"control":[120],"points":[121],"our":[124,142],"Forest.":[127],"We":[128],"conduct":[129],"experiments":[130],"several":[132],"test":[133,141],"publicly":[137],"available":[138],"dataset":[139],"compare":[146],"state-of-the-art.":[149]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":7},{"year":2017,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
