{"id":"https://openalex.org/W2593617942","doi":"https://doi.org/10.1109/iros.2017.8206470","title":"SegICP: Integrated deep semantic segmentation and pose estimation","display_name":"SegICP: Integrated deep semantic segmentation and pose estimation","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2593617942","doi":"https://doi.org/10.1109/iros.2017.8206470","mag":"2593617942"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8206470","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206470","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1703.01661","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5067708403","display_name":"Jay Ming Wong","orcid":null},"institutions":[{"id":"https://openalex.org/I1343143571","display_name":"Draper Laboratory","ror":"https://ror.org/04378d909","country_code":"US","type":"funder","lineage":["https://openalex.org/I1343143571"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jay M. Wong","raw_affiliation_strings":["Draper, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Draper, Cambridge, MA, USA","institution_ids":["https://openalex.org/I1343143571"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088404864","display_name":"Vincent Kee","orcid":null},"institutions":[{"id":"https://openalex.org/I1343143571","display_name":"Draper Laboratory","ror":"https://ror.org/04378d909","country_code":"US","type":"funder","lineage":["https://openalex.org/I1343143571"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vincent Kee","raw_affiliation_strings":["Draper, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Draper, Cambridge, MA, USA","institution_ids":["https://openalex.org/I1343143571"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073821202","display_name":"Tiffany Le","orcid":null},"institutions":[{"id":"https://openalex.org/I1343143571","display_name":"Draper Laboratory","ror":"https://ror.org/04378d909","country_code":"US","type":"funder","lineage":["https://openalex.org/I1343143571"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tiffany Le","raw_affiliation_strings":["Draper, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Draper, Cambridge, MA, USA","institution_ids":["https://openalex.org/I1343143571"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061185282","display_name":"Syler Wagner","orcid":null},"institutions":[{"id":"https://openalex.org/I1343143571","display_name":"Draper Laboratory","ror":"https://ror.org/04378d909","country_code":"US","type":"funder","lineage":["https://openalex.org/I1343143571"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Syler Wagner","raw_affiliation_strings":["Draper, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Draper, Cambridge, MA, USA","institution_ids":["https://openalex.org/I1343143571"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078598596","display_name":"Gian-Luca Mariottini","orcid":null},"institutions":[{"id":"https://openalex.org/I1343143571","display_name":"Draper Laboratory","ror":"https://ror.org/04378d909","country_code":"US","type":"funder","lineage":["https://openalex.org/I1343143571"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gian-Luca Mariottini","raw_affiliation_strings":["Draper, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Draper, Cambridge, MA, USA","institution_ids":["https://openalex.org/I1343143571"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102051907","display_name":"Abraham R. Schneider","orcid":null},"institutions":[{"id":"https://openalex.org/I1343143571","display_name":"Draper Laboratory","ror":"https://ror.org/04378d909","country_code":"US","type":"funder","lineage":["https://openalex.org/I1343143571"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Abraham Schneider","raw_affiliation_strings":["Draper, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Draper, Cambridge, MA, USA","institution_ids":["https://openalex.org/I1343143571"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081605181","display_name":"Lei Hamilton","orcid":null},"institutions":[{"id":"https://openalex.org/I1343143571","display_name":"Draper Laboratory","ror":"https://ror.org/04378d909","country_code":"US","type":"funder","lineage":["https://openalex.org/I1343143571"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lei Hamilton","raw_affiliation_strings":["Draper, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Draper, Cambridge, MA, USA","institution_ids":["https://openalex.org/I1343143571"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059579161","display_name":"Rahul Chipalkatty","orcid":null},"institutions":[{"id":"https://openalex.org/I1343143571","display_name":"Draper Laboratory","ror":"https://ror.org/04378d909","country_code":"US","type":"funder","lineage":["https://openalex.org/I1343143571"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rahul Chipalkatty","raw_affiliation_strings":["Draper, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Draper, Cambridge, MA, USA","institution_ids":["https://openalex.org/I1343143571"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069577882","display_name":"Mitchell Hebert","orcid":"https://orcid.org/0000-0001-6932-9259"},"institutions":[{"id":"https://openalex.org/I1343143571","display_name":"Draper Laboratory","ror":"https://ror.org/04378d909","country_code":"US","type":"funder","lineage":["https://openalex.org/I1343143571"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mitchell Hebert","raw_affiliation_strings":["Draper, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Draper, Cambridge, MA, USA","institution_ids":["https://openalex.org/I1343143571"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020988844","display_name":"David Johnson","orcid":"https://orcid.org/0000-0002-0861-3528"},"institutions":[{"id":"https://openalex.org/I1343143571","display_name":"Draper Laboratory","ror":"https://ror.org/04378d909","country_code":"US","type":"funder","lineage":["https://openalex.org/I1343143571"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"David M.S. Johnson","raw_affiliation_strings":["Draper, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Draper, Cambridge, MA, USA","institution_ids":["https://openalex.org/I1343143571"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056420488","display_name":"Jimmy Wu","orcid":"https://orcid.org/0000-0001-6388-9116"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jimmy Wu","raw_affiliation_strings":["Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033444412","display_name":"Bolei Zhou","orcid":"https://orcid.org/0000-0003-4030-0684"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bolei Zhou","raw_affiliation_strings":["Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085020955","display_name":"Antonio Torralba","orcid":"https://orcid.org/0000-0003-4915-0256"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Antonio Torralba","raw_affiliation_strings":["Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]}],"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":151,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5784","last_page":"5789"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9986000061035156,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9952999949455261,"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-science","display_name":"Computer science","score":0.8496883511543274},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7960703372955322},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7929123044013977},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.7614704370498657},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.6982173323631287},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.6873099207878113},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6333021521568298},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.5815135836601257},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5446805357933044},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5144705772399902},{"id":"https://openalex.org/keywords/pixel","display_name":"Pixel","score":0.43122628331184387}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8496883511543274},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7960703372955322},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7929123044013977},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.7614704370498657},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.6982173323631287},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.6873099207878113},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6333021521568298},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.5815135836601257},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5446805357933044},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5144705772399902},{"id":"https://openalex.org/C160633673","wikidata":"https://www.wikidata.org/wiki/Q355198","display_name":"Pixel","level":2,"score":0.43122628331184387},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros.2017.8206470","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206470","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1703.01661","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1703.01661","pdf_url":"https://arxiv.org/pdf/1703.01661","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:dspace.mit.edu:1721.1/136986","is_oa":true,"landing_page_url":"https://hdl.handle.net/1721.1/136986","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv","raw_type":"http://purl.org/eprint/type/ConferencePaper"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1703.01661","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1703.01661","pdf_url":"https://arxiv.org/pdf/1703.01661","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W360623563","https://openalex.org/W639708223","https://openalex.org/W1519402791","https://openalex.org/W1522548235","https://openalex.org/W1526868886","https://openalex.org/W1610707153","https://openalex.org/W1686810756","https://openalex.org/W1745334888","https://openalex.org/W1903029394","https://openalex.org/W1913356549","https://openalex.org/W1964201035","https://openalex.org/W2032211017","https://openalex.org/W2049981393","https://openalex.org/W2050966058","https://openalex.org/W2080342258","https://openalex.org/W2083624955","https://openalex.org/W2100588357","https://openalex.org/W2102605133","https://openalex.org/W2108598243","https://openalex.org/W2110764733","https://openalex.org/W2112796928","https://openalex.org/W2119851068","https://openalex.org/W2123456673","https://openalex.org/W2151103935","https://openalex.org/W2152864241","https://openalex.org/W2160754664","https://openalex.org/W2162601563","https://openalex.org/W2163605009","https://openalex.org/W2295692686","https://openalex.org/W2507296351","https://openalex.org/W2519911873","https://openalex.org/W2586932652","https://openalex.org/W2613718673","https://openalex.org/W2949341804","https://openalex.org/W2963678509","https://openalex.org/W2963840672","https://openalex.org/W6620707391","https://openalex.org/W6631135043","https://openalex.org/W6631711059","https://openalex.org/W6639824712","https://openalex.org/W6670395465","https://openalex.org/W6684191040","https://openalex.org/W6726839888"],"related_works":["https://openalex.org/W2378211422","https://openalex.org/W2745001401","https://openalex.org/W4321353415","https://openalex.org/W2130974462","https://openalex.org/W2028665553","https://openalex.org/W2086519370","https://openalex.org/W972276598","https://openalex.org/W2964084369","https://openalex.org/W4320086129","https://openalex.org/W2950785639"],"abstract_inverted_index":{"Recent":[0],"robotic":[1],"manipulation":[2],"competitions":[3],"have":[4],"highlighted":[5],"that":[6],"sophisticated":[7],"robots":[8],"still":[9],"struggle":[10],"to":[11,39,55],"achieve":[12,56],"fast":[13],"and":[14,30,42,50,66,81,95],"reliable":[15],"perception":[16],"of":[17],"task-relevant":[18],"objects":[19],"in":[20,86],"complex,":[21],"realistic":[22],"scenarios.":[23],"To":[24],"improve":[25],"these":[26],"systems'":[27],"perceptive":[28],"speed":[29],"robustness,":[31],"we":[32],"present":[33],"SegICP,":[34],"a":[35],"novel":[36],"integrated":[37],"solution":[38],"object":[40],"recognition":[41],"pose":[43,69],"estimation.":[44],"SegICP":[45,97],"couples":[46],"convolutional":[47],"neural":[48],"networks":[49],"multi-hypothesis":[51],"point":[52],"cloud":[53],"registration":[54],"both":[57],"robust":[58],"pixel-wise":[59],"semantic":[60],"segmentation":[61],"as":[62,64],"well":[63],"accurate":[65],"real-time":[67],"6-DOF":[68],"estimation":[70],"for":[71],"relevant":[72],"objects.":[73],"Our":[74],"architecture":[75],"achieves":[76],"1":[77],"cm":[78],"position":[79],"error":[80,85],"<;":[82],"5\u00b0":[83],"angle":[84],"real":[87],"time":[88],"without":[89],"an":[90,99],"initial":[91],"seed.":[92],"We":[93],"evaluate":[94],"benchmark":[96],"against":[98],"annotated":[100],"dataset":[101],"generated":[102],"by":[103],"motion":[104],"capture.":[105]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":14},{"year":2022,"cited_by_count":20},{"year":2021,"cited_by_count":23},{"year":2020,"cited_by_count":25},{"year":2019,"cited_by_count":20},{"year":2018,"cited_by_count":23},{"year":2017,"cited_by_count":8}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}