{"id":"https://openalex.org/W2922285747","doi":"https://doi.org/10.1109/iros40897.2019.8967961","title":"Learning to Estimate Pose and Shape of Hand-Held Objects from RGB Images","display_name":"Learning to Estimate Pose and Shape of Hand-Held Objects from RGB Images","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W2922285747","doi":"https://doi.org/10.1109/iros40897.2019.8967961","mag":"2922285747"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8967961","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8967961","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1903.03340","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5006344138","display_name":"Mia Koki\u0107","orcid":"https://orcid.org/0000-0002-2358-821X"},"institutions":[{"id":"https://openalex.org/I4210104473","display_name":"CBot (Sweden)","ror":"https://ror.org/01e507517","country_code":"SE","type":"company","lineage":["https://openalex.org/I4210104473"]},{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Mia Kokic","raw_affiliation_strings":["Robotics, Perception, and Learning, EECS, KTH,Stockholm,Sweden","Royal Institute of Technology"],"affiliations":[{"raw_affiliation_string":"Robotics, Perception, and Learning, EECS, KTH,Stockholm,Sweden","institution_ids":["https://openalex.org/I4210104473"]},{"raw_affiliation_string":"Royal Institute of Technology","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023792180","display_name":"Danica Kragi\u0107","orcid":"https://orcid.org/0000-0003-2965-2953"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]},{"id":"https://openalex.org/I4210104473","display_name":"CBot (Sweden)","ror":"https://ror.org/01e507517","country_code":"SE","type":"company","lineage":["https://openalex.org/I4210104473"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Danica Kragic","raw_affiliation_strings":["Robotics, Perception, and Learning, EECS, KTH,Stockholm,Sweden","Royal Institute of Technology"],"affiliations":[{"raw_affiliation_string":"Robotics, Perception, and Learning, EECS, KTH,Stockholm,Sweden","institution_ids":["https://openalex.org/I4210104473"]},{"raw_affiliation_string":"Royal Institute of Technology","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021676288","display_name":"Jeannette Bohg","orcid":"https://orcid.org/0000-0002-4921-7193"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jeannette Bohg","raw_affiliation_strings":["Stanford University,Computer Science Department,CA,USA","Stanford University ()"],"affiliations":[{"raw_affiliation_string":"Stanford University,Computer Science Department,CA,USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Stanford University ()","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5006344138"],"corresponding_institution_ids":["https://openalex.org/I4210104473","https://openalex.org/I86987016"],"apc_list":null,"apc_paid":null,"fwci":0.672,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.69162141,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"3980","last_page":"3987"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9991000294685364,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9991000294685364,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9975000023841858,"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":0.9937999844551086,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.882988452911377},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.8321587443351746},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7966049313545227},{"id":"https://openalex.org/keywords/rendering","display_name":"Rendering (computer graphics)","score":0.6976475119590759},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6895455121994019},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.6380876898765564},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.6137256622314453},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.609551191329956},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.5988630652427673},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5617374777793884},{"id":"https://openalex.org/keywords/3d-pose-estimation","display_name":"3D pose estimation","score":0.5335363149642944},{"id":"https://openalex.org/keywords/articulated-body-pose-estimation","display_name":"Articulated body pose estimation","score":0.45293644070625305},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.37072938680648804}],"concepts":[{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.882988452911377},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8321587443351746},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7966049313545227},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.6976475119590759},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6895455121994019},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.6380876898765564},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.6137256622314453},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.609551191329956},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.5988630652427673},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5617374777793884},{"id":"https://openalex.org/C36613465","wikidata":"https://www.wikidata.org/wiki/Q4636322","display_name":"3D pose estimation","level":3,"score":0.5335363149642944},{"id":"https://openalex.org/C22100474","wikidata":"https://www.wikidata.org/wiki/Q4800952","display_name":"Articulated body pose estimation","level":4,"score":0.45293644070625305},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.37072938680648804}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/iros40897.2019.8967961","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8967961","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1903.03340","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1903.03340","pdf_url":"https://arxiv.org/pdf/1903.03340","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":"","raw_type":"text"},{"id":"mag:2922285747","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/1903.03340.pdf","pdf_url":null,"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":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.1903.03340","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1903.03340","pdf_url":null,"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":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1903.03340","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1903.03340","pdf_url":"https://arxiv.org/pdf/1903.03340","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":"","raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320315934","display_name":"Toyota Research Institute","ror":null},{"id":"https://openalex.org/F4320320940","display_name":"Stiftelsen f\u00f6r\u00a0Strategisk Forskning","ror":"https://ror.org/044wr7g58"},{"id":"https://openalex.org/F4320322581","display_name":"Vetenskapsr\u00e5det","ror":"https://ror.org/03zttf063"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2922285747.pdf","grobid_xml":"https://content.openalex.org/works/W2922285747.grobid-xml"},"referenced_works_count":54,"referenced_works":["https://openalex.org/W1510186039","https://openalex.org/W1526868886","https://openalex.org/W1570411806","https://openalex.org/W1575599996","https://openalex.org/W1661149683","https://openalex.org/W1940481278","https://openalex.org/W1947050545","https://openalex.org/W1968783203","https://openalex.org/W2002236162","https://openalex.org/W2084749141","https://openalex.org/W2106215490","https://openalex.org/W2108598243","https://openalex.org/W2119344328","https://openalex.org/W2138621090","https://openalex.org/W2149173366","https://openalex.org/W2153169563","https://openalex.org/W2165272793","https://openalex.org/W2176040302","https://openalex.org/W2215480011","https://openalex.org/W2219155316","https://openalex.org/W2412074020","https://openalex.org/W2472269674","https://openalex.org/W2604372338","https://openalex.org/W2605973302","https://openalex.org/W2777195424","https://openalex.org/W2783693550","https://openalex.org/W2787928077","https://openalex.org/W2895439318","https://openalex.org/W2949677570","https://openalex.org/W2951738103","https://openalex.org/W2952606116","https://openalex.org/W2962748819","https://openalex.org/W2962793481","https://openalex.org/W2962811204","https://openalex.org/W2963026686","https://openalex.org/W2963150697","https://openalex.org/W2963188159","https://openalex.org/W2963903764","https://openalex.org/W2964137676","https://openalex.org/W2964242760","https://openalex.org/W2964249569","https://openalex.org/W3091905774","https://openalex.org/W4250952223","https://openalex.org/W6631711059","https://openalex.org/W6634116750","https://openalex.org/W6703199735","https://openalex.org/W6745401828","https://openalex.org/W6745448612","https://openalex.org/W6748733227","https://openalex.org/W6749916090","https://openalex.org/W6754677871","https://openalex.org/W6754838991","https://openalex.org/W6755629201","https://openalex.org/W6783596713"],"related_works":["https://openalex.org/W3003524465","https://openalex.org/W2980959139","https://openalex.org/W3089874433","https://openalex.org/W2611797529","https://openalex.org/W2970900867","https://openalex.org/W3117574898","https://openalex.org/W2952102758","https://openalex.org/W3203327876","https://openalex.org/W3184699107","https://openalex.org/W2964093990","https://openalex.org/W1995905186","https://openalex.org/W3091992450","https://openalex.org/W2962783853","https://openalex.org/W2605462541","https://openalex.org/W2892814592","https://openalex.org/W2990323929","https://openalex.org/W2910399693","https://openalex.org/W3207749834","https://openalex.org/W2200873549","https://openalex.org/W2891001608"],"abstract_inverted_index":{"We":[0,27,54],"develop":[1],"a":[2,15,20,24,29,98,107,133,138,178],"system":[3],"for":[4,34,145],"modeling":[5],"hand-object":[6],"interactions":[7],"in":[8,104],"3D":[9],"from":[10,23],"RGB":[11],"images":[12],"that":[13,58,127,152],"show":[14,151,167],"hand":[16,50,62,72,155,179],"which":[17],"is":[18,95],"holding":[19],"novel":[21],"object":[22,64,80,159],"known":[25],"category.":[26],"design":[28],"Convolutional":[30],"Neural":[31],"Network":[32],"(CNN)":[33],"Hand-held":[35],"Object":[36],"Pose":[37],"and":[38,43,52,66,76,82,116,161,171],"Shape":[39],"estimation":[40,68,173],"called":[41],"HOPS-Net":[42],"utilize":[44],"prior":[45],"work":[46],"to":[47],"estimate":[48],"the":[49,56,61,71,79,87,90,112,181],"pose":[51,65,81,160,170],"configuration.":[53],"leverage":[55],"insight":[57],"information":[59],"about":[60],"facilitates":[63],"shape":[67,83,162,172],"by":[69,177],"incorporating":[70],"into":[73],"both":[74],"training":[75,146],"inference":[77],"of":[78,89,102,141,169,174],"as":[84,86],"well":[85],"refinement":[88],"estimated":[91],"pose.":[92],"The":[93,164],"network":[94],"trained":[96],"on":[97],"large":[99],"synthetic":[100,117,134],"dataset":[101],"objects":[103,131,175],"interaction":[105],"with":[106],"human":[108],"hand.":[109],"To":[110],"bridge":[111],"gap":[113],"between":[114],"real":[115],"images,":[118],"we":[119],"employ":[120],"an":[121],"image-to-image":[122],"translation":[123],"model":[124],"(Augmented":[125],"CycleGAN)":[126],"generates":[128],"realistically":[129],"textured":[130],"given":[132],"rendering.":[135],"This":[136],"provides":[137],"scalable":[139],"way":[140],"generating":[142],"annotated":[143],"data":[144],"HOPS-Net.":[147],"Our":[148],"quantitative":[149],"experiments":[150,166],"even":[153],"noisy":[154],"parameters":[156],"significantly":[157],"help":[158],"estimation.":[163],"qualitative":[165],"results":[168],"held":[176],"\u201cin":[180],"wild\u201d.":[182]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2020,"cited_by_count":4}],"updated_date":"2026-03-11T14:59:36.786465","created_date":"2025-10-10T00:00:00"}