{"id":"https://openalex.org/W3049343414","doi":"https://doi.org/10.1109/iros45743.2020.9340878","title":"Category-Level 3D Non-Rigid Registration from Single-View RGB Images","display_name":"Category-Level 3D Non-Rigid Registration from Single-View RGB Images","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3049343414","doi":"https://doi.org/10.1109/iros45743.2020.9340878","mag":"3049343414"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9340878","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9340878","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 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/2008.07203","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5027210829","display_name":"Diego Rodr\u00edguez","orcid":"https://orcid.org/0000-0002-1416-7392"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Diego Rodriguez","raw_affiliation_strings":["Autonomous Intelligent Systems (AIS) Group, Computer Science Institute VI, University of Bonn, Germany","University of Bonn >  >  >  >"],"affiliations":[{"raw_affiliation_string":"Autonomous Intelligent Systems (AIS) Group, Computer Science Institute VI, University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"University of Bonn >  >  >  >","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101536570","display_name":"Florian Huber","orcid":"https://orcid.org/0000-0002-6485-1942"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Florian Huber","raw_affiliation_strings":["Autonomous Intelligent Systems (AIS) Group, Computer Science Institute VI, University of Bonn, Germany","University of Bonn,Autonomous Intelligent Systems (AIS) Group, Computer Science Institute VI,Germany"],"affiliations":[{"raw_affiliation_string":"Autonomous Intelligent Systems (AIS) Group, Computer Science Institute VI, University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"University of Bonn,Autonomous Intelligent Systems (AIS) Group, Computer Science Institute VI,Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5027761977","display_name":"Sven Behnke","orcid":"https://orcid.org/0000-0002-5040-7525"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sven Behnke","raw_affiliation_strings":["Autonomous Intelligent Systems (AIS) Group, Computer Science Institute VI, University of Bonn, Germany","University of Bonn,Autonomous Intelligent Systems (AIS) Group, Computer Science Institute VI,Germany"],"affiliations":[{"raw_affiliation_string":"Autonomous Intelligent Systems (AIS) Group, Computer Science Institute VI, University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"University of Bonn,Autonomous Intelligent Systems (AIS) Group, Computer Science Institute VI,Germany","institution_ids":["https://openalex.org/I135140700"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5027210829"],"corresponding_institution_ids":["https://openalex.org/I135140700"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.09524283,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"10617","last_page":"10624"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9984999895095825,"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/T12549","display_name":"Image and Object Detection Techniques","score":0.9984999895095825,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.8099361658096313},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.7696490287780762},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.735777735710144},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7136337757110596},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.6486413478851318},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5957626700401306},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5398691296577454},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5049353241920471},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.42652803659439087},{"id":"https://openalex.org/keywords/deformation","display_name":"Deformation (meteorology)","score":0.4116396903991699},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.34453627467155457},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18486621975898743},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.11992108821868896},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.10394749045372009}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8099361658096313},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.7696490287780762},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.735777735710144},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7136337757110596},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.6486413478851318},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5957626700401306},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5398691296577454},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5049353241920471},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.42652803659439087},{"id":"https://openalex.org/C204366326","wikidata":"https://www.wikidata.org/wiki/Q3027650","display_name":"Deformation (meteorology)","level":2,"score":0.4116396903991699},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.34453627467155457},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18486621975898743},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.11992108821868896},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.10394749045372009},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/iros45743.2020.9340878","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9340878","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2008.07203","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2008.07203","pdf_url":"https://arxiv.org/pdf/2008.07203","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:3049343414","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/2008.07203","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.2008.07203","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2008.07203","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"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2008.07203","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2008.07203","pdf_url":"https://arxiv.org/pdf/2008.07203","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":[{"display_name":"Quality Education","score":0.7300000190734863,"id":"https://metadata.un.org/sdg/4"}],"awards":[{"id":"https://openalex.org/G6052429835","display_name":null,"funder_award_id":"(DFG)","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"}],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3049343414.pdf","grobid_xml":"https://content.openalex.org/works/W3049343414.grobid-xml"},"referenced_works_count":41,"referenced_works":["https://openalex.org/W1517084761","https://openalex.org/W1562699689","https://openalex.org/W1568751436","https://openalex.org/W1927784829","https://openalex.org/W1970279742","https://openalex.org/W1977758817","https://openalex.org/W1992642990","https://openalex.org/W1993846356","https://openalex.org/W2052069724","https://openalex.org/W2073431710","https://openalex.org/W2075402943","https://openalex.org/W2099011563","https://openalex.org/W2134236847","https://openalex.org/W2342277278","https://openalex.org/W2560474170","https://openalex.org/W2563100679","https://openalex.org/W2605102758","https://openalex.org/W2802065399","https://openalex.org/W2889668339","https://openalex.org/W2890382763","https://openalex.org/W2893763910","https://openalex.org/W2962783853","https://openalex.org/W2963188159","https://openalex.org/W2963318131","https://openalex.org/W2963353635","https://openalex.org/W2963675327","https://openalex.org/W2963892972","https://openalex.org/W3006223838","https://openalex.org/W3010769982","https://openalex.org/W3011446218","https://openalex.org/W3090132503","https://openalex.org/W3102270810","https://openalex.org/W4239796483","https://openalex.org/W4241422529","https://openalex.org/W6631042565","https://openalex.org/W6663462149","https://openalex.org/W6703956885","https://openalex.org/W6750429153","https://openalex.org/W6754677871","https://openalex.org/W6755192102","https://openalex.org/W6768870483"],"related_works":["https://openalex.org/W3129570110","https://openalex.org/W2605050810","https://openalex.org/W2469330841","https://openalex.org/W2910720313","https://openalex.org/W2928699722","https://openalex.org/W2924441208","https://openalex.org/W2296615990","https://openalex.org/W3003363274","https://openalex.org/W3115252108","https://openalex.org/W2917698001","https://openalex.org/W3110880875","https://openalex.org/W2901177844","https://openalex.org/W2340690548","https://openalex.org/W2334682945","https://openalex.org/W3180366382","https://openalex.org/W2920350521","https://openalex.org/W3037273018","https://openalex.org/W3036352363","https://openalex.org/W2939384298","https://openalex.org/W2350405007"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"propose":[4],"a":[5,28,43,49,54,63,67,81],"novel":[6,50],"approach":[7,136],"to":[8,26,120],"solve":[9],"the":[10,71,75,88,91,97,99,138,146],"3D":[11,45],"non-rigid":[12],"registration":[13,143],"problem":[14],"from":[15],"RGB":[16,56],"images":[17],"using":[18],"Convolutional":[19],"Neural":[20],"Networks":[21],"(CNNs).":[22],"Our":[23],"objective":[24],"is":[25,59,102],"find":[27],"deformation":[29,68],"field":[30,69],"(typically":[31],"used":[32],"for":[33,70,86,145],"transferring":[34],"knowledge":[35],"between":[36],"instances,":[37],"e.g.,":[38],"grasping":[39],"skills)":[40],"that":[41,65,116],"warps":[42],"given":[44],"canonical":[46,76],"model":[47,77,101],"into":[48],"instance":[51],"observed":[52,100],"by":[53,61,79],"single-view":[55],"image.":[57],"This":[58],"done":[60],"training":[62],"CNN":[64],"infers":[66],"visible":[72],"parts":[73],"of":[74,90,96],"and":[78],"employing":[80],"learned":[82],"shape":[83],"(latent)":[84],"space":[85],"inferring":[87],"deformations":[89],"occluded":[92],"parts.":[93],"As":[94],"result":[95],"registration,":[98],"reconstructed.":[103],"Because":[104],"our":[105,135],"method":[106,144],"does":[107],"not":[108],"need":[109],"depth":[110,133],"information,":[111],"it":[112],"can":[113],"register":[114],"objects":[115],"are":[117],"typically":[118],"hard":[119],"perceive":[121],"with":[122,126],"RGB-D":[123],"sensors,":[124],"e.g.":[125],"transparent":[127],"or":[128],"shiny":[129],"surfaces.":[130],"Even":[131],"without":[132],"data,":[134],"outperforms":[137],"Coherent":[139],"Point":[140],"Drift":[141],"(CPD)":[142],"evaluated":[147],"object":[148],"categories.":[149]},"counts_by_year":[],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}
