{"id":"https://openalex.org/W3129228277","doi":"https://doi.org/10.1109/iros45743.2020.9341189","title":"6D Pose Estimation for Flexible Production with Small Lot Sizes based on CAD Models using Gaussian Process Implicit Surfaces","display_name":"6D Pose Estimation for Flexible Production with Small Lot Sizes based on CAD Models using Gaussian Process Implicit Surfaces","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3129228277","doi":"https://doi.org/10.1109/iros45743.2020.9341189","mag":"3129228277"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341189","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341189","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":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://mediatum.ub.tum.de/1555279","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100959953","display_name":"Jianjie Lin","orcid":"https://orcid.org/0000-0002-8259-6957"},"institutions":[{"id":"https://openalex.org/I4210134795","display_name":"Fortiss","ror":"https://ror.org/042x1tp92","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I4210134795"]},{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jianjie Lin","raw_affiliation_strings":["fortiss, An-Institut Technische Universit\u00e4t M\u00fcnchen, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"fortiss, An-Institut Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I4210134795","https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003833130","display_name":"Markus Rickert","orcid":"https://orcid.org/0000-0001-6264-0888"},"institutions":[{"id":"https://openalex.org/I4210134795","display_name":"Fortiss","ror":"https://ror.org/042x1tp92","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I4210134795"]},{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Markus Rickert","raw_affiliation_strings":["fortiss, An-Institut Technische Universit\u00e4t M\u00fcnchen, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"fortiss, An-Institut Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I4210134795","https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063781430","display_name":"Alois Knoll","orcid":"https://orcid.org/0000-0003-4840-076X"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alois Knoll","raw_affiliation_strings":["Department of Informatics, Robotics and Embedded System, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Informatics, Robotics and Embedded System, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.5261,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.96903521,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"74","issue":null,"first_page":"10572","last_page":"10579"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9977999925613403,"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/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9977999925613403,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.5992751121520996},{"id":"https://openalex.org/keywords/solver","display_name":"Solver","score":0.5761426091194153},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.5379913449287415},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.5078542828559875},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4967980682849884},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4955493211746216},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4705893099308014},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.45218557119369507},{"id":"https://openalex.org/keywords/gaussian-function","display_name":"Gaussian function","score":0.4503924250602722},{"id":"https://openalex.org/keywords/surface","display_name":"Surface (topology)","score":0.4488983154296875},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44272780418395996},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.42063212394714355},{"id":"https://openalex.org/keywords/histogram","display_name":"Histogram","score":0.4163147807121277},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.4140290915966034},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.41322970390319824},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31788909435272217},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.15582892298698425},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.15229922533035278}],"concepts":[{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.5992751121520996},{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.5761426091194153},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5379913449287415},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.5078542828559875},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4967980682849884},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4955493211746216},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4705893099308014},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.45218557119369507},{"id":"https://openalex.org/C7218915","wikidata":"https://www.wikidata.org/wiki/Q1054475","display_name":"Gaussian function","level":3,"score":0.4503924250602722},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.4488983154296875},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44272780418395996},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.42063212394714355},{"id":"https://openalex.org/C53533937","wikidata":"https://www.wikidata.org/wiki/Q185020","display_name":"Histogram","level":3,"score":0.4163147807121277},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.4140290915966034},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.41322970390319824},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31788909435272217},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.15582892298698425},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.15229922533035278},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros45743.2020.9341189","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341189","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:mediatum.ub.tum.de:node/1555279","is_oa":true,"landing_page_url":"https://mediatum.ub.tum.de/1555279","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"ConferencePaper"}],"best_oa_location":{"id":"pmh:oai:mediatum.ub.tum.de:node/1555279","is_oa":true,"landing_page_url":"https://mediatum.ub.tum.de/1555279","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"ConferencePaper"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W31424620","https://openalex.org/W570692787","https://openalex.org/W1483650263","https://openalex.org/W1558061045","https://openalex.org/W1599434464","https://openalex.org/W1706124764","https://openalex.org/W1855641990","https://openalex.org/W1953793983","https://openalex.org/W2004312117","https://openalex.org/W2017387516","https://openalex.org/W2024039087","https://openalex.org/W2049391017","https://openalex.org/W2050815310","https://openalex.org/W2129091674","https://openalex.org/W2130859329","https://openalex.org/W2134236847","https://openalex.org/W2152864241","https://openalex.org/W2160821342","https://openalex.org/W2168104347","https://openalex.org/W2190691619","https://openalex.org/W2198516116","https://openalex.org/W2271206385","https://openalex.org/W2344109021","https://openalex.org/W2560389705","https://openalex.org/W2786036844","https://openalex.org/W2906917464","https://openalex.org/W2963188159","https://openalex.org/W2963706542","https://openalex.org/W4249866455","https://openalex.org/W4394671432","https://openalex.org/W6601271567","https://openalex.org/W6633247747","https://openalex.org/W6635897114","https://openalex.org/W6684742562","https://openalex.org/W6687484953","https://openalex.org/W6747827861"],"related_works":["https://openalex.org/W4320086129","https://openalex.org/W2384408398","https://openalex.org/W2804516791","https://openalex.org/W2999533062","https://openalex.org/W4312290701","https://openalex.org/W4380302106","https://openalex.org/W2027072693","https://openalex.org/W4287180928","https://openalex.org/W3161938660","https://openalex.org/W1987190824"],"abstract_inverted_index":{"We":[0,178],"propose":[1],"a":[2,47,76,113,128,139,158],"surface-to-surface":[3],"(S2S)":[4],"point":[5,44,62,73,155,183],"registration":[6,45],"algorithm":[7,150],"by":[8,126],"exploiting":[9],"the":[10,22,31,38,43,66,82,93,97,118,136,144,166,171,187],"Gaussian":[11,77],"Process":[12,78],"Implicit":[13,79],"Surfaces":[14,80],"for":[15],"partially":[16,140],"overlapping":[17,141],"3D":[18,142],"surfaces":[19],"to":[20,65,153,185],"estimate":[21],"6D":[23],"pose":[24],"transformation.":[25],"Unlike":[26],"traditional":[27],"approaches,":[28],"that":[29,116],"separate":[30],"corresponding":[32,58],"search":[33],"and":[34,157],"update":[35],"steps":[36],"in":[37],"inner":[39],"loop,":[40],"we":[41,70],"formulate":[42],"as":[46,75,102],"nonlinear":[48],"non-constraints":[49],"optimization":[50],"problem":[51,107],"which":[52,86],"does":[53],"not":[54],"explicitly":[55],"use":[56],"any":[57],"points":[59],"between":[60],"two":[61],"sets.":[63],"According":[64],"implicit":[67],"function":[68,99,120],"theorem,":[69],"form":[71],"one":[72],"set":[74],"utilizing":[81],"signed":[83],"distance":[84],"function,":[85],"implicitly":[87],"creates":[88],"three":[89],"manifolds.":[90],"Points":[91],"on":[92,165,169,181],"same":[94,98],"manifold":[95],"share":[96],"value,":[100],"indicated":[101],"{1,":[103],"0,":[104],"-1}.":[105],"The":[106],"is":[108,151,163],"thus":[109],"converted":[110],"into":[111],"finding":[112],"rigid":[114],"transformation":[115,173],"minimizes":[117],"inherent":[119],"value.":[121],"This":[122],"can":[123,174],"be":[124,176],"solved":[125],"using":[127],"Gauss-Newton":[129],"(GN)":[130],"or":[131],"Levenberg-Marquardt":[132],"(LM)":[133],"solver.":[134],"In":[135],"case":[137],"of":[138,189],"surface,":[143],"Fast":[145],"Point":[146],"Feature":[147],"Histogram":[148],"(FPFH)":[149],"applied":[152],"both":[154],"sets":[156,184],"Principal":[159],"Component":[160],"Analysis":[161],"(PCA)":[162],"performed":[164],"result.":[167],"Based":[168],"this,":[170],"initial":[172],"then":[175],"computed.":[177],"conduct":[179],"experiments":[180],"multiple":[182],"evaluate":[186],"effectiveness":[188],"our":[190],"proposed":[191],"approach":[192],"against":[193],"existing":[194],"state-of-the-art":[195],"methods.":[196]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}