{"id":"https://openalex.org/W4405785649","doi":"https://doi.org/10.1109/iros58592.2024.10801959","title":"Learning to Estimate the Pose of a Peer Robot in a Camera Image by Predicting the States of its LEDs","display_name":"Learning to Estimate the Pose of a Peer Robot in a Camera Image by Predicting the States of its LEDs","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405785649","doi":"https://doi.org/10.1109/iros58592.2024.10801959"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10801959","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801959","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5093930758","display_name":"Nicholas Carlotti","orcid":"https://orcid.org/0009-0006-1475-3400"},"institutions":[{"id":"https://openalex.org/I15196421","display_name":"University of Applied Sciences and Arts of Southern Switzerland","ror":"https://ror.org/05ep8g269","country_code":"CH","type":"education","lineage":["https://openalex.org/I15196421"]},{"id":"https://openalex.org/I2614128279","display_name":"Dalle Molle Institute for Artificial Intelligence Research","ror":"https://ror.org/013355g38","country_code":"CH","type":"facility","lineage":["https://openalex.org/I15196421","https://openalex.org/I2614128279","https://openalex.org/I57201433"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Nicholas Carlotti","raw_affiliation_strings":["Dalle Molle Institute for Artificial Intelligence (IDSIA),USI-SUPSI,Lugano,Switzerland,6962"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dalle Molle Institute for Artificial Intelligence (IDSIA),USI-SUPSI,Lugano,Switzerland,6962","institution_ids":["https://openalex.org/I2614128279","https://openalex.org/I15196421"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058862171","display_name":"Mirko Nava","orcid":"https://orcid.org/0000-0002-3736-0419"},"institutions":[{"id":"https://openalex.org/I15196421","display_name":"University of Applied Sciences and Arts of Southern Switzerland","ror":"https://ror.org/05ep8g269","country_code":"CH","type":"education","lineage":["https://openalex.org/I15196421"]},{"id":"https://openalex.org/I2614128279","display_name":"Dalle Molle Institute for Artificial Intelligence Research","ror":"https://ror.org/013355g38","country_code":"CH","type":"facility","lineage":["https://openalex.org/I15196421","https://openalex.org/I2614128279","https://openalex.org/I57201433"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Mirko Nava","raw_affiliation_strings":["Dalle Molle Institute for Artificial Intelligence (IDSIA),USI-SUPSI,Lugano,Switzerland,6962"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dalle Molle Institute for Artificial Intelligence (IDSIA),USI-SUPSI,Lugano,Switzerland,6962","institution_ids":["https://openalex.org/I2614128279","https://openalex.org/I15196421"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052119291","display_name":"Alessandro Giusti","orcid":"https://orcid.org/0000-0003-1240-0768"},"institutions":[{"id":"https://openalex.org/I15196421","display_name":"University of Applied Sciences and Arts of Southern Switzerland","ror":"https://ror.org/05ep8g269","country_code":"CH","type":"education","lineage":["https://openalex.org/I15196421"]},{"id":"https://openalex.org/I2614128279","display_name":"Dalle Molle Institute for Artificial Intelligence Research","ror":"https://ror.org/013355g38","country_code":"CH","type":"facility","lineage":["https://openalex.org/I15196421","https://openalex.org/I2614128279","https://openalex.org/I57201433"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Alessandro Giusti","raw_affiliation_strings":["Dalle Molle Institute for Artificial Intelligence (IDSIA),USI-SUPSI,Lugano,Switzerland,6962"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dalle Molle Institute for Artificial Intelligence (IDSIA),USI-SUPSI,Lugano,Switzerland,6962","institution_ids":["https://openalex.org/I2614128279","https://openalex.org/I15196421"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.22354575,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2763","last_page":"2769"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9884999990463257,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9884999990463257,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9606999754905701,"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":0.9505000114440918,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6760098934173584},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6712900400161743},{"id":"https://openalex.org/keywords/light-emitting-diode","display_name":"Light-emitting diode","score":0.6070802807807922},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5964223146438599},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5435897707939148},{"id":"https://openalex.org/keywords/robot-vision","display_name":"Robot vision","score":0.5330477952957153},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3829388916492462},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18019387125968933},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.07777604460716248}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6760098934173584},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6712900400161743},{"id":"https://openalex.org/C176666156","wikidata":"https://www.wikidata.org/wiki/Q25504","display_name":"Light-emitting diode","level":2,"score":0.6070802807807922},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5964223146438599},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5435897707939148},{"id":"https://openalex.org/C2983761899","wikidata":"https://www.wikidata.org/wiki/Q604674","display_name":"Robot vision","level":4,"score":0.5330477952957153},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3829388916492462},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18019387125968933},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.07777604460716248}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10801959","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801959","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1783315696","https://openalex.org/W1903029394","https://openalex.org/W2203062554","https://openalex.org/W2295107390","https://openalex.org/W2342740524","https://openalex.org/W2413156523","https://openalex.org/W2884236119","https://openalex.org/W2903284225","https://openalex.org/W2955361002","https://openalex.org/W2963163009","https://openalex.org/W2963603913","https://openalex.org/W2981762858","https://openalex.org/W2991979976","https://openalex.org/W2998783599","https://openalex.org/W3010219363","https://openalex.org/W3012438347","https://openalex.org/W3023371261","https://openalex.org/W3090564508","https://openalex.org/W3090584485","https://openalex.org/W3152635971","https://openalex.org/W3163951850","https://openalex.org/W3200540310","https://openalex.org/W4206775207","https://openalex.org/W4283119377","https://openalex.org/W4289752563","https://openalex.org/W4292828879","https://openalex.org/W4308933771","https://openalex.org/W4380537465","https://openalex.org/W4391827430","https://openalex.org/W6756257017","https://openalex.org/W6784333009","https://openalex.org/W6791353385","https://openalex.org/W6845226490"],"related_works":["https://openalex.org/W3042595473","https://openalex.org/W2082745643","https://openalex.org/W2122871747","https://openalex.org/W3114279067","https://openalex.org/W2039843023","https://openalex.org/W2124872487","https://openalex.org/W2734090492","https://openalex.org/W2913954960","https://openalex.org/W2047155493","https://openalex.org/W2006288243"],"abstract_inverted_index":{"We":[0],"consider":[1],"the":[2,12,24,62,71,86,89,110,118,123,127,134,157,168,175,205,231],"problem":[3],"of":[4,16,36,68,70,126,207,225],"training":[5,40,226],"a":[6,17,20,51,152,164,222],"fully":[7],"convolutional":[8],"network":[9],"to":[10,79,162,193,213,237],"estimate":[11,214],"relative":[13,54,135,188,215],"6D":[14,187],"pose":[15,55,189],"robot":[18,25,129,166,233],"given":[19],"camera":[21],"image,":[22],"when":[23,221],"is":[26,42,77,91],"equipped":[27],"with":[28,50,61,117,178,191],"independent":[29,209],"controllable":[30],"LEDs":[31,107,210],"placed":[32],"in":[33,186],"different":[34],"parts":[35],"its":[37],"body.":[38],"The":[39,74,217],"data":[41,76,143],"composed":[43],"by":[44,98,145],"few":[45,179],"(or":[46],"zero)":[47],"images":[48,58,181,227],"labeled":[49,59,180],"ground":[52],"truth":[53],"and":[56,104,201,234],"many":[57],"only":[60,155],"true":[63,111],"state":[64,125,206],"(ON":[65],"or":[66],"OFF)":[67],"each":[69],"peer":[72,128,165,232],"LEDs.":[73],"former":[75],"expensive":[78],"acquire,":[80],"requiring":[81],"external":[82],"infrastructure":[83],"for":[84],"tracking":[85],"two":[87,99,146],"robots;":[88],"latter":[90,119],"cheap":[92],"as":[93],"it":[94],"can":[95],"be":[96],"acquired":[97,144],"unsupervised":[100],"robots":[101,149],"moving":[102],"randomly":[103],"toggling":[105],"their":[106],"while":[108],"sharing":[109],"LED":[112],"states":[113],"via":[114],"radio.":[115],"Training":[116],"dataset":[120],"on":[121,141,156,167,174],"estimating":[122],"LEDs\u2019":[124],"(pretext":[130],"task)":[131],"promotes":[132,211],"learning":[133,212],"localization":[136],"task":[137,159,177],"(end":[138],"task).":[139],"Experiments":[140],"real-world":[142],"autonomous":[147],"wheeled":[148],"show":[150],"that":[151,195],"model":[153,173],"trained":[154],"pretext":[158],"successfully":[160],"learns":[161],"localize":[163],"image":[169],"plane;":[170],"fine-tuning":[171],"such":[172],"end":[176],"yields":[182],"statistically":[183],"significant":[184],"improvements":[185],"estimation":[190],"respect":[192],"baselines":[194],"do":[196,228],"not":[197,229],"use":[198],"pretext-task":[199],"pre-training,":[200],"alternative":[202],"approaches.":[203],"Estimating":[204],"multiple":[208],"heading.":[216],"approach":[218],"works":[219],"even":[220],"large":[223],"fraction":[224],"include":[230],"generalizes":[235],"well":[236],"unseen":[238],"environments.":[239]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
