{"id":"https://openalex.org/W4416751143","doi":"https://doi.org/10.1109/iros60139.2025.11245982","title":"Uncertainty-Aware Knowledge Distillation for Compact and Efficient 6DoF Pose Estimation","display_name":"Uncertainty-Aware Knowledge Distillation for Compact and Efficient 6DoF Pose Estimation","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416751143","doi":"https://doi.org/10.1109/iros60139.2025.11245982"},"language":"en","primary_location":{"id":"doi:10.1109/iros60139.2025.11245982","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11245982","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://orbilu.uni.lu/handle/10993/65513","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5120478750","display_name":"Nassim Ali Ousalah","orcid":null},"institutions":[{"id":"https://openalex.org/I186903577","display_name":"University of Luxembourg","ror":"https://ror.org/036x5ad56","country_code":"LU","type":"education","lineage":["https://openalex.org/I186903577"]}],"countries":["LU"],"is_corresponding":true,"raw_author_name":"Nassim Ali Ousalah","raw_affiliation_strings":["University of Luxembourg,SnT,Luxembourg"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Luxembourg,SnT,Luxembourg","institution_ids":["https://openalex.org/I186903577"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104105616","display_name":"Anis Kacem","orcid":null},"institutions":[{"id":"https://openalex.org/I186903577","display_name":"University of Luxembourg","ror":"https://ror.org/036x5ad56","country_code":"LU","type":"education","lineage":["https://openalex.org/I186903577"]}],"countries":["LU"],"is_corresponding":false,"raw_author_name":"Anis Kacem","raw_affiliation_strings":["University of Luxembourg,SnT,Luxembourg"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Luxembourg,SnT,Luxembourg","institution_ids":["https://openalex.org/I186903577"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080787031","display_name":"Enjie Ghorbel","orcid":"https://orcid.org/0000-0002-6878-0141"},"institutions":[{"id":"https://openalex.org/I186903577","display_name":"University of Luxembourg","ror":"https://ror.org/036x5ad56","country_code":"LU","type":"education","lineage":["https://openalex.org/I186903577"]}],"countries":["LU"],"is_corresponding":false,"raw_author_name":"Enjie Ghorbel","raw_affiliation_strings":["University of Luxembourg,SnT,Luxembourg"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Luxembourg,SnT,Luxembourg","institution_ids":["https://openalex.org/I186903577"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5120478751","display_name":"Emmanuel Koumandakis","orcid":null},"institutions":[{"id":"https://openalex.org/I4210134832","display_name":"Laboratoire de Physique des 2 Infinis Ir\u00e8ne Joliot-Curie","ror":"https://ror.org/03gc1p724","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I204730241","https://openalex.org/I277688954","https://openalex.org/I4210133362","https://openalex.org/I4210134832"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Emmanuel Koumandakis","raw_affiliation_strings":["Infinite Orbits,Toulouse"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Infinite Orbits,Toulouse","institution_ids":["https://openalex.org/I4210134832"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083368272","display_name":"Djamila Aouada","orcid":"https://orcid.org/0000-0002-7576-2064"},"institutions":[{"id":"https://openalex.org/I186903577","display_name":"University of Luxembourg","ror":"https://ror.org/036x5ad56","country_code":"LU","type":"education","lineage":["https://openalex.org/I186903577"]}],"countries":["LU"],"is_corresponding":false,"raw_author_name":"Djamila Aouada","raw_affiliation_strings":["University of Luxembourg,SnT,Luxembourg"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Luxembourg,SnT,Luxembourg","institution_ids":["https://openalex.org/I186903577"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5120478750"],"corresponding_institution_ids":["https://openalex.org/I186903577"],"apc_list":null,"apc_paid":null,"fwci":4.2355,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.95319939,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"15398","last_page":"15405"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.3635999858379364,"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/T11701","display_name":"Space Satellite Systems and Control","score":0.3635999858379364,"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":0.2485000044107437,"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":0.11649999767541885,"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/pose","display_name":"Pose","score":0.8894000053405762},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7336999773979187},{"id":"https://openalex.org/keywords/3d-pose-estimation","display_name":"3D pose estimation","score":0.633899986743927},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.5263000130653381},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.5202000141143799},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.47510001063346863},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4255000054836273},{"id":"https://openalex.org/keywords/distillation","display_name":"Distillation","score":0.40209999680519104}],"concepts":[{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.8894000053405762},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7336999773979187},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7211999893188477},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6554999947547913},{"id":"https://openalex.org/C36613465","wikidata":"https://www.wikidata.org/wiki/Q4636322","display_name":"3D pose estimation","level":3,"score":0.633899986743927},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.5263000130653381},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.5202000141143799},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.49070000648498535},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.47510001063346863},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4255000054836273},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4090999960899353},{"id":"https://openalex.org/C204030448","wikidata":"https://www.wikidata.org/wiki/Q101017","display_name":"Distillation","level":2,"score":0.40209999680519104},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.3718000054359436},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.3596000075340271},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.3345000147819519},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.3172000050544739},{"id":"https://openalex.org/C64876066","wikidata":"https://www.wikidata.org/wiki/Q5141226","display_name":"Cognitive neuroscience of visual object recognition","level":3,"score":0.2919999957084656},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.28220000863075256},{"id":"https://openalex.org/C2983787585","wikidata":"https://www.wikidata.org/wiki/Q93586","display_name":"Feature matching","level":3,"score":0.2671000063419342},{"id":"https://openalex.org/C2776960227","wikidata":"https://www.wikidata.org/wiki/Q2586354","display_name":"Knowledge transfer","level":2,"score":0.26660001277923584},{"id":"https://openalex.org/C83665646","wikidata":"https://www.wikidata.org/wiki/Q42139305","display_name":"Feature vector","level":2,"score":0.2639000117778778},{"id":"https://openalex.org/C167928553","wikidata":"https://www.wikidata.org/wiki/Q1376021","display_name":"Estimation theory","level":2,"score":0.25529998540878296}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros60139.2025.11245982","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11245982","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:orbilu.uni.lu:10993/65513","is_oa":true,"landing_page_url":"https://orbilu.uni.lu/handle/10993/65513","pdf_url":null,"source":{"id":"https://openalex.org/S4306401815","display_name":"Open Repository and Bibliography (University of Luxembourg)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I186903577","host_organization_name":"University of Luxembourg","host_organization_lineage":["https://openalex.org/I186903577"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hangzhou, China [CN], 19-25 October 2025","raw_type":"peer reviewed"},{"id":"pmh:oai:arXiv.org:2503.13053","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2503.13053","pdf_url":"https://arxiv.org/pdf/2503.13053","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"}],"best_oa_location":{"id":"pmh:oai:orbilu.uni.lu:10993/65513","is_oa":true,"landing_page_url":"https://orbilu.uni.lu/handle/10993/65513","pdf_url":null,"source":{"id":"https://openalex.org/S4306401815","display_name":"Open Repository and Bibliography (University of Luxembourg)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I186903577","host_organization_name":"University of Luxembourg","host_organization_lineage":["https://openalex.org/I186903577"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hangzhou, China [CN], 19-25 October 2025","raw_type":"peer reviewed"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W1490324987","https://openalex.org/W1526868886","https://openalex.org/W1984667320","https://openalex.org/W2193145675","https://openalex.org/W2565639579","https://openalex.org/W2594388292","https://openalex.org/W2768879211","https://openalex.org/W2950921159","https://openalex.org/W2963037989","https://openalex.org/W2963188159","https://openalex.org/W2963288137","https://openalex.org/W2963756608","https://openalex.org/W2964249569","https://openalex.org/W3001340251","https://openalex.org/W3014596384","https://openalex.org/W3014641072","https://openalex.org/W3034971973","https://openalex.org/W3096910067","https://openalex.org/W3127215335","https://openalex.org/W3176191528","https://openalex.org/W3193676140","https://openalex.org/W3203532272","https://openalex.org/W4233762729","https://openalex.org/W4286909746","https://openalex.org/W4313029060","https://openalex.org/W4313141028","https://openalex.org/W4313176116","https://openalex.org/W4320736803","https://openalex.org/W4321033239","https://openalex.org/W4360821473","https://openalex.org/W4383988977","https://openalex.org/W4386065360","https://openalex.org/W4386065760","https://openalex.org/W4386066010","https://openalex.org/W4393867173","https://openalex.org/W4399504634","https://openalex.org/W4402667888","https://openalex.org/W4402727436","https://openalex.org/W4402727526","https://openalex.org/W4402772396","https://openalex.org/W4410029682"],"related_works":[],"abstract_inverted_index":{"Compact":[0],"and":[1,16,91],"efficient":[2],"6DoF":[3,44,145,174],"object":[4,146],"pose":[5,45,147,164,175],"estimation":[6,148,165,176],"is":[7],"crucial":[8],"in":[9],"applications":[10],"such":[11],"as":[12],"robotics,":[13],"augmented":[14],"reality,":[15],"space":[17],"autonomous":[18],"navigation":[19],"systems,":[20],"where":[21],"lightweight":[22,150],"models":[23,151],"are":[24],"critical":[25],"for":[26,162],"real-time":[27],"accurate":[28],"performance.":[29],"This":[30],"paper":[31],"introduces":[32],"a":[33,50,84],"novel":[34],"uncertainty-aware":[35,115],"end-to-end":[36],"Knowledge":[37],"Distillation":[38],"(KD)":[39],"framework":[40],"focused":[41],"on":[42,100,132,158],"keypoint-based":[43],"estimation.":[46],"Keypoints":[47],"predicted":[48],"by":[49,94],"large":[51],"teacher":[52,92,106],"model":[53,74],"exhibit":[54],"varying":[55],"levels":[56],"of":[57,71,117,126,140,169],"uncertainty":[58,102],"that":[59,87],"can":[60],"be":[61],"exploited":[62],"within":[63],"the":[64,69,72,89,96,101,110,121,133,138,159,167],"distillation":[65,85],"process":[66],"to":[67,119,153],"enhance":[68],"accuracy":[70],"student":[73,90],"while":[75],"ensuring":[76],"its":[77],"compactness.":[78],"To":[79],"this":[80,114],"end,":[81],"we":[82],"propose":[83],"strategy":[86],"aligns":[88],"predictions":[93],"adjusting":[95],"knowledge":[97,122],"transfer":[98,120],"based":[99],"associated":[103],"with":[104,149],"each":[105],"keypoint":[107],"prediction.":[108],"Additionally,":[109],"proposed":[111],"KD":[112],"leverages":[113],"alignment":[116],"keypoints":[118],"at":[123],"key":[124],"locations":[125],"their":[127],"respective":[128],"feature":[129],"maps.":[130],"Experiments":[131],"widely-used":[134],"LINEMOD":[135],"benchmark":[136],"demonstrate":[137],"effectiveness":[139],"our":[141,170],"method,":[142],"achieving":[143],"superior":[144],"compared":[152],"state-of-the-art":[154],"approaches.":[155],"Further":[156],"validation":[157],"SPEED+":[160],"dataset":[161],"spacecraft":[163],"highlights":[166],"robustness":[168],"approach":[171],"under":[172],"diverse":[173],"scenarios.":[177]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-05-23T08:51:43.019350","created_date":"2025-10-10T00:00:00"}