{"id":"https://openalex.org/W4416748823","doi":"https://doi.org/10.1109/iros60139.2025.11246449","title":"RAG-6DPose: Retrieval-Augmented 6D Pose Estimation via Leveraging CAD as Knowledge Base","display_name":"RAG-6DPose: Retrieval-Augmented 6D Pose Estimation via Leveraging CAD as Knowledge Base","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416748823","doi":"https://doi.org/10.1109/iros60139.2025.11246449"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246449","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246449","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":"conference-paper","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/A5089564299","display_name":"Kuanning Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kuanning Wang","raw_affiliation_strings":["Fudan University,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fudan University,China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102678888","display_name":"Yuqian Fu","orcid":null},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]},{"id":"https://openalex.org/I58918642","display_name":"Sofia University \"St. Kliment Ohridski\"","ror":"https://ror.org/02jv3k292","country_code":"BG","type":"education","lineage":["https://openalex.org/I58918642"]}],"countries":["BG","CN"],"is_corresponding":false,"raw_author_name":"Yuqian Fu","raw_affiliation_strings":["Fudan University,China","INSAIT, Sofia University \"St. Kliment Ohridski\",Bulgaria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fudan University,China","institution_ids":["https://openalex.org/I24943067"]},{"raw_affiliation_string":"INSAIT, Sofia University \"St. Kliment Ohridski\",Bulgaria","institution_ids":["https://openalex.org/I58918642"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100417426","display_name":"Tianyu Wang","orcid":"https://orcid.org/0000-0002-6087-6376"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tianyu Wang","raw_affiliation_strings":["Fudan University,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fudan University,China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084959430","display_name":"Yanwei Fu","orcid":"https://orcid.org/0000-0002-6595-6893"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]},{"id":"https://openalex.org/I58918642","display_name":"Sofia University \"St. Kliment Ohridski\"","ror":"https://ror.org/02jv3k292","country_code":"BG","type":"education","lineage":["https://openalex.org/I58918642"]}],"countries":["BG","CN"],"is_corresponding":false,"raw_author_name":"Yanwei Fu","raw_affiliation_strings":["Fudan University,China","INSAIT, Sofia University \"St. Kliment Ohridski\",Bulgaria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fudan University,China","institution_ids":["https://openalex.org/I24943067"]},{"raw_affiliation_string":"INSAIT, Sofia University \"St. Kliment Ohridski\",Bulgaria","institution_ids":["https://openalex.org/I58918642"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063691574","display_name":"Longfei Liang","orcid":null},"institutions":[{"id":"https://openalex.org/I1301653859","display_name":"nLIGHT (United States)","ror":"https://ror.org/01se7j361","country_code":"US","type":"company","lineage":["https://openalex.org/I1301653859"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Longfei Liang","raw_affiliation_strings":["NeuhHelium Co., Ltd.,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NeuhHelium Co., Ltd.,China","institution_ids":["https://openalex.org/I1301653859"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047962986","display_name":"Yu\u2013Gang Jiang","orcid":"https://orcid.org/0000-0002-1907-8567"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu-Gang Jiang","raw_affiliation_strings":["Fudan University,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fudan University,China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048403734","display_name":"Xiangyang Xue","orcid":"https://orcid.org/0000-0002-8670-2016"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiangyang Xue","raw_affiliation_strings":["Fudan University,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fudan University,China","institution_ids":["https://openalex.org/I24943067"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"15375","last_page":"15382"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9761999845504761,"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":0.9761999845504761,"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":0.004000000189989805,"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"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.00279999990016222,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/cad","display_name":"CAD","score":0.8687999844551086},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7056000232696533},{"id":"https://openalex.org/keywords/knowledge-base","display_name":"Knowledge base","score":0.6823999881744385},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.6147000193595886},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.503000020980835},{"id":"https://openalex.org/keywords/solid-modeling","display_name":"Solid modeling","score":0.4277999997138977},{"id":"https://openalex.org/keywords/base","display_name":"Base (topology)","score":0.42649999260902405},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.41850000619888306}],"concepts":[{"id":"https://openalex.org/C194789388","wikidata":"https://www.wikidata.org/wiki/Q17855283","display_name":"CAD","level":2,"score":0.8687999844551086},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7440000176429749},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7056000232696533},{"id":"https://openalex.org/C4554734","wikidata":"https://www.wikidata.org/wiki/Q593744","display_name":"Knowledge base","level":2,"score":0.6823999881744385},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6685000061988831},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.6147000193595886},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5486999750137329},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.503000020980835},{"id":"https://openalex.org/C108882727","wikidata":"https://www.wikidata.org/wiki/Q2991685","display_name":"Solid modeling","level":2,"score":0.4277999997138977},{"id":"https://openalex.org/C42058472","wikidata":"https://www.wikidata.org/wiki/Q810214","display_name":"Base (topology)","level":2,"score":0.42649999260902405},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.41850000619888306},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.40709999203681946},{"id":"https://openalex.org/C64876066","wikidata":"https://www.wikidata.org/wiki/Q5141226","display_name":"Cognitive neuroscience of visual object recognition","level":3,"score":0.3792000114917755},{"id":"https://openalex.org/C119823426","wikidata":"https://www.wikidata.org/wiki/Q184793","display_name":"Computer Aided Design","level":2,"score":0.37619999051094055},{"id":"https://openalex.org/C115925183","wikidata":"https://www.wikidata.org/wiki/Q1412694","display_name":"Knowledge-based systems","level":2,"score":0.3562999963760376},{"id":"https://openalex.org/C36613465","wikidata":"https://www.wikidata.org/wiki/Q4636322","display_name":"3D pose estimation","level":3,"score":0.3384000062942505},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.31200000643730164},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.30320000648498535},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.2867000102996826},{"id":"https://openalex.org/C199639397","wikidata":"https://www.wikidata.org/wiki/Q1788588","display_name":"Engineering drawing","level":1,"score":0.2745000123977661},{"id":"https://openalex.org/C3019007443","wikidata":"https://www.wikidata.org/wiki/Q568742","display_name":"3d model","level":2,"score":0.26339998841285706},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.262800008058548}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246449","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246449","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321885","display_name":"Science and Technology Commission of Shanghai Municipality","ror":"https://ror.org/03kt66j61"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W132147841","https://openalex.org/W1991544872","https://openalex.org/W2085261163","https://openalex.org/W3092774272","https://openalex.org/W4226303217","https://openalex.org/W4312636639","https://openalex.org/W4312874473","https://openalex.org/W4402915911"],"related_works":[],"abstract_inverted_index":{"Accurate":[0],"6D":[1],"pose":[2,94],"estimation":[3],"is":[4,125],"key":[5],"for":[6,13],"robotic":[7,106],"manipulation,":[8],"enabling":[9],"precise":[10],"object":[11],"localization":[12],"tasks":[14,107],"like":[15],"grasping.":[16],"We":[17],"present":[18],"RAG-6DPose,":[19],"a":[20,29,47],"retrieval-augmented":[21,97],"approach":[22],"that":[23],"leverages":[24],"3D":[25,65],"CAD":[26,49,59,70,90],"models":[27],"as":[28],"knowledge":[30,74],"base":[31,75],"by":[32,52],"integrating":[33],"both":[34],"visual":[35,55],"and":[36,62,86,104,111,120],"geometric":[37],"cues.":[38],"Our":[39],"RAG-6DPose":[40],"roughly":[41],"contains":[42],"three":[43],"stages:":[44],"1)":[45],"Building":[46],"Multi-Modal":[48],"Knowledge":[50],"Base":[51],"extracting":[53],"2D":[54],"features":[56,71],"from":[57,72],"multi-view":[58],"rendered":[60],"images":[61],"also":[63],"attaching":[64],"points;":[66],"2)":[67],"Retrieving":[68],"relevant":[69],"the":[73,78,109],"based":[76],"on":[77,101,127],"current":[79],"query":[80],"image":[81],"via":[82,96],"our":[83,114,128],"ReSPC":[84],"module;":[85],"3)":[87],"Incorporating":[88],"retrieved":[89],"information":[91],"to":[92],"refine":[93],"predictions":[95],"decoding.":[98],"Experimental":[99],"results":[100],"standard":[102],"benchmarks":[103],"real-world":[105],"demonstrate":[108],"effectiveness":[110],"robustness":[112],"of":[113],"approach,":[115],"particularly":[116],"in":[117],"handling":[118],"occlusions":[119],"novel":[121],"viewpoints.":[122],"Supplementary":[123],"material":[124],"available":[126],"project":[129],"website:":[130],"https://sressers.github.io/RAG-6DPose.":[131]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-11-28T00:00:00"}