{"id":"https://openalex.org/W4416749240","doi":"https://doi.org/10.1109/iros60139.2025.11247112","title":"Occlusion-Aware 6D Pose Estimation with Visual Observation Guided Diffusion Model","display_name":"Occlusion-Aware 6D Pose Estimation with Visual Observation Guided Diffusion Model","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416749240","doi":"https://doi.org/10.1109/iros60139.2025.11247112"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247112","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247112","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/A5100583227","display_name":"Yanbin Xiong","orcid":null},"institutions":[{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanbin Xiong","raw_affiliation_strings":["Chinese Academy of Sciences,Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems, Shenzhen Institutes of Advanced Technology,Shenzhen,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences,Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems, Shenzhen Institutes of Advanced Technology,Shenzhen,China","institution_ids":["https://openalex.org/I4210145761"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014074712","display_name":"Buzhen Huang","orcid":"https://orcid.org/0000-0002-0612-7489"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Buzhen Huang","raw_affiliation_strings":["Southeast University,Nanjing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Southeast University,Nanjing,China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100452337","display_name":"Hui Ma","orcid":"https://orcid.org/0000-0001-9662-0447"},"institutions":[{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hui Ma","raw_affiliation_strings":["Chinese Academy of Sciences,Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems, Shenzhen Institutes of Advanced Technology,Shenzhen,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences,Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems, Shenzhen Institutes of Advanced Technology,Shenzhen,China","institution_ids":["https://openalex.org/I4210145761"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100618357","display_name":"Y\u00fc Liu","orcid":"https://orcid.org/0000-0003-2211-3535"},"institutions":[{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Liu","raw_affiliation_strings":["Chinese Academy of Sciences,Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems, Shenzhen Institutes of Advanced Technology,Shenzhen,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences,Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems, Shenzhen Institutes of Advanced Technology,Shenzhen,China","institution_ids":["https://openalex.org/I4210145761"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5022152675","display_name":"Jun Cheng","orcid":"https://orcid.org/0000-0001-8008-0052"},"institutions":[{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jun Cheng","raw_affiliation_strings":["Chinese Academy of Sciences,Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems, Shenzhen Institutes of Advanced Technology,Shenzhen,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences,Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems, Shenzhen Institutes of Advanced Technology,Shenzhen,China","institution_ids":["https://openalex.org/I4210145761"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"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":0.49354125,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"9440","last_page":"9447"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9830999970436096,"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":0.9830999970436096,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.002300000051036477,"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/T10982","display_name":"Motor Control and Adaptation","score":0.0017999999690800905,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.7003999948501587},{"id":"https://openalex.org/keywords/3d-pose-estimation","display_name":"3D pose estimation","score":0.5899999737739563},{"id":"https://openalex.org/keywords/articulated-body-pose-estimation","display_name":"Articulated body pose estimation","score":0.5306000113487244},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.42829999327659607},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4242999851703644},{"id":"https://openalex.org/keywords/noise-reduction","display_name":"Noise reduction","score":0.4041000008583069},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.398499995470047},{"id":"https://openalex.org/keywords/construct","display_name":"Construct (python library)","score":0.39010000228881836}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8281999826431274},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7860000133514404},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.7003999948501587},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6133000254631042},{"id":"https://openalex.org/C36613465","wikidata":"https://www.wikidata.org/wiki/Q4636322","display_name":"3D pose estimation","level":3,"score":0.5899999737739563},{"id":"https://openalex.org/C22100474","wikidata":"https://www.wikidata.org/wiki/Q4800952","display_name":"Articulated body pose estimation","level":4,"score":0.5306000113487244},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.42829999327659607},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4242999851703644},{"id":"https://openalex.org/C163294075","wikidata":"https://www.wikidata.org/wiki/Q581861","display_name":"Noise reduction","level":2,"score":0.4041000008583069},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.398499995470047},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.39010000228881836},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.3644999861717224},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.35910001397132874},{"id":"https://openalex.org/C83248878","wikidata":"https://www.wikidata.org/wiki/Q344000","display_name":"Active appearance model","level":3,"score":0.35749998688697815},{"id":"https://openalex.org/C61224824","wikidata":"https://www.wikidata.org/wiki/Q2260434","display_name":"Mixture model","level":2,"score":0.3506999909877777},{"id":"https://openalex.org/C2777210771","wikidata":"https://www.wikidata.org/wiki/Q4927124","display_name":"Block (permutation group theory)","level":2,"score":0.3089999854564667},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.2865999937057495},{"id":"https://openalex.org/C2776268601","wikidata":"https://www.wikidata.org/wiki/Q968808","display_name":"Occlusion","level":2,"score":0.28540000319480896},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.2775000035762787},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.26989999413490295},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.2653999924659729},{"id":"https://openalex.org/C69357855","wikidata":"https://www.wikidata.org/wiki/Q163214","display_name":"Diffusion","level":2,"score":0.25999999046325684},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.2590999901294708},{"id":"https://openalex.org/C2983327147","wikidata":"https://www.wikidata.org/wiki/Q581861","display_name":"Image denoising","level":3,"score":0.2572000026702881}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247112","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247112","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/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W1536680647","https://openalex.org/W2604236302","https://openalex.org/W2949924544","https://openalex.org/W2963892972","https://openalex.org/W2964249569","https://openalex.org/W3034597466","https://openalex.org/W3035191304","https://openalex.org/W3092774272","https://openalex.org/W3093644825","https://openalex.org/W3107992529","https://openalex.org/W3163945288","https://openalex.org/W3175584021","https://openalex.org/W3193686508","https://openalex.org/W3202459445","https://openalex.org/W3206934897","https://openalex.org/W4221167453","https://openalex.org/W4226321491","https://openalex.org/W4298014068","https://openalex.org/W4312296985","https://openalex.org/W4312359138","https://openalex.org/W4313027996","https://openalex.org/W4383108425","https://openalex.org/W4385318467","https://openalex.org/W4385768275","https://openalex.org/W4386075656","https://openalex.org/W4390871728","https://openalex.org/W4390872672","https://openalex.org/W4390873470","https://openalex.org/W4390874575","https://openalex.org/W4391855168","https://openalex.org/W4398249088","https://openalex.org/W4399419060","https://openalex.org/W4402753739","https://openalex.org/W4402753846","https://openalex.org/W4405785669","https://openalex.org/W4405786289"],"related_works":[],"abstract_inverted_index":{"Category-level":[0],"6D":[1],"pose":[2,103],"estimation":[3],"in":[4,36,57,126,141,144,154,163],"cluttered":[5,60,165],"and":[6,33,59,68,96,157],"occluded":[7,31,58,127],"environments":[8],"is":[9,89],"a":[10,44,106,164,168],"challenging":[11],"task.":[12],"Most":[13],"existing":[14],"methods":[15,140],"rely":[16],"on":[17,167],"deterministic":[18],"point-based":[19],"correspondences":[20],"to":[21,51,75,99],"estimate":[22],"target":[23],"poses,":[24],"which":[25],"cannot":[26],"consider":[27],"the":[28,54,77,83,87,101,134],"uncertainty":[29],"for":[30],"objects,":[32],"thus":[34],"result":[35],"inferior":[37],"performance.":[38],"In":[39,82],"this":[40],"paper,":[41],"we":[42,63],"propose":[43],"diffusion":[45,80,85],"model":[46,88],"guided":[47,90],"by":[48,91],"occlusion-aware":[49],"observations":[50,125],"adaptively":[52],"refine":[53,100],"object":[55],"poses":[56],"scenes.":[61],"Specifically,":[62],"first":[64],"extract":[65],"various":[66],"2D":[67],"3D":[69],"features":[70],"from":[71,105],"an":[72],"RGB-D":[73],"image":[74,124],"construct":[76],"conditions":[78],"of":[79],"model.":[81],"reverse":[84],"process,":[86],"implicit":[92],"correspondences,":[93],"perception":[94],"distance,":[95],"occlusion":[97,145],"relationships":[98],"noisy":[102],"sampled":[104],"standard":[107],"Gaussian":[108],"distribution.":[109],"With":[110],"several":[111],"denoising":[112],"steps,":[113],"our":[114,148],"method":[115,136],"can":[116,137,150],"produce":[117],"accurate":[118],"results":[119,131],"that":[120,133],"are":[121],"consistent":[122],"with":[123],"scenarios.":[128,146],"The":[129],"experimental":[130],"show":[132],"proposed":[135],"outperform":[138],"baseline":[139],"major":[142],"metrics":[143],"Furthermore,":[147],"approach":[149],"also":[151],"be":[152],"applied":[153],"robotic":[155],"grasping":[156,161],"manipulation":[158],"tasks":[159],"through":[160],"experiments":[162],"enviroment":[166],"physical":[169],"UR5":[170],"robot.":[171]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-11-28T00:00:00"}