{"id":"https://openalex.org/W4416751128","doi":"https://doi.org/10.1109/iros60139.2025.11247352","title":"Distilling 3D distinctive local descriptors for 6D pose estimation","display_name":"Distilling 3D distinctive local descriptors for 6D pose estimation","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416751128","doi":"https://doi.org/10.1109/iros60139.2025.11247352"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247352","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247352","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":["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/A5013539900","display_name":"Amir Hamza","orcid":"https://orcid.org/0009-0009-7028-2852"},"institutions":[{"id":"https://openalex.org/I2277624104","display_name":"Fondazione Bruno Kessler","ror":"https://ror.org/01j33xk10","country_code":"IT","type":"facility","lineage":["https://openalex.org/I2277624104"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Amir Hamza","raw_affiliation_strings":["Fondazione Bruno Kessler"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fondazione Bruno Kessler","institution_ids":["https://openalex.org/I2277624104"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085668186","display_name":"Andrea Caraffa","orcid":"https://orcid.org/0009-0004-7775-924X"},"institutions":[{"id":"https://openalex.org/I2277624104","display_name":"Fondazione Bruno Kessler","ror":"https://ror.org/01j33xk10","country_code":"IT","type":"facility","lineage":["https://openalex.org/I2277624104"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Andrea Caraffa","raw_affiliation_strings":["Fondazione Bruno Kessler"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fondazione Bruno Kessler","institution_ids":["https://openalex.org/I2277624104"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064432821","display_name":"Davide Boscaini","orcid":"https://orcid.org/0000-0003-4887-2038"},"institutions":[{"id":"https://openalex.org/I2277624104","display_name":"Fondazione Bruno Kessler","ror":"https://ror.org/01j33xk10","country_code":"IT","type":"facility","lineage":["https://openalex.org/I2277624104"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Davide Boscaini","raw_affiliation_strings":["Fondazione Bruno Kessler"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fondazione Bruno Kessler","institution_ids":["https://openalex.org/I2277624104"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067244774","display_name":"Fabio Poiesi","orcid":"https://orcid.org/0000-0002-9769-1279"},"institutions":[{"id":"https://openalex.org/I2277624104","display_name":"Fondazione Bruno Kessler","ror":"https://ror.org/01j33xk10","country_code":"IT","type":"facility","lineage":["https://openalex.org/I2277624104"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Fabio Poiesi","raw_affiliation_strings":["Fondazione Bruno Kessler"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fondazione Bruno Kessler","institution_ids":["https://openalex.org/I2277624104"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"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":0.32860178,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"8027","last_page":"8034"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.5514000058174133,"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"}},"topics":[{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.5514000058174133,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.24580000340938568,"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":0.04540000110864639,"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/robustness","display_name":"Robustness (evolution)","score":0.7452999949455261},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.7372000217437744},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.7265999913215637},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.6140999794006348},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.5440999865531921},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.49900001287460327},{"id":"https://openalex.org/keywords/structured-prediction","display_name":"Structured prediction","score":0.3691999912261963},{"id":"https://openalex.org/keywords/estimation","display_name":"Estimation","score":0.3188000023365021}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7452999949455261},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.7372000217437744},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.7265999913215637},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6816999912261963},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.6140999794006348},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6033999919891357},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.5440999865531921},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.5040000081062317},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.49900001287460327},{"id":"https://openalex.org/C22367795","wikidata":"https://www.wikidata.org/wiki/Q7625208","display_name":"Structured prediction","level":2,"score":0.3691999912261963},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.3199000060558319},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.3188000023365021},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.3091000020503998},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.29170000553131104},{"id":"https://openalex.org/C36613465","wikidata":"https://www.wikidata.org/wiki/Q4636322","display_name":"3D pose estimation","level":3,"score":0.289000004529953},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.2806999981403351},{"id":"https://openalex.org/C67186912","wikidata":"https://www.wikidata.org/wiki/Q367664","display_name":"Data modeling","level":2,"score":0.27950000762939453},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.27869999408721924},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.2727999985218048},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.26969999074935913},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2685000002384186},{"id":"https://openalex.org/C190839683","wikidata":"https://www.wikidata.org/wiki/Q2448197","display_name":"Train","level":2,"score":0.2669000029563904},{"id":"https://openalex.org/C51632099","wikidata":"https://www.wikidata.org/wiki/Q3985153","display_name":"Training set","level":2,"score":0.25609999895095825},{"id":"https://openalex.org/C41426520","wikidata":"https://www.wikidata.org/wiki/Q1192065","display_name":"Point estimation","level":2,"score":0.25209999084472656}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247352","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247352","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":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W2046033161","https://openalex.org/W2063549868","https://openalex.org/W2085261163","https://openalex.org/W2161168419","https://openalex.org/W2556205602","https://openalex.org/W2558460151","https://openalex.org/W2560609797","https://openalex.org/W2580726517","https://openalex.org/W2768308213","https://openalex.org/W2888752296","https://openalex.org/W2889118434","https://openalex.org/W2889300857","https://openalex.org/W2962941647","https://openalex.org/W2963021451","https://openalex.org/W2963125977","https://openalex.org/W2963139856","https://openalex.org/W2963188159","https://openalex.org/W2963351448","https://openalex.org/W2979750740","https://openalex.org/W2981995220","https://openalex.org/W2990613095","https://openalex.org/W3034368386","https://openalex.org/W3119373805","https://openalex.org/W3121873598","https://openalex.org/W3128632815","https://openalex.org/W3167684723","https://openalex.org/W3209959857","https://openalex.org/W4205581758","https://openalex.org/W4206411193","https://openalex.org/W4280630571","https://openalex.org/W4285102264","https://openalex.org/W4304092564","https://openalex.org/W4312516208","https://openalex.org/W4312708188","https://openalex.org/W4383988977","https://openalex.org/W4385322602","https://openalex.org/W4386065760","https://openalex.org/W4386282911","https://openalex.org/W4390533816","https://openalex.org/W4401417458","https://openalex.org/W4402667891","https://openalex.org/W4402727436","https://openalex.org/W4402727742","https://openalex.org/W4402754209","https://openalex.org/W4403842181","https://openalex.org/W4403941282","https://openalex.org/W4409262387"],"related_works":[],"abstract_inverted_index":{"Three-dimensional":[0],"local":[1,75],"descriptors":[2,76],"are":[3],"crucial":[4],"for":[5,13,35],"encoding":[6],"geometric":[7],"surface":[8],"properties,":[9],"making":[10],"them":[11],"essential":[12],"various":[14],"point":[15],"cloud":[16],"understanding":[17],"tasks.":[18],"Among":[19],"these":[20],"descriptors,":[21],"GeDi":[22,79],"has":[23],"demonstrated":[24],"strong":[25],"zero-shot":[26,143],"6D":[27,144],"pose":[28,145],"estimation":[29,146],"capabilities":[30],"but":[31],"remains":[32],"computationally":[33],"impractical":[34],"real-world":[36],"applications":[37],"due":[38],"to":[39,73,93,148],"its":[40,52],"expensive":[41],"inference":[42,133],"process.":[43],"Can":[44],"we":[45,57],"retain":[46],"GeDi\u2019s":[47],"effectiveness,":[48],"while":[49,98,135],"significantly":[50],"improving":[51],"efficiency?":[53],"In":[54],"this":[55,59],"paper,":[56],"explore":[58],"question":[60],"by":[61],"introducing":[62],"a":[63,78,106,129],"knowledge":[64],"distillation":[65],"framework":[66],"that":[67,90,110],"trains":[68],"an":[69,85],"efficient":[70,86],"student":[71],"model":[72],"regress":[74],"from":[77,114],"teacher.":[80],"Our":[81],"key":[82],"contributions":[83],"include:":[84],"large-scale":[87],"training":[88],"procedure":[89],"ensures":[91],"robustness":[92],"occlusions":[94],"and":[95,102,105,127],"partial":[96],"observations":[97],"operating":[99],"under":[100],"compute":[101],"storage":[103],"constraints,":[104],"novel":[107],"loss":[108],"formulation":[109],"handles":[111],"weak":[112],"supervision":[113],"non-distinctive":[115],"teacher":[116],"descriptors.":[117],"We":[118],"validate":[119],"our":[120],"approach":[121],"on":[122],"five":[123],"BOP":[124],"Benchmark":[125],"datasets":[126],"demonstrate":[128],"significant":[130],"reduction":[131],"in":[132],"time":[134],"maintaining":[136],"competitive":[137],"performance":[138],"with":[139],"existing":[140],"methods,":[141],"bringing":[142],"closer":[147],"real-time":[149],"feasibility.":[150],"Project":[151],"website:":[152],"https://tev-fbk.github.io/dGeDi.":[153]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-11-28T00:00:00"}