{"id":"https://openalex.org/W2936313222","doi":"https://doi.org/10.1109/iwobi47054.2019.9114452","title":"Recovery of Superquadrics from Range Images using Deep Learning: A Preliminary Study","display_name":"Recovery of Superquadrics from Range Images using Deep Learning: A Preliminary Study","publication_year":2019,"publication_date":"2019-07-01","ids":{"openalex":"https://openalex.org/W2936313222","doi":"https://doi.org/10.1109/iwobi47054.2019.9114452","mag":"2936313222"},"language":"en","primary_location":{"id":"doi:10.1109/iwobi47054.2019.9114452","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iwobi47054.2019.9114452","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Work Conference on Bioinspired Intelligence (IWOBI)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1904.06585","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Tim Oblak","orcid":null},"institutions":[{"id":"https://openalex.org/I153976015","display_name":"University of Ljubljana","ror":"https://ror.org/05njb9z20","country_code":"SI","type":"education","lineage":["https://openalex.org/I153976015"]}],"countries":["SI"],"is_corresponding":false,"raw_author_name":"Tim Oblak","raw_affiliation_strings":["Faculty of Computer and Information Science, University of Ljubljana,Slovenia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Computer and Information Science, University of Ljubljana,Slovenia","institution_ids":["https://openalex.org/I153976015"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Klemen Grm","orcid":null},"institutions":[{"id":"https://openalex.org/I153976015","display_name":"University of Ljubljana","ror":"https://ror.org/05njb9z20","country_code":"SI","type":"education","lineage":["https://openalex.org/I153976015"]}],"countries":["SI"],"is_corresponding":false,"raw_author_name":"Klemen Grm","raw_affiliation_strings":["Faculty of Electrical Engineering, University of Ljubljana,Slovenia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering, University of Ljubljana,Slovenia","institution_ids":["https://openalex.org/I153976015"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Ale\u0161 Jakli\u010d","orcid":null},"institutions":[{"id":"https://openalex.org/I153976015","display_name":"University of Ljubljana","ror":"https://ror.org/05njb9z20","country_code":"SI","type":"education","lineage":["https://openalex.org/I153976015"]}],"countries":["SI"],"is_corresponding":false,"raw_author_name":"Ale\u0161 Jakli\u010d","raw_affiliation_strings":["Faculty of Computer and Information Science, University of Ljubljana,Slovenia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Computer and Information Science, University of Ljubljana,Slovenia","institution_ids":["https://openalex.org/I153976015"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Peter Peer","orcid":null},"institutions":[{"id":"https://openalex.org/I153976015","display_name":"University of Ljubljana","ror":"https://ror.org/05njb9z20","country_code":"SI","type":"education","lineage":["https://openalex.org/I153976015"]}],"countries":["SI"],"is_corresponding":false,"raw_author_name":"Peter Peer","raw_affiliation_strings":["Faculty of Computer and Information Science, University of Ljubljana,Slovenia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Computer and Information Science, University of Ljubljana,Slovenia","institution_ids":["https://openalex.org/I153976015"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Vitomir \u0160truc","orcid":null},"institutions":[{"id":"https://openalex.org/I153976015","display_name":"University of Ljubljana","ror":"https://ror.org/05njb9z20","country_code":"SI","type":"education","lineage":["https://openalex.org/I153976015"]}],"countries":["SI"],"is_corresponding":false,"raw_author_name":"Vitomir \u0160truc","raw_affiliation_strings":["Faculty of Electrical Engineering, University of Ljubljana,Slovenia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering, University of Ljubljana,Slovenia","institution_ids":["https://openalex.org/I153976015"]}]},{"author_position":"last","author":{"id":null,"display_name":"Franc Solina","orcid":null},"institutions":[{"id":"https://openalex.org/I153976015","display_name":"University of Ljubljana","ror":"https://ror.org/05njb9z20","country_code":"SI","type":"education","lineage":["https://openalex.org/I153976015"]}],"countries":["SI"],"is_corresponding":false,"raw_author_name":"Franc Solina","raw_affiliation_strings":["Faculty of Computer and Information Science, University of Ljubljana,Slovenia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Computer and Information Science, University of Ljubljana,Slovenia","institution_ids":["https://openalex.org/I153976015"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I153976015"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"000045","last_page":"000052"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9994000196456909,"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":0.9994000196456909,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9983000159263611,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9983000159263611,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.6866000294685364},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.6013000011444092},{"id":"https://openalex.org/keywords/parameterized-complexity","display_name":"Parameterized complexity","score":0.49549999833106995},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.46650001406669617},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4551999866962433},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4546000063419342},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.4422000050544739},{"id":"https://openalex.org/keywords/data-set","display_name":"Data set","score":0.36730000376701355}],"concepts":[{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.6866000294685364},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6625999808311462},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6323999762535095},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.6013000011444092},{"id":"https://openalex.org/C165464430","wikidata":"https://www.wikidata.org/wiki/Q1570441","display_name":"Parameterized complexity","level":2,"score":0.49549999833106995},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.46650001406669617},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4625000059604645},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4551999866962433},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4546000063419342},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.4422000050544739},{"id":"https://openalex.org/C58489278","wikidata":"https://www.wikidata.org/wiki/Q1172284","display_name":"Data set","level":2,"score":0.36730000376701355},{"id":"https://openalex.org/C159694833","wikidata":"https://www.wikidata.org/wiki/Q2321565","display_name":"Iterative method","level":2,"score":0.3359000086784363},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.3353999853134155},{"id":"https://openalex.org/C195958017","wikidata":"https://www.wikidata.org/wiki/Q1675268","display_name":"Iterative closest point","level":3,"score":0.3336000144481659},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.3262999951839447},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3061999976634979},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2957000136375427},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.29440000653266907},{"id":"https://openalex.org/C2779982483","wikidata":"https://www.wikidata.org/wiki/Q6094420","display_name":"Iterative refinement","level":2,"score":0.2888999879360199},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.2750999927520752},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.2621999979019165},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.2621000111103058},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.25920000672340393}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iwobi47054.2019.9114452","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iwobi47054.2019.9114452","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Work Conference on Bioinspired Intelligence (IWOBI)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1904.06585","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1904.06585","pdf_url":"https://arxiv.org/pdf/1904.06585","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:arXiv.org:1904.06585","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1904.06585","pdf_url":"https://arxiv.org/pdf/1904.06585","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"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1529375555","https://openalex.org/W1677182931","https://openalex.org/W2024577416","https://openalex.org/W2039005177","https://openalex.org/W2070568264","https://openalex.org/W2093695366","https://openalex.org/W2096429280","https://openalex.org/W2108889042","https://openalex.org/W2113877705","https://openalex.org/W2123564600","https://openalex.org/W2133416062","https://openalex.org/W2141497104","https://openalex.org/W2156406284","https://openalex.org/W2325939864","https://openalex.org/W2344328023","https://openalex.org/W2555254696","https://openalex.org/W2599226450","https://openalex.org/W2604249033","https://openalex.org/W2605701576","https://openalex.org/W2730497260","https://openalex.org/W2755255259","https://openalex.org/W2767225062","https://openalex.org/W2768623474","https://openalex.org/W2792583777","https://openalex.org/W2964145484","https://openalex.org/W6631792547","https://openalex.org/W6634642225","https://openalex.org/W6640300118","https://openalex.org/W6704170123","https://openalex.org/W6728152174"],"related_works":[],"abstract_inverted_index":{"It":[0],"has":[1],"been":[2],"a":[3,60,166,171,182,186,195,204,225,229,253],"longstanding":[4],"goal":[5],"in":[6,15,95,122,130,214],"computer":[7],"vision":[8],"to":[9,26,44,56,71,90,107,135,177],"describe":[10],"the":[11,49,67,96,117,133,161,179,192,211,218,241,247],"3D":[12,83,92],"physical":[13,50],"space":[14],"terms":[16],"of":[17,48,63,66,98,119,181,198,231,236],"parameterized":[18],"volumetric":[19,78],"models":[20,34,79],"that":[21,80,174,240],"would":[22],"allow":[23],"autonomous":[24],"machines":[25],"understand":[27],"and":[28,42,86,169,209],"interact":[29],"with":[30,217],"their":[31],"surroundings.":[32],"Such":[33],"are":[35,75],"typically":[36],"motivated":[37],"by":[38,148],"human":[39],"visual":[40],"perception":[41],"aim":[43],"represents":[45],"all":[46],"elements":[47],"word":[51],"ranging":[52],"from":[53,138,185],"individual":[54],"objects":[55],"complex":[57],"scenes":[58],"using":[59,149],"small":[61],"set":[62,197],"parameters.":[64],"One":[65],"de":[68],"facto":[69],"stadards":[70],"approach":[72],"this":[73,126,131],"problem":[74,164],"superquadrics":[76,137],"-":[77],"define":[81],"various":[82],"shape":[84,208],"primitives":[85],"can":[87],"be":[88],"fitted":[89],"actual":[91],"data":[93],"(either":[94],"form":[97],"point":[99],"clouds":[100],"or":[101],"range":[102,139,188,200],"images).":[103],"However,":[104],"existing":[105,248],"solutions":[106],"superquadric":[108,162,183,207],"recovery":[109,163],"involve":[110],"costly":[111],"iterative":[112,144],"fitting":[113],"procedures,":[114],"which":[115],"limit":[116],"applicability":[118],"such":[120],"techniques":[121,147],"practice.":[123],"To":[124],"alleviate":[125],"problem,":[127],"we":[128,222],"explore":[129],"paper":[132],"possibility":[134],"recover":[136],"images":[140],"without":[141],"time":[142],"consuming":[143],"parameter":[145],"estimation":[146],"contemporary":[150],"deep-learning":[151],"models,":[152],"more":[153],"specifically,":[154],"convolutional":[155],"neural":[156],"networks":[157],"(CNNs).":[158],"We":[159,190],"pose":[160],"as":[165],"regression":[167],"task":[168],"develop":[170],"CNN":[172],"regressor":[173,193,243],"is":[175],"able":[176],"estimate":[178],"parameters":[180],"model":[184,213],"given":[187],"image.":[189],"train":[191],"on":[194],"large":[196],"synthetic":[199],"images,":[201],"each":[202],"containing":[203],"single":[205],"(unrotated)":[206],"evaluate":[210],"learned":[212],"comparative":[215],"experiments":[216,238],"current":[219],"state-of-the-art.":[220],"Additionally,":[221],"also":[223,251],"present":[224],"qualitative":[226],"analysis":[227],"involving":[228],"dataset":[230],"real-world":[232],"objects.":[233],"The":[234],"results":[235],"our":[237],"show":[239],"proposed":[242],"not":[244],"only":[245],"outperforms":[246],"state-of-the-art,":[249],"but":[250],"ensures":[252],"270\u00d7":[254],"faster":[255],"execution":[256],"time.":[257]},"counts_by_year":[{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2019-04-25T00:00:00"}
