{"id":"https://openalex.org/W3133860213","doi":"https://doi.org/10.1109/lra.2021.3062350","title":"Multi-View Object Pose Refinement With Differentiable Renderer","display_name":"Multi-View Object Pose Refinement With Differentiable Renderer","publication_year":2021,"publication_date":"2021-02-25","ids":{"openalex":"https://openalex.org/W3133860213","doi":"https://doi.org/10.1109/lra.2021.3062350","mag":"3133860213"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3062350","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3062350","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2207.02811","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5027563468","display_name":"Ivan Shugurov","orcid":"https://orcid.org/0000-0001-5413-6622"},"institutions":[{"id":"https://openalex.org/I1325886976","display_name":"Siemens (Germany)","ror":"https://ror.org/059mq0909","country_code":"DE","type":"company","lineage":["https://openalex.org/I1325886976"]},{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Ivan Shugurov","raw_affiliation_strings":["Department of Informatics, Technical University of Munich, Garching bei Mnchen, Germany","Siemens AG, Munich, Germany"],"raw_orcid":"https://orcid.org/0000-0001-5413-6622","affiliations":[{"raw_affiliation_string":"Department of Informatics, Technical University of Munich, Garching bei Mnchen, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Siemens AG, Munich, Germany","institution_ids":["https://openalex.org/I1325886976"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017741376","display_name":"Ivan Pavlov","orcid":null},"institutions":[{"id":"https://openalex.org/I1325886976","display_name":"Siemens (Germany)","ror":"https://ror.org/059mq0909","country_code":"DE","type":"company","lineage":["https://openalex.org/I1325886976"]},{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Ivan Pavlov","raw_affiliation_strings":["Department of Informatics, Technical University of Munich, Garching bei Mnchen, Germany","Siemens AG, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Informatics, Technical University of Munich, Garching bei Mnchen, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Siemens AG, Munich, Germany","institution_ids":["https://openalex.org/I1325886976"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102739061","display_name":"Sergey Zakharov","orcid":"https://orcid.org/0000-0002-6231-6137"},"institutions":[{"id":"https://openalex.org/I1325886976","display_name":"Siemens (Germany)","ror":"https://ror.org/059mq0909","country_code":"DE","type":"company","lineage":["https://openalex.org/I1325886976"]},{"id":"https://openalex.org/I4391768151","display_name":"Toyota Research Institute","ror":"https://ror.org/04fpkc108","country_code":null,"type":"facility","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4391768151"]},{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sergey Zakharov","raw_affiliation_strings":["Department of Informatics, Technical University of Munich, Garching bei Mnchen, Germany","Siemens AG, Munich, Germany","Toyota Research Institute, Los Altos, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Informatics, Technical University of Munich, Garching bei Mnchen, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Siemens AG, Munich, Germany","institution_ids":["https://openalex.org/I1325886976"]},{"raw_affiliation_string":"Toyota Research Institute, Los Altos, USA","institution_ids":["https://openalex.org/I4391768151"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045382199","display_name":"Slobodan Ili\u0107","orcid":"https://orcid.org/0000-0002-3413-1936"},"institutions":[{"id":"https://openalex.org/I1325886976","display_name":"Siemens (Germany)","ror":"https://ror.org/059mq0909","country_code":"DE","type":"company","lineage":["https://openalex.org/I1325886976"]},{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Slobodan Ilic","raw_affiliation_strings":["Department of Informatics, Technical University of Munich, Garching bei Mnchen, Germany","Siemens AG, Munich, Germany"],"raw_orcid":"https://orcid.org/0000-0002-3413-1936","affiliations":[{"raw_affiliation_string":"Department of Informatics, Technical University of Munich, Garching bei Mnchen, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Siemens AG, Munich, Germany","institution_ids":["https://openalex.org/I1325886976"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5027563468"],"corresponding_institution_ids":["https://openalex.org/I1325886976","https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":20.8021,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":{"value":0.98811842,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"6","issue":"2","first_page":"2579","last_page":"2586"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9990000128746033,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9990000128746033,"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":0.9984999895095825,"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/T12549","display_name":"Image and Object Detection Techniques","score":0.9965000152587891,"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/computer-science","display_name":"Computer science","score":0.7995942831039429},{"id":"https://openalex.org/keywords/differentiable-function","display_name":"Differentiable function","score":0.7119457721710205},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7063840627670288},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6402561664581299},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.5721233487129211},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.5287477374076843},{"id":"https://openalex.org/keywords/pixel","display_name":"Pixel","score":0.4977989196777344},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.4814854860305786},{"id":"https://openalex.org/keywords/synthetic-data","display_name":"Synthetic data","score":0.4677914083003998},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.45288586616516113},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.4477975070476532},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.43063342571258545},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.41372349858283997},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.30493253469467163},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.2744690775871277},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09993714094161987}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7995942831039429},{"id":"https://openalex.org/C202615002","wikidata":"https://www.wikidata.org/wiki/Q783507","display_name":"Differentiable function","level":2,"score":0.7119457721710205},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7063840627670288},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6402561664581299},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.5721233487129211},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.5287477374076843},{"id":"https://openalex.org/C160633673","wikidata":"https://www.wikidata.org/wiki/Q355198","display_name":"Pixel","level":2,"score":0.4977989196777344},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.4814854860305786},{"id":"https://openalex.org/C160920958","wikidata":"https://www.wikidata.org/wiki/Q7662746","display_name":"Synthetic data","level":2,"score":0.4677914083003998},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.45288586616516113},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.4477975070476532},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.43063342571258545},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.41372349858283997},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.30493253469467163},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.2744690775871277},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09993714094161987},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2021.3062350","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3062350","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2207.02811","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2207.02811","pdf_url":"https://arxiv.org/pdf/2207.02811","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:2207.02811","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2207.02811","pdf_url":"https://arxiv.org/pdf/2207.02811","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":37,"referenced_works":["https://openalex.org/W132147841","https://openalex.org/W1526868886","https://openalex.org/W1991544872","https://openalex.org/W2049981393","https://openalex.org/W2083624955","https://openalex.org/W2161168419","https://openalex.org/W2519138183","https://openalex.org/W2604236302","https://openalex.org/W2768890541","https://openalex.org/W2796347433","https://openalex.org/W2888752296","https://openalex.org/W2895410314","https://openalex.org/W2895439318","https://openalex.org/W2949924544","https://openalex.org/W2955863859","https://openalex.org/W2962783853","https://openalex.org/W2963177347","https://openalex.org/W2963188159","https://openalex.org/W2963756608","https://openalex.org/W2963892972","https://openalex.org/W2964056579","https://openalex.org/W2964249569","https://openalex.org/W2981378444","https://openalex.org/W2989915422","https://openalex.org/W2990173985","https://openalex.org/W3009516594","https://openalex.org/W3011972190","https://openalex.org/W3034268164","https://openalex.org/W3034603747","https://openalex.org/W3035355652","https://openalex.org/W3092774272","https://openalex.org/W3100052745","https://openalex.org/W3119643838","https://openalex.org/W4293584584","https://openalex.org/W6631711059","https://openalex.org/W6750227808","https://openalex.org/W6754227600"],"related_works":["https://openalex.org/W4285277090","https://openalex.org/W4327738859","https://openalex.org/W2348722996","https://openalex.org/W2334570605","https://openalex.org/W3181683615","https://openalex.org/W4286826125","https://openalex.org/W1633485514","https://openalex.org/W1604739066","https://openalex.org/W2115878407","https://openalex.org/W3089306886"],"abstract_inverted_index":{"This":[0],"letter":[1],"introduces":[2],"a":[3,76,87,143],"novel":[4],"multi-view":[5],"6":[6],"DoF":[7],"object":[8],"pose":[9],"refinement":[10,91],"approach":[11,140],"focusing":[12],"on":[13,17,23,97,111,129],"improving":[14],"methods":[15,127],"trained":[16,95,128],"synthetic":[18,98,131],"data.":[19,106,134],"It":[20],"is":[21,73,80,94,147],"based":[22],"the":[24,33,37,47,125,130],"DPOD":[25],"detector,":[26],"which":[27,93],"produces":[28],"dense":[29],"2D-3D":[30],"correspondences":[31],"between":[32],"model":[34],"vertices":[35],"and":[36,79,90,115,118,132,146,153,164],"image":[38],"pixels":[39],"in":[40,122,155],"each":[41],"frame.":[42],"We":[43,83,107,135],"have":[44],"opted":[45],"for":[46,103],"use":[48],"of":[49,61],"multiple":[50],"frames":[51,145],"with":[52,75],"known":[53],"relative":[54],"camera":[55,151,157],"transformations,":[56],"as":[57],"it":[58],"allows":[59],"introduction":[60],"geometrical":[62],"constraints":[63],"via":[64],"an":[65],"interpretable":[66],"ICP-like":[67],"loss":[68,71],"function.":[69],"The":[70],"function":[72],"implemented":[74],"differentiable":[77],"renderer":[78],"optimized":[81],"iteratively.":[82],"also":[84],"demonstrate":[85,136],"that":[86,138],"full":[88],"detection":[89],"pipeline,":[92],"solely":[96],"data,":[99],"can":[100],"be":[101],"used":[102],"auto-labeling":[104],"real":[105,133],"perform":[108],"quantitative":[109],"evaluation":[110],"LineMOD,":[112],"Occlusion,":[113],"Homebrewed":[114],"YCB-V":[116],"datasets":[117],"report":[119],"excellent":[120],"performance":[121],"comparison":[123],"to":[124,149],"state-of-the-art":[126],"empirically":[137],"our":[139],"requires":[141],"only":[142],"few":[144],"robust":[148],"close":[150],"locations":[152],"noise":[154],"extrinsic":[156],"calibration,":[158],"making":[159],"its":[160],"practical":[161],"usage":[162],"easier":[163],"more":[165],"ubiquitous.":[166]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
