{"id":"https://openalex.org/W4210467447","doi":"https://doi.org/10.1109/lra.2022.3146924","title":"WS-OPE: Weakly Supervised 6-D Object Pose Regression Using Relative Multi-Camera Pose Constraints","display_name":"WS-OPE: Weakly Supervised 6-D Object Pose Regression Using Relative Multi-Camera Pose Constraints","publication_year":2022,"publication_date":"2022-01-31","ids":{"openalex":"https://openalex.org/W4210467447","doi":"https://doi.org/10.1109/lra.2022.3146924"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3146924","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3146924","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":["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/A5101474261","display_name":"Li Fu","orcid":"https://orcid.org/0000-0001-6228-4289"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]},{"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":["CN","DE"],"is_corresponding":false,"raw_author_name":"Fu Li","raw_affiliation_strings":["Department of Informatics, Technical University of Munich, Garching, Germany","Institute for Quantum Information and State Key Laboratory of High Performance Computing, College of Computer Science and Technology, National University of Defense Technology, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0001-6228-4289","affiliations":[{"raw_affiliation_string":"Department of Informatics, Technical University of Munich, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Institute for Quantum Information and State Key Laboratory of High Performance Computing, College of Computer Science and Technology, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","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":false,"raw_author_name":"Ivan Shugurov","raw_affiliation_strings":["Department of Informatics, Technical University of Munich, Garching, 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, 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/A5067135033","display_name":"Benjamin Busam","orcid":"https://orcid.org/0000-0002-0620-5774"},"institutions":[{"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":"Benjamin Busam","raw_affiliation_strings":["Department of Informatics, Technical University of Munich, Garching, Germany"],"raw_orcid":"https://orcid.org/0000-0002-0620-5774","affiliations":[{"raw_affiliation_string":"Department of Informatics, Technical University of Munich, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075939329","display_name":"Shaowu Yang","orcid":"https://orcid.org/0000-0002-8398-5612"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shaowu Yang","raw_affiliation_strings":["Institute for Quantum Information and State Key Laboratory of High Performance Computing, College of Computer Science and Technology, National University of Defense Technology, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0002-8398-5612","affiliations":[{"raw_affiliation_string":"Institute for Quantum Information and State Key Laboratory of High Performance Computing, College of Computer Science and Technology, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"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, 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, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Siemens AG, Munich, Germany","institution_ids":["https://openalex.org/I1325886976"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.7243,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.95282408,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"7","issue":"2","first_page":"3703","last_page":"3710"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9986000061035156,"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":0.9986000061035156,"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":0.9980000257492065,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9976000189781189,"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/pose","display_name":"Pose","score":0.8479027152061462},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7616022229194641},{"id":"https://openalex.org/keywords/bounding-overwatch","display_name":"Bounding overwatch","score":0.6838237643241882},{"id":"https://openalex.org/keywords/3d-pose-estimation","display_name":"3D pose estimation","score":0.6539794206619263},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6481390595436096},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.5325331687927246},{"id":"https://openalex.org/keywords/regression","display_name":"Regression","score":0.5267882943153381},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.48391324281692505},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.47968292236328125},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.4327976703643799},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4327693283557892},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22689619660377502},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.09658995270729065}],"concepts":[{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.8479027152061462},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7616022229194641},{"id":"https://openalex.org/C63584917","wikidata":"https://www.wikidata.org/wiki/Q333286","display_name":"Bounding overwatch","level":2,"score":0.6838237643241882},{"id":"https://openalex.org/C36613465","wikidata":"https://www.wikidata.org/wiki/Q4636322","display_name":"3D pose estimation","level":3,"score":0.6539794206619263},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6481390595436096},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.5325331687927246},{"id":"https://openalex.org/C83546350","wikidata":"https://www.wikidata.org/wiki/Q1139051","display_name":"Regression","level":2,"score":0.5267882943153381},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.48391324281692505},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.47968292236328125},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.4327976703643799},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4327693283557892},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22689619660377502},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.09658995270729065}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2022.3146924","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3146924","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:mediatum.ub.tum.de:node/1686135","is_oa":false,"landing_page_url":"https://ieeexplore.ieee.org/abstract/document/9697362","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6586189173","display_name":null,"funder_award_id":"61803375","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8936065553","display_name":null,"funder_award_id":"91948303","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322725","display_name":"China Scholarship Council","ror":"https://ror.org/04atp4p48"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":52,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W639708223","https://openalex.org/W1536680647","https://openalex.org/W1612997784","https://openalex.org/W1836794077","https://openalex.org/W1861492603","https://openalex.org/W2151290401","https://openalex.org/W2152671441","https://openalex.org/W2471962767","https://openalex.org/W2519138183","https://openalex.org/W2527142681","https://openalex.org/W2564833865","https://openalex.org/W2574567538","https://openalex.org/W2580726517","https://openalex.org/W2600447016","https://openalex.org/W2604236302","https://openalex.org/W2768879211","https://openalex.org/W2768890541","https://openalex.org/W2771008497","https://openalex.org/W2888752296","https://openalex.org/W2889903120","https://openalex.org/W2895439318","https://openalex.org/W2949924544","https://openalex.org/W2950921159","https://openalex.org/W2962783853","https://openalex.org/W2963037989","https://openalex.org/W2963150697","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/W2981410089","https://openalex.org/W2981854237","https://openalex.org/W2989915422","https://openalex.org/W3009516594","https://openalex.org/W3011972190","https://openalex.org/W3012573144","https://openalex.org/W3034268164","https://openalex.org/W3088577561","https://openalex.org/W3092774272","https://openalex.org/W3107372911","https://openalex.org/W3107730598","https://openalex.org/W3119643838","https://openalex.org/W3133860213","https://openalex.org/W3174822420","https://openalex.org/W3177069133","https://openalex.org/W3204319309","https://openalex.org/W4293584584","https://openalex.org/W6760424586","https://openalex.org/W6783501676"],"related_works":["https://openalex.org/W4253893311","https://openalex.org/W2798721181","https://openalex.org/W3201205132","https://openalex.org/W4287600488","https://openalex.org/W4312694060","https://openalex.org/W4281696776","https://openalex.org/W4287206000","https://openalex.org/W2022566595","https://openalex.org/W4294967731","https://openalex.org/W3153778084"],"abstract_inverted_index":{"Precise":[0],"annotation":[1],"of":[2,71,94,157,178,181],"6-D":[3,28,45,139,158],"poses":[4,47,74,180],"in":[5,98,161,184],"real":[6],"data":[7],"is":[8,176],"intricate":[9],"and":[10,57,64,146],"time-consuming,":[11],"however,":[12],"an":[13,87,105,111],"essential":[14],"requirement":[15],"to":[16,34,136,154,163],"train":[17],"pose":[18,29,84,108,123,159,193],"estimation":[19,103],"pipelines.":[20],"We":[21,141],"propose":[22],"a":[23,83,115,133,138,199],"way":[24],"for":[25,121,198],"scalable,":[26],"end-to-end":[27],"regression":[30,113,194],"with":[31,68,89,110,188],"weak":[32,190],"supervision":[33],"avoid":[35],"this":[36],"problem.":[37],"Our":[38,101],"method":[39,175],"requires":[40],"neither":[41],"3-D":[42],"models":[43],"nor":[44],"object":[46,58,97],"as":[48,60],"ground":[49],"truth.":[50],"Instead,":[51],"we":[52],"use":[53],"2-D":[54,91],"bounding":[55,92],"boxes":[56,93],"sizes":[59],"the":[61,66,95,128,173,196],"only":[62,132,189],"labels":[63],"constrain":[65],"problem":[67],"multiple":[69],"images":[70],"known":[72],"relative":[73],"during":[75,151],"training.":[76],"A":[77],"novel":[78],"Rotated-IoU":[79],"loss":[80],"brings":[81],"together":[82],"prediction":[85],"from":[86],"image":[88,135],"labeled":[90],"corresponding":[96],"other":[99],"views.":[100],"rotation":[102,117,148],"combines":[104],"initial":[106],"coarse":[107],"classification":[109],"offset":[112],"using":[114],"continuous":[116],"parametrization":[118],"that":[119,143,172],"allows":[120],"direct":[122],"estimation.":[124],"At":[125],"test":[126],"time,":[127],"model":[129],"still":[130],"uses":[131],"single":[134],"predict":[137],"pose.":[140],"observe":[142],"multi-view":[144],"constraints":[145],"our":[147],"representation":[149],"used":[150],"training":[152],"lead":[153],"better":[155],"learning":[156],"embeddings":[160],"comparison":[162],"fully":[164],"supervised":[165],"methods.":[166],"Experiments":[167],"on":[168],"several":[169],"datasets":[170],"show":[171],"proposed":[174],"capable":[177],"predicting":[179],"good":[182],"quality,":[183],"spite":[185],"being":[186],"trained":[187],"labels.":[191],"Direct":[192],"without":[195],"need":[197],"consecutive":[200],"refinement":[201],"stage":[202],"thereby":[203],"ensures":[204],"real-time":[205],"performance.":[206]},"counts_by_year":[{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":5}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
