{"id":"https://openalex.org/W4320002827","doi":"https://doi.org/10.1109/lra.2023.3240362","title":"i2c-net: Using Instance-Level Neural Networks for Monocular Category-Level 6D Pose Estimation","display_name":"i2c-net: Using Instance-Level Neural Networks for Monocular Category-Level 6D Pose Estimation","publication_year":2023,"publication_date":"2023-01-27","ids":{"openalex":"https://openalex.org/W4320002827","doi":"https://doi.org/10.1109/lra.2023.3240362"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3240362","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2023.3240362","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/10024862/10027166.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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":true,"oa_status":"hybrid","oa_url":"https://ieeexplore.ieee.org/ielx7/7083369/10024862/10027166.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5083388316","display_name":"Alberto Remus","orcid":"https://orcid.org/0000-0001-8812-0960"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Alberto Remus","raw_affiliation_strings":["Department of Excellence in Robotics and AI, Mechanical Intelligence Institute, Scuola Superiore Sant&#x0027;Anna, PI Pisa, Italy"],"raw_orcid":"https://orcid.org/0000-0001-8812-0960","affiliations":[{"raw_affiliation_string":"Department of Excellence in Robotics and AI, Mechanical Intelligence Institute, Scuola Superiore Sant&#x0027;Anna, PI Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011817358","display_name":"Salvatore D\u2019Avella","orcid":"https://orcid.org/0000-0001-7065-8789"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Salvatore D'Avella","raw_affiliation_strings":["Department of Excellence in Robotics and AI, Mechanical Intelligence Institute, Scuola Superiore Sant&#x0027;Anna, PI Pisa, Italy"],"raw_orcid":"https://orcid.org/0000-0001-7065-8789","affiliations":[{"raw_affiliation_string":"Department of Excellence in Robotics and AI, Mechanical Intelligence Institute, Scuola Superiore Sant&#x0027;Anna, PI Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007823246","display_name":"Francesco Di Felice","orcid":"https://orcid.org/0000-0002-5682-6034"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Francesco Di Felice","raw_affiliation_strings":["Department of Excellence in Robotics and AI, Mechanical Intelligence Institute, Scuola Superiore Sant&#x0027;Anna, PI Pisa, Italy"],"raw_orcid":"https://orcid.org/0000-0002-5682-6034","affiliations":[{"raw_affiliation_string":"Department of Excellence in Robotics and AI, Mechanical Intelligence Institute, Scuola Superiore Sant&#x0027;Anna, PI Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021769360","display_name":"Paolo Tripicchio","orcid":"https://orcid.org/0000-0003-3225-2782"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Paolo Tripicchio","raw_affiliation_strings":["Department of Excellence in Robotics and AI, Mechanical Intelligence Institute, Scuola Superiore Sant&#x0027;Anna, PI Pisa, Italy"],"raw_orcid":"https://orcid.org/0000-0003-3225-2782","affiliations":[{"raw_affiliation_string":"Department of Excellence in Robotics and AI, Mechanical Intelligence Institute, Scuola Superiore Sant&#x0027;Anna, PI Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086535808","display_name":"Carlo Alberto Avizzano","orcid":"https://orcid.org/0000-0001-5802-541X"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Carlo Alberto Avizzano","raw_affiliation_strings":["Department of Excellence in Robotics and AI, Mechanical Intelligence Institute, Scuola Superiore Sant&#x0027;Anna, PI Pisa, Italy"],"raw_orcid":"https://orcid.org/0000-0001-5802-541X","affiliations":[{"raw_affiliation_string":"Department of Excellence in Robotics and AI, Mechanical Intelligence Institute, Scuola Superiore Sant&#x0027;Anna, PI Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.8185,"has_fulltext":true,"cited_by_count":28,"citation_normalized_percentile":{"value":0.95592412,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"8","issue":"3","first_page":"1515","last_page":"1522"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9995999932289124,"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":0.9995999932289124,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9843999743461609,"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"}},{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.9824000000953674,"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":0.7874417304992676},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7536981105804443},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7246109247207642},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.6058805584907532},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.5719517469406128},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5457737445831299},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.5457463264465332},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.5310739874839783},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.49707964062690735},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.4783346652984619},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.4384500980377197},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4179420471191406},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.36252719163894653},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.33141952753067017},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12245309352874756}],"concepts":[{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.7874417304992676},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7536981105804443},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7246109247207642},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.6058805584907532},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.5719517469406128},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5457737445831299},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.5457463264465332},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.5310739874839783},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.49707964062690735},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.4783346652984619},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4384500980377197},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4179420471191406},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.36252719163894653},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.33141952753067017},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12245309352874756},{"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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2023.3240362","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2023.3240362","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/10024862/10027166.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:www.iris.sssup.it:11382/553511","is_oa":true,"landing_page_url":"https://hdl.handle.net/11382/553511","pdf_url":"https://www.iris.sssup.it/bitstream/11382/553511/1/i2c-net_Using_Instance-Level_Neural_Networks_for_Monocular_Category-Level_6D_Pose_Estimation.pdf","source":{"id":"https://openalex.org/S4377196376","display_name":"CINECA IRIS Institutional Research Information System (Sant'Anna School of Advanced Studies)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I162290304","host_organization_name":"Scuola Superiore Sant'Anna","host_organization_lineage":["https://openalex.org/I162290304"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nd","license_id":"https://openalex.org/licenses/cc-by-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"doi:10.1109/lra.2023.3240362","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2023.3240362","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/10024862/10027166.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4320002827.pdf","grobid_xml":"https://content.openalex.org/works/W4320002827.grobid-xml"},"referenced_works_count":32,"referenced_works":["https://openalex.org/W2049981393","https://openalex.org/W2174216300","https://openalex.org/W2194775991","https://openalex.org/W2765218414","https://openalex.org/W2768879211","https://openalex.org/W2962778872","https://openalex.org/W2963188159","https://openalex.org/W2963627347","https://openalex.org/W2963892972","https://openalex.org/W2996167710","https://openalex.org/W3001083904","https://openalex.org/W3056171435","https://openalex.org/W3091481715","https://openalex.org/W3104104643","https://openalex.org/W3107992529","https://openalex.org/W3109585842","https://openalex.org/W3163945288","https://openalex.org/W3168292752","https://openalex.org/W3177069133","https://openalex.org/W3180720907","https://openalex.org/W3193676140","https://openalex.org/W3199947443","https://openalex.org/W3206012233","https://openalex.org/W3214712237","https://openalex.org/W4221151978","https://openalex.org/W4302023500","https://openalex.org/W4312818087","https://openalex.org/W4394671432","https://openalex.org/W6687484953","https://openalex.org/W6754677871","https://openalex.org/W6864332406","https://openalex.org/W6893711219"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W165915117","https://openalex.org/W2326995835","https://openalex.org/W2743859443","https://openalex.org/W2059402478","https://openalex.org/W2123347777","https://openalex.org/W4387804363","https://openalex.org/W2477150073","https://openalex.org/W3021551196","https://openalex.org/W4307623796"],"abstract_inverted_index":{"Object":[0],"detection":[1],"and":[2,12,30,62,86,131],"pose":[3,47,59],"estimation":[4,60],"are":[5],"strict":[6],"requirements":[7],"for":[8,91,118],"many":[9],"robotic":[10],"grasping":[11],"manipulation":[13],"applications":[14],"to":[15,21,43,52],"endow":[16],"robots":[17],"with":[18,24,31,88,105],"the":[19,38,45,98,129,135,139],"ability":[20],"grasp":[22],"objects":[23,50,127],"different":[25,53],"properties":[26],"in":[27,103],"cluttered":[28],"scenes":[29],"various":[32],"lighting":[33],"conditions.":[34],"This":[35],"work":[36],"proposes":[37],"framework":[39],"<italic":[40],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[41],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">i2c-net</i>":[42],"extract":[44],"6D":[46],"of":[48,128,138],"multiple":[49],"belonging":[51],"categories,":[54],"starting":[55],"from":[56,79],"an":[57],"instance-level":[58,99],"network":[61,69,100],"relying":[63],"only":[64],"on":[65,72,125],"RGB":[66],"images.":[67],"The":[68],"is":[70,101,116],"trained":[71],"a":[73,106,121],"custom-made":[74],"synthetic":[75],"photo-realistic":[76],"dataset,":[77],"generated":[78],"some":[80],"base":[81],"CAD":[82],"models,":[83],"opportunely":[84],"deformed,":[85],"enriched":[87],"real":[89,126],"textures":[90],"domain":[92],"randomization":[93],"purposes.":[94],"At":[95],"inference":[96],"time,":[97],"employed":[102],"combination":[104],"3D":[107],"mesh":[108],"reconstruction":[109],"module,":[110],"achieving":[111],"category-level":[112],"capabilities.":[113],"Depth":[114],"information":[115],"used":[117],"post-processing":[119],"as":[120],"correction.":[122],"Tests":[123],"conducted":[124],"YCB-V":[130],"NOCS-REAL":[132],"datasets":[133],"outline":[134],"high":[136],"accuracy":[137],"proposed":[140],"approach.":[141]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":9}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
