{"id":"https://openalex.org/W4385569585","doi":"https://doi.org/10.1109/lra.2023.3302177","title":"Exploring Multiple Geometric Representations for 6DoF Object Pose Estimation","display_name":"Exploring Multiple Geometric Representations for 6DoF Object Pose Estimation","publication_year":2023,"publication_date":"2023-08-04","ids":{"openalex":"https://openalex.org/W4385569585","doi":"https://doi.org/10.1109/lra.2023.3302177"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3302177","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3302177","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/A5100691354","display_name":"Xu Yang","orcid":"https://orcid.org/0000-0001-5067-583X"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xu Yang","raw_affiliation_strings":["School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0001-5067-583X","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102873418","display_name":"Junqi Cai","orcid":"https://orcid.org/0009-0003-0671-6237"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junqi Cai","raw_affiliation_strings":["School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0009-0003-0671-6237","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036867841","display_name":"Kunbo Li","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kunbo Li","raw_affiliation_strings":["School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5000426220","display_name":"Xiumin Fan","orcid":"https://orcid.org/0000-0001-5174-143X"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiumin Fan","raw_affiliation_strings":["School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0001-5174-143X","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100691354"],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":0.8967,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.74182609,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"8","issue":"10","first_page":"6115","last_page":"6122"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9991999864578247,"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":0.9991999864578247,"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":0.9955000281333923,"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/T12549","display_name":"Image and Object Detection Techniques","score":0.9883999824523926,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.6879398226737976},{"id":"https://openalex.org/keywords/offset","display_name":"Offset (computer science)","score":0.6299006938934326},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6109434366226196},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.5754626393318176},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.5603560209274292},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.5481857657432556},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.5036763548851013},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.5015139579772949},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4952374994754791},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4815950095653534},{"id":"https://openalex.org/keywords/pixel","display_name":"Pixel","score":0.4268966317176819},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.403457373380661},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.31299757957458496}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6879398226737976},{"id":"https://openalex.org/C175291020","wikidata":"https://www.wikidata.org/wiki/Q1156822","display_name":"Offset (computer science)","level":2,"score":0.6299006938934326},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6109434366226196},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.5754626393318176},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.5603560209274292},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.5481857657432556},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.5036763548851013},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.5015139579772949},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4952374994754791},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4815950095653534},{"id":"https://openalex.org/C160633673","wikidata":"https://www.wikidata.org/wiki/Q355198","display_name":"Pixel","level":2,"score":0.4268966317176819},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.403457373380661},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.31299757957458496},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2023.3302177","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3302177","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7665442105","display_name":null,"funder_award_id":"51975362","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"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":48,"referenced_works":["https://openalex.org/W132147841","https://openalex.org/W1526868886","https://openalex.org/W2117228865","https://openalex.org/W2119605622","https://openalex.org/W2151103935","https://openalex.org/W2161168419","https://openalex.org/W2193145675","https://openalex.org/W2200124539","https://openalex.org/W2344474200","https://openalex.org/W2563408008","https://openalex.org/W2580726517","https://openalex.org/W2604236302","https://openalex.org/W2768879211","https://openalex.org/W2888752296","https://openalex.org/W2895439318","https://openalex.org/W2962783853","https://openalex.org/W2963188159","https://openalex.org/W2963351448","https://openalex.org/W2963756608","https://openalex.org/W2964249569","https://openalex.org/W2981378444","https://openalex.org/W2988681037","https://openalex.org/W2989915422","https://openalex.org/W3004525945","https://openalex.org/W3009153702","https://openalex.org/W3009516594","https://openalex.org/W3027201070","https://openalex.org/W3034268164","https://openalex.org/W3034986117","https://openalex.org/W3035355652","https://openalex.org/W3038023350","https://openalex.org/W3056171435","https://openalex.org/W3092774272","https://openalex.org/W3093548137","https://openalex.org/W3104104643","https://openalex.org/W3106250896","https://openalex.org/W3135435163","https://openalex.org/W3177069133","https://openalex.org/W3193676140","https://openalex.org/W3216621076","https://openalex.org/W4221167997","https://openalex.org/W4285182079","https://openalex.org/W4298009363","https://openalex.org/W4313176116","https://openalex.org/W6631711059","https://openalex.org/W6754227600","https://openalex.org/W6760424586","https://openalex.org/W6773186523"],"related_works":["https://openalex.org/W4293226380","https://openalex.org/W2123263858","https://openalex.org/W3127959533","https://openalex.org/W4285411112","https://openalex.org/W2085033728","https://openalex.org/W2171299904","https://openalex.org/W2894986065","https://openalex.org/W4390494008","https://openalex.org/W3037187668","https://openalex.org/W2950785639"],"abstract_inverted_index":{"Convolutional":[0],"neural":[1,68],"networks":[2],"have":[3],"shown":[4],"excellent":[5],"potential":[6],"on":[7,139],"establishing":[8],"correspondences":[9,118],"from":[10],"2D":[11,110],"images":[12],"to":[13,49,70,106],"3D":[14],"objects":[15],"for":[16,22],"object":[17,34,133],"6D":[18],"pose":[19,134],"estimation,":[20],"both":[21],"dense":[23,159],"and":[24,36,77,88,102,122,141,154],"sparse":[25,42,61,120,152],"methods.":[26,43,160],"However,":[27],"only":[28],"single":[29],"geometric":[30,57,84,100],"representation":[31],"between":[32],"each":[33],"pixel":[35],"keypoint":[37,53,95,111],"is":[38,135],"utilized":[39],"in":[40,59],"existing":[41,151],"In":[44],"this":[45],"work,":[46],"we":[47,64,91],"attempt":[48],"explore":[50],"more":[51,108],"accurate":[52,109],"predictions":[54],"with":[55,86],"multiple":[56,83,99],"representations":[58,85,101],"the":[60,66,72,116,124,131],"method.":[62],"First,":[63],"utilize":[65],"convolutional":[67],"network":[69],"regress":[71],"pixel-wise":[73],"offset":[74,79],"vector":[75,80],"field,":[76],"convert":[78],"field":[81],"into":[82],"directions":[87],"distances.":[89],"Then":[90],"propose":[92],"a":[93,103],"coarse-to-fine":[94],"prediction":[96],"pipeline,":[97],"using":[98,123],"sliding":[104],"window":[105],"calculate":[107],"hypotheses.":[112],"Finally,":[113],"by":[114],"matching":[115],"2D-3D":[117],"through":[119],"keypoints":[121],"P":[125,129],"<italic":[126],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[127],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">n</i>":[128],"algorithm,":[130],"final":[132],"solved.":[136],"Experimental":[137],"results":[138],"LMO":[140],"T-LESS":[142],"datasets":[143],"show":[144],"that":[145],"our":[146],"proposed":[147],"idea":[148],"significantly":[149],"outperforms":[150],"methods":[153],"also":[155],"surpasses":[156],"some":[157],"state-of-the-art":[158]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}