{"id":"https://openalex.org/W4387092534","doi":"https://doi.org/10.1109/lra.2023.3320028","title":"Model-Based Underwater 6D Pose Estimation From RGB","display_name":"Model-Based Underwater 6D Pose Estimation From RGB","publication_year":2023,"publication_date":"2023-09-27","ids":{"openalex":"https://openalex.org/W4387092534","doi":"https://doi.org/10.1109/lra.2023.3320028"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3320028","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3320028","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/A5009453879","display_name":"Davide Sapienza","orcid":"https://orcid.org/0000-0001-6602-7394"},"institutions":[{"id":"https://openalex.org/I122346577","display_name":"University of Modena and Reggio Emilia","ror":"https://ror.org/02d4c4y02","country_code":"IT","type":"education","lineage":["https://openalex.org/I122346577"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Davide Sapienza","raw_affiliation_strings":["University of Modena and Reggio Emilia, Modena, Italy"],"affiliations":[{"raw_affiliation_string":"University of Modena and Reggio Emilia, Modena, Italy","institution_ids":["https://openalex.org/I122346577"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011325130","display_name":"Elena Govi","orcid":"https://orcid.org/0000-0002-4167-3741"},"institutions":[{"id":"https://openalex.org/I122346577","display_name":"University of Modena and Reggio Emilia","ror":"https://ror.org/02d4c4y02","country_code":"IT","type":"education","lineage":["https://openalex.org/I122346577"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Elena Govi","raw_affiliation_strings":["University of Modena and Reggio Emilia, Modena, Italy"],"affiliations":[{"raw_affiliation_string":"University of Modena and Reggio Emilia, Modena, Italy","institution_ids":["https://openalex.org/I122346577"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083913692","display_name":"Sara Aldhaheri","orcid":"https://orcid.org/0009-0003-3971-3219"},"institutions":[{"id":"https://openalex.org/I4210087059","display_name":"Technology Innovation Institute","ror":"https://ror.org/001kv2y39","country_code":"AE","type":"facility","lineage":["https://openalex.org/I4210087059"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Sara Aldhaheri","raw_affiliation_strings":["TII ARRC, Masdar, Abu Dhabi, UAE"],"affiliations":[{"raw_affiliation_string":"TII ARRC, Masdar, Abu Dhabi, UAE","institution_ids":["https://openalex.org/I4210087059"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5106522626","display_name":"Marko Bertogna","orcid":"https://orcid.org/0000-0003-2115-4853"},"institutions":[{"id":"https://openalex.org/I122346577","display_name":"University of Modena and Reggio Emilia","ror":"https://ror.org/02d4c4y02","country_code":"IT","type":"education","lineage":["https://openalex.org/I122346577"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Marko Bertogna","raw_affiliation_strings":["Hipert s.r.l, Modena, Italy","University of Modena and Reggio Emilia, Modena, Italy"],"affiliations":[{"raw_affiliation_string":"Hipert s.r.l, Modena, Italy","institution_ids":[]},{"raw_affiliation_string":"University of Modena and Reggio Emilia, Modena, Italy","institution_ids":["https://openalex.org/I122346577"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081276735","display_name":"Eloy Roura","orcid":"https://orcid.org/0000-0003-0325-9563"},"institutions":[{"id":"https://openalex.org/I4210087059","display_name":"Technology Innovation Institute","ror":"https://ror.org/001kv2y39","country_code":"AE","type":"facility","lineage":["https://openalex.org/I4210087059"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Eloy Roura","raw_affiliation_strings":["TII ARRC, Masdar, Abu Dhabi, UAE"],"affiliations":[{"raw_affiliation_string":"TII ARRC, Masdar, Abu Dhabi, UAE","institution_ids":["https://openalex.org/I4210087059"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019041076","display_name":"\u00c8ric Pairet","orcid":"https://orcid.org/0000-0002-3363-0426"},"institutions":[{"id":"https://openalex.org/I4210087059","display_name":"Technology Innovation Institute","ror":"https://ror.org/001kv2y39","country_code":"AE","type":"facility","lineage":["https://openalex.org/I4210087059"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"\u00c8ric Pairet","raw_affiliation_strings":["TII ARRC, Masdar, Abu Dhabi, UAE"],"affiliations":[{"raw_affiliation_string":"TII ARRC, Masdar, Abu Dhabi, UAE","institution_ids":["https://openalex.org/I4210087059"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089960927","display_name":"Micaela Verucchi","orcid":"https://orcid.org/0000-0003-3898-8571"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Micaela Verucchi","raw_affiliation_strings":["Hipert s.r.l, Modena, Italy"],"affiliations":[{"raw_affiliation_string":"Hipert s.r.l, Modena, Italy","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5007510845","display_name":"Paola Ard\u00f3n","orcid":"https://orcid.org/0000-0002-3026-0706"},"institutions":[{"id":"https://openalex.org/I4210087059","display_name":"Technology Innovation Institute","ror":"https://ror.org/001kv2y39","country_code":"AE","type":"facility","lineage":["https://openalex.org/I4210087059"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Paola Ard\u00f3n","raw_affiliation_strings":["TII ARRC, Masdar, Abu Dhabi, UAE"],"affiliations":[{"raw_affiliation_string":"TII ARRC, Masdar, Abu Dhabi, UAE","institution_ids":["https://openalex.org/I4210087059"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5009453879"],"corresponding_institution_ids":["https://openalex.org/I122346577"],"apc_list":null,"apc_paid":null,"fwci":1.8824,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.85826772,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"8","issue":"11","first_page":"7535","last_page":"7542"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9987000226974487,"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":0.9987000226974487,"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":0.9937000274658203,"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/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9929999709129333,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"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":0.8355091214179993},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6388590335845947},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.6069135069847107},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5924093723297119},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.5704026222229004},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5646967887878418},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4452814757823944},{"id":"https://openalex.org/keywords/visibility","display_name":"Visibility","score":0.42829248309135437},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.41646888852119446},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.41316333413124084},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.11055731773376465}],"concepts":[{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.8355091214179993},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6388590335845947},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.6069135069847107},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5924093723297119},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.5704026222229004},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5646967887878418},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4452814757823944},{"id":"https://openalex.org/C123403432","wikidata":"https://www.wikidata.org/wiki/Q654068","display_name":"Visibility","level":2,"score":0.42829248309135437},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.41646888852119446},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.41316333413124084},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.11055731773376465},{"id":"https://openalex.org/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","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/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2023.3320028","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3320028","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":[{"score":0.7699999809265137,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1517414188","https://openalex.org/W1829844346","https://openalex.org/W1861492603","https://openalex.org/W2101199297","https://openalex.org/W2107331386","https://openalex.org/W2125188427","https://openalex.org/W2532052454","https://openalex.org/W2604236302","https://openalex.org/W2768879211","https://openalex.org/W2796340014","https://openalex.org/W2888752296","https://openalex.org/W2895439318","https://openalex.org/W2920961587","https://openalex.org/W2963188159","https://openalex.org/W2998628155","https://openalex.org/W3018757597","https://openalex.org/W3025711542","https://openalex.org/W3101338131","https://openalex.org/W3102636071","https://openalex.org/W3130497466","https://openalex.org/W3132413796","https://openalex.org/W3180134609","https://openalex.org/W3180746471","https://openalex.org/W4280536586","https://openalex.org/W4283387285","https://openalex.org/W4289489637","https://openalex.org/W4366327490","https://openalex.org/W4383109003","https://openalex.org/W6639102338","https://openalex.org/W6675960095","https://openalex.org/W6754677871","https://openalex.org/W6777046832","https://openalex.org/W6785749668","https://openalex.org/W6852322112"],"related_works":["https://openalex.org/W2392812199","https://openalex.org/W4200176076","https://openalex.org/W598185802","https://openalex.org/W2355516524","https://openalex.org/W2361471170","https://openalex.org/W2025616642","https://openalex.org/W1954972543","https://openalex.org/W2954738200","https://openalex.org/W4226107239","https://openalex.org/W4315498985"],"abstract_inverted_index":{"Object":[0],"pose":[1,17,70,91,139,150,173],"estimation":[2,18,174],"underwater":[3,15,95,178],"allows":[4],"an":[5,80,129,177],"autonomous":[6],"system":[7],"to":[8,41,47,87],"perform":[9],"tracking":[10],"and":[11,33,57,107,117,123,138],"intervention":[12],"tasks.":[13],"Nonetheless,":[14],"target":[16],"is":[19,40,54],"remarkably":[20],"challenging":[21],"due":[22],"to,":[23],"among":[24],"many":[25],"factors,":[26],"limited":[27],"visibility,":[28],"light":[29],"scattering,":[30],"cluttered":[31],"environments,":[32],"constantly":[34],"varying":[35],"water":[36],"conditions.":[37],"An":[38],"approach":[39,81],"employ":[42],"sonar":[43],"or":[44],"laser":[45],"sensing":[46],"acquire":[48],"3D":[49],"data,":[50],"however,":[51],"the":[52,58,64,168],"data":[53],"not":[55],"clear":[56],"sensors":[59],"expensive.":[60],"For":[61],"this":[62,76],"reason,":[63],"community":[65],"has":[66],"focused":[67],"on":[68,176],"extracting":[69],"estimates":[71,92,155],"from":[72],"RGB":[73],"input.":[74],"In":[75],"work,":[77],"we":[78],"propose":[79],"that":[82,132,156],"leverages":[83],"2D":[84],"object":[85,136,149],"detection":[86,137],"reliably":[88],"compute":[89],"6D":[90,148],"in":[93,128,181],"different":[94],"scenarios.":[96],"We":[97,165],"test":[98],"our":[99,152,172],"proposal":[100],"with":[101,104],"4":[102],"objects":[103,122],"symmetrical":[105],"shapes":[106],"poor":[108],"texture":[109],"spanning":[110],"across":[111],"<inline-formula":[112,158],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[113,159],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[114,160],"notation=\"LaTeX\">$33{,}920$</tex-math></inline-formula>":[115],"synthetic":[116],"10":[118],"real":[119],"scenes.":[120],"All":[121],"scenes":[124],"are":[125,157],"made":[126],"available":[127],"open-source":[130],"dataset":[131],"includes":[133],"annotations":[134],"for":[135,147],"estimation.":[140],"When":[141],"benchmarking":[142],"against":[143],"similar":[144],"end-to-end":[145],"methodologies":[146],"estimation,":[151],"pipeline":[153,175],"provides":[154],"notation=\"LaTeX\">$\\sim":[161],"\\!8{\\%}$</tex-math></inline-formula>":[162],"more":[163],"accurate.":[164],"also":[166],"demonstrate":[167],"real-world":[169],"usability":[170],"of":[171],"robotic":[179],"manipulator":[180],"a":[182],"reaching":[183],"task.":[184]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":5}],"updated_date":"2026-03-04T09:10:02.777135","created_date":"2025-10-10T00:00:00"}
