{"id":"https://openalex.org/W4410204265","doi":"https://doi.org/10.1109/lra.2025.3568312","title":"Corr2Distrib: Making Ambiguous Correspondences an Ally to Predict Reliable 6D Pose Distributions","display_name":"Corr2Distrib: Making Ambiguous Correspondences an Ally to Predict Reliable 6D Pose Distributions","publication_year":2025,"publication_date":"2025-05-08","ids":{"openalex":"https://openalex.org/W4410204265","doi":"https://doi.org/10.1109/lra.2025.3568312"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3568312","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3568312","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":true,"oa_status":"green","oa_url":"https://doi.org/10.1109/LRA.2025.3568312","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5114316541","display_name":"Asma Brazi","orcid":"https://orcid.org/0009-0005-1770-3970"},"institutions":[{"id":"https://openalex.org/I2738703131","display_name":"Commissariat \u00e0 l'\u00c9nergie Atomique et aux \u00c9nergies Alternatives","ror":"https://ror.org/00jjx8s55","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131"]},{"id":"https://openalex.org/I4210085861","display_name":"Laboratoire d'Int\u00e9gration des Syst\u00e8mes et des Technologies","ror":"https://ror.org/000dbcc61","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131","https://openalex.org/I2738703131","https://openalex.org/I277688954","https://openalex.org/I4210085861","https://openalex.org/I4210117989"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Asma Brazi","raw_affiliation_strings":["Universit&#x00E9; Paris-Saclay, CEA, List, Palaiseau, France","Universit&#x00E9; Paris-Saclay, CEA, List"],"raw_orcid":"https://orcid.org/0009-0005-1770-3970","affiliations":[{"raw_affiliation_string":"Universit&#x00E9; Paris-Saclay, CEA, List, Palaiseau, France","institution_ids":["https://openalex.org/I4210085861","https://openalex.org/I2738703131"]},{"raw_affiliation_string":"Universit&#x00E9; Paris-Saclay, CEA, List","institution_ids":["https://openalex.org/I2738703131","https://openalex.org/I4210085861"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064642780","display_name":"Boris Meden","orcid":null},"institutions":[{"id":"https://openalex.org/I2738703131","display_name":"Commissariat \u00e0 l'\u00c9nergie Atomique et aux \u00c9nergies Alternatives","ror":"https://ror.org/00jjx8s55","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131"]},{"id":"https://openalex.org/I4210085861","display_name":"Laboratoire d'Int\u00e9gration des Syst\u00e8mes et des Technologies","ror":"https://ror.org/000dbcc61","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131","https://openalex.org/I2738703131","https://openalex.org/I277688954","https://openalex.org/I4210085861","https://openalex.org/I4210117989"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Boris Meden","raw_affiliation_strings":["Universit&#x00E9; Paris-Saclay, CEA, List, Palaiseau, France","Universit&#x00E9; Paris-Saclay, CEA, List"],"raw_orcid":"https://orcid.org/0000-0003-4521-2595","affiliations":[{"raw_affiliation_string":"Universit&#x00E9; Paris-Saclay, CEA, List, Palaiseau, France","institution_ids":["https://openalex.org/I4210085861","https://openalex.org/I2738703131"]},{"raw_affiliation_string":"Universit&#x00E9; Paris-Saclay, CEA, List","institution_ids":["https://openalex.org/I2738703131","https://openalex.org/I4210085861"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032812232","display_name":"Fabrice Mayran de Chamisso","orcid":"https://orcid.org/0000-0003-0876-0859"},"institutions":[{"id":"https://openalex.org/I2738703131","display_name":"Commissariat \u00e0 l'\u00c9nergie Atomique et aux \u00c9nergies Alternatives","ror":"https://ror.org/00jjx8s55","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131"]},{"id":"https://openalex.org/I4210085861","display_name":"Laboratoire d'Int\u00e9gration des Syst\u00e8mes et des Technologies","ror":"https://ror.org/000dbcc61","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131","https://openalex.org/I2738703131","https://openalex.org/I277688954","https://openalex.org/I4210085861","https://openalex.org/I4210117989"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Fabrice Mayran de Chamisso","raw_affiliation_strings":["Universit&#x00E9; Paris-Saclay, CEA, List, Palaiseau, France","Universit&#x00E9; Paris-Saclay, CEA, List"],"raw_orcid":"https://orcid.org/0000-0003-0876-0859","affiliations":[{"raw_affiliation_string":"Universit&#x00E9; Paris-Saclay, CEA, List, Palaiseau, France","institution_ids":["https://openalex.org/I4210085861","https://openalex.org/I2738703131"]},{"raw_affiliation_string":"Universit&#x00E9; Paris-Saclay, CEA, List","institution_ids":["https://openalex.org/I2738703131","https://openalex.org/I4210085861"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052380527","display_name":"Steve Bourgeois","orcid":null},"institutions":[{"id":"https://openalex.org/I2738703131","display_name":"Commissariat \u00e0 l'\u00c9nergie Atomique et aux \u00c9nergies Alternatives","ror":"https://ror.org/00jjx8s55","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131"]},{"id":"https://openalex.org/I4210085861","display_name":"Laboratoire d'Int\u00e9gration des Syst\u00e8mes et des Technologies","ror":"https://ror.org/000dbcc61","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131","https://openalex.org/I2738703131","https://openalex.org/I277688954","https://openalex.org/I4210085861","https://openalex.org/I4210117989"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Steve Bourgeois","raw_affiliation_strings":["Universit&#x00E9; Paris-Saclay, CEA, List, Palaiseau, France","Universit&#x00E9; Paris-Saclay, CEA, List"],"raw_orcid":"https://orcid.org/0009-0006-1150-7941","affiliations":[{"raw_affiliation_string":"Universit&#x00E9; Paris-Saclay, CEA, List, Palaiseau, France","institution_ids":["https://openalex.org/I4210085861","https://openalex.org/I2738703131"]},{"raw_affiliation_string":"Universit&#x00E9; Paris-Saclay, CEA, List","institution_ids":["https://openalex.org/I2738703131","https://openalex.org/I4210085861"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070382607","display_name":"Vincent Lepetit","orcid":"https://orcid.org/0000-0001-9985-4433"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210152518","display_name":"Laboratoire d'Informatique Gaspard-Monge","ror":"https://ror.org/04t50yk91","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I142631665","https://openalex.org/I4210145102","https://openalex.org/I4210152518","https://openalex.org/I4210154111","https://openalex.org/I4210159245"]},{"id":"https://openalex.org/I4210154111","display_name":"Universit\u00e9 Gustave Eiffel","ror":"https://ror.org/03x42jk29","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210154111"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Vincent Lepetit","raw_affiliation_strings":["LIGM, Ecole des Ponts, Univ Gustave Eiffel, CNRS, Marne-la-vallee, France"],"raw_orcid":"https://orcid.org/0000-0001-9985-4433","affiliations":[{"raw_affiliation_string":"LIGM, Ecole des Ponts, Univ Gustave Eiffel, CNRS, Marne-la-vallee, France","institution_ids":["https://openalex.org/I4210152518","https://openalex.org/I1294671590","https://openalex.org/I4210154111"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5114316541"],"corresponding_institution_ids":["https://openalex.org/I2738703131","https://openalex.org/I4210085861"],"apc_list":null,"apc_paid":null,"fwci":1.1332,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.77483692,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"10","issue":"6","first_page":"6440","last_page":"6447"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.9372000098228455,"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"}},"topics":[{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.9372000098228455,"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/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9077000021934509,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10601","display_name":"Handwritten Text Recognition Techniques","score":0.9049999713897705,"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":0.4240069091320038},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4111515283584595},{"id":"https://openalex.org/keywords/computational-biology","display_name":"Computational biology","score":0.3628975749015808},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.24947580695152283}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4240069091320038},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4111515283584595},{"id":"https://openalex.org/C70721500","wikidata":"https://www.wikidata.org/wiki/Q177005","display_name":"Computational biology","level":1,"score":0.3628975749015808},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.24947580695152283}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2025.3568312","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3568312","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:zenodo.org:18172182","is_oa":true,"landing_page_url":"https://doi.org/10.1109/LRA.2025.3568312","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:zenodo.org:18172182","is_oa":true,"landing_page_url":"https://doi.org/10.1109/LRA.2025.3568312","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W1981144327","https://openalex.org/W2085261163","https://openalex.org/W2090622263","https://openalex.org/W2097649661","https://openalex.org/W2108598243","https://openalex.org/W2149532679","https://openalex.org/W2194775991","https://openalex.org/W2200124539","https://openalex.org/W2580726517","https://openalex.org/W2604236302","https://openalex.org/W2768879211","https://openalex.org/W2799123546","https://openalex.org/W2949924544","https://openalex.org/W2963177347","https://openalex.org/W2963188159","https://openalex.org/W2964249569","https://openalex.org/W2970435953","https://openalex.org/W2981378444","https://openalex.org/W2981410089","https://openalex.org/W2981854237","https://openalex.org/W3003477985","https://openalex.org/W3009516594","https://openalex.org/W3092774272","https://openalex.org/W3100997236","https://openalex.org/W3128632815","https://openalex.org/W3177069133","https://openalex.org/W3216621076","https://openalex.org/W4221167997","https://openalex.org/W4298014068","https://openalex.org/W4311640782","https://openalex.org/W4312359138","https://openalex.org/W4319300056","https://openalex.org/W4321512615","https://openalex.org/W4390190981","https://openalex.org/W4399563848","https://openalex.org/W4402660131","https://openalex.org/W4402816866","https://openalex.org/W4402915911","https://openalex.org/W4407004361","https://openalex.org/W6752823625","https://openalex.org/W6779753539","https://openalex.org/W6796902845","https://openalex.org/W6822194856","https://openalex.org/W6842649991"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"We":[0],"introduce":[1,25],"Corr2Distrib,":[2,91],"the":[3,19,51,56,86,115,129,181],"first":[4,105],"correspondence-based":[5],"method":[6],"which":[7],"estimates":[8],"a":[9,34,62,71,107,120,123,145],"6D":[10],"camera":[11],"pose":[12,65,72,147,152,169,174],"distribution":[13,73,148,170],"from":[14,135,176],"an":[15,97,177],"RGB":[16,178],"image,":[17,179],"explaining":[18],"observations.":[20],"Indeed,":[21],"symmetries":[22],"and":[23,122,151,172],"occlusions":[24],"visual":[26,82],"ambiguities,":[27],"leading":[28],"to":[29,50,60,69,99],"multiple":[30],"valid":[31,102],"poses.":[32,103],"While":[33],"few":[35],"recent":[36],"methods":[37],"tackle":[38],"this":[39],"problem,":[40],"they":[41],"do":[42],"not":[43,75],"rely":[44],"on":[45,114,157],"local":[46,124],"correspondences":[47,68,79],"which,":[48],"according":[49],"BOP":[52],"Challenge,":[53],"are":[54],"currently":[55],"most":[57],"effective":[58],"way":[59],"estimate":[61,70],"single":[63,136,173],"6DoF":[64,146],"solution.":[66],"Using":[67],"is":[74],"straightforward,":[76],"since":[77],"ambiguous":[78],"induced":[80],"by":[81,119],"ambiguities":[83,95],"drastically":[84],"decrease":[85],"performance":[87],"of":[88,131,183],"PnP.":[89],"With":[90],"we":[92,140],"turn":[93],"these":[94,142],"into":[96,144],"advantage":[98],"recover":[100],"all":[101],"Corr2Distrib":[104,163],"learns":[106],"symmetry-aware":[108],"representation":[109,127],"for":[110,167],"each":[111],"3D":[112],"point":[113],"object's":[116],"surface,":[117],"characterized":[118],"descriptor":[121],"frame.":[125],"This":[126],"enables":[128],"generation":[130],"3DoF":[132],"rotation":[133],"hypotheses":[134,143],"2D-3D":[137],"correspondences.":[138],"Next,":[139],"refine":[141],"using":[149],"PnP":[150],"scoring.":[153],"Our":[154],"experimental":[155],"evaluations":[156],"complex":[158],"non-synthetic":[159],"scenes":[160],"show":[161],"that":[162],"outperforms":[164],"state-of-the-art":[165],"solutions":[166],"both":[168],"estimation":[171,175],"demonstrating":[180],"potential":[182],"correspondences-based":[184],"approaches.":[185]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
