{"id":"https://openalex.org/W3199905435","doi":"https://doi.org/10.1109/mcg.2021.3114181","title":"Keypoint-Based Disentangled Pose Network for Category-Level 6-D Object Pose Tracking","display_name":"Keypoint-Based Disentangled Pose Network for Category-Level 6-D Object Pose Tracking","publication_year":2021,"publication_date":"2021-09-21","ids":{"openalex":"https://openalex.org/W3199905435","doi":"https://doi.org/10.1109/mcg.2021.3114181","mag":"3199905435","pmid":"https://pubmed.ncbi.nlm.nih.gov/34546920"},"language":"en","primary_location":{"id":"doi:10.1109/mcg.2021.3114181","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mcg.2021.3114181","pdf_url":null,"source":{"id":"https://openalex.org/S105380075","display_name":"IEEE Computer Graphics and Applications","issn_l":"0272-1716","issn":["0272-1716","1558-1756"],"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 Computer Graphics and Applications","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5030535648","display_name":"Shantong Sun","orcid":"https://orcid.org/0000-0001-8621-7072"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Shantong Sun","raw_affiliation_strings":["Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077936056","display_name":"Rongke Liu","orcid":"https://orcid.org/0000-0003-3098-8649"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rongke Liu","raw_affiliation_strings":["Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081451717","display_name":"Shuqiao Sun","orcid":"https://orcid.org/0000-0002-5420-9745"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuqiao Sun","raw_affiliation_strings":["Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5046573028","display_name":"Unsang Park","orcid":"https://orcid.org/0000-0001-5539-9520"},"institutions":[{"id":"https://openalex.org/I148751991","display_name":"Sogang University","ror":"https://ror.org/056tn4839","country_code":"KR","type":"education","lineage":["https://openalex.org/I148751991"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Unsang Park","raw_affiliation_strings":["Sogang University, Mapo-gu, Seoul, South Korea"],"affiliations":[{"raw_affiliation_string":"Sogang University, Mapo-gu, Seoul, South Korea","institution_ids":["https://openalex.org/I148751991"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5030535648"],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":null,"apc_paid":null,"fwci":0.2747,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.54696802,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"42","issue":"5","first_page":"28","last_page":"36"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9983999729156494,"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":0.9983999729156494,"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":0.9980999827384949,"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/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9965999722480774,"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":0.8830650448799133},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7361218929290771},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.721112847328186},{"id":"https://openalex.org/keywords/translation","display_name":"Translation (biology)","score":0.6692888140678406},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.6302358508110046},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.610501766204834},{"id":"https://openalex.org/keywords/articulated-body-pose-estimation","display_name":"Articulated body pose estimation","score":0.581676721572876},{"id":"https://openalex.org/keywords/3d-pose-estimation","display_name":"3D pose estimation","score":0.5517777800559998},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5197250843048096},{"id":"https://openalex.org/keywords/singular-value-decomposition","display_name":"Singular value decomposition","score":0.5068801045417786},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.42881935834884644},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.4235774874687195},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4133409261703491}],"concepts":[{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.8830650448799133},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7361218929290771},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.721112847328186},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.6692888140678406},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.6302358508110046},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.610501766204834},{"id":"https://openalex.org/C22100474","wikidata":"https://www.wikidata.org/wiki/Q4800952","display_name":"Articulated body pose estimation","level":4,"score":0.581676721572876},{"id":"https://openalex.org/C36613465","wikidata":"https://www.wikidata.org/wiki/Q4636322","display_name":"3D pose estimation","level":3,"score":0.5517777800559998},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5197250843048096},{"id":"https://openalex.org/C22789450","wikidata":"https://www.wikidata.org/wiki/Q420904","display_name":"Singular value decomposition","level":2,"score":0.5068801045417786},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.42881935834884644},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.4235774874687195},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4133409261703491},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C105580179","wikidata":"https://www.wikidata.org/wiki/Q188928","display_name":"Messenger RNA","level":3,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D010363","descriptor_name":"Pattern Recognition, Automated","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D010363","descriptor_name":"Pattern Recognition, Automated","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D010363","descriptor_name":"Pattern Recognition, Automated","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D016571","descriptor_name":"Neural Networks, Computer","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D016571","descriptor_name":"Neural Networks, Computer","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D016571","descriptor_name":"Neural Networks, Computer","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false}],"locations_count":2,"locations":[{"id":"doi:10.1109/mcg.2021.3114181","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mcg.2021.3114181","pdf_url":null,"source":{"id":"https://openalex.org/S105380075","display_name":"IEEE Computer Graphics and Applications","issn_l":"0272-1716","issn":["0272-1716","1558-1756"],"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 Computer Graphics and Applications","raw_type":"journal-article"},{"id":"pmid:34546920","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/34546920","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE computer graphics and applications","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5299999713897705,"display_name":"Reduced inequalities","id":"https://metadata.un.org/sdg/10"}],"awards":[{"id":"https://openalex.org/G1453384114","display_name":null,"funder_award_id":"61231010","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2674491333","display_name":null,"funder_award_id":"CSC 202006020119","funder_id":"https://openalex.org/F4320322725","funder_display_name":"China Scholarship Council"}],"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":20,"referenced_works":["https://openalex.org/W116751493","https://openalex.org/W132147841","https://openalex.org/W2053138020","https://openalex.org/W2154889144","https://openalex.org/W2204120404","https://openalex.org/W2229637417","https://openalex.org/W2344109021","https://openalex.org/W2396274844","https://openalex.org/W2768890541","https://openalex.org/W2963177347","https://openalex.org/W2963188159","https://openalex.org/W2963892972","https://openalex.org/W2964253307","https://openalex.org/W2981378444","https://openalex.org/W2989915422","https://openalex.org/W2998099763","https://openalex.org/W3007000896","https://openalex.org/W3034597466","https://openalex.org/W3091357794","https://openalex.org/W6752936729"],"related_works":["https://openalex.org/W2946083937","https://openalex.org/W2798721181","https://openalex.org/W2951583186","https://openalex.org/W4299867837","https://openalex.org/W2088028039","https://openalex.org/W4382141741","https://openalex.org/W4386075737","https://openalex.org/W1968783203","https://openalex.org/W4206633503","https://openalex.org/W2148535645"],"abstract_inverted_index":{"Category-level":[0],"6-D":[1,75],"object":[2,16,76],"pose":[3,17,43,70,77],"tracking":[4],"is":[5,88,97],"very":[6],"challenging":[7],"in":[8,23,53],"the":[9,32,41,54,58,74,86,92,95,106,111,115],"field":[10],"of":[11,117],"3-D":[12,80,83],"computer":[13],"vision.":[14],"Keypoint-based":[15],"estimation":[18],"has":[19],"demonstrated":[20],"its":[21],"effectiveness":[22],"dealing":[24],"with":[25],"it.":[26],"However,":[27],"current":[28],"approaches":[29],"first":[30],"estimate":[31,49],"keypoints":[33],"through":[34],"a":[35,67],"neural":[36],"network":[37,93],"and":[38,51,82,94],"further":[39],"compute":[40],"interframe":[42],"change":[44,78],"via":[45],"least-squares":[46],"optimization.":[47],"They":[48],"rotation":[50,81,96],"translation":[52,87],"same":[55],"way,":[56],"ignoring":[57],"differences":[59],"between":[60],"them.":[61],"In":[62],"this":[63],"work,":[64],"we":[65],"propose":[66],"keypoint-based":[68],"disentangled":[69],"network,":[71],"which":[72],"disentangles":[73],"to":[79,105],"translation.":[84],"Specifically,":[85],"directly":[89],"estimated":[90],"by":[91,100],"indirectly":[98],"calculated":[99],"singular":[101],"value":[102],"decomposition":[103],"according":[104],"keypoints.":[107],"Extensive":[108],"experiments":[109],"on":[110],"NOCS-REAL275":[112],"dataset":[113],"demonstrate":[114],"superiority":[116],"our":[118],"method.":[119]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}