{"id":"https://openalex.org/W3196500978","doi":"https://doi.org/10.1109/rcar52367.2021.9517401","title":"Direct alignment with generalized correspondences: A unified framework for structure-based visual pose estimation","display_name":"Direct alignment with generalized correspondences: A unified framework for structure-based visual pose estimation","publication_year":2021,"publication_date":"2021-07-15","ids":{"openalex":"https://openalex.org/W3196500978","doi":"https://doi.org/10.1109/rcar52367.2021.9517401","mag":"3196500978"},"language":"en","primary_location":{"id":"doi:10.1109/rcar52367.2021.9517401","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar52367.2021.9517401","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-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/A5088639775","display_name":"Xiaqing Ding","orcid":"https://orcid.org/0000-0001-7802-0130"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Xiaqing Ding","raw_affiliation_strings":["State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, P.R. China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, P.R. China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100646924","display_name":"Yue Wang","orcid":"https://orcid.org/0009-0005-0902-3107"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yue Wang","raw_affiliation_strings":["State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, P.R. China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, P.R. China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019081110","display_name":"Rong Xiong","orcid":"https://orcid.org/0000-0001-9318-9014"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Rong Xiong","raw_affiliation_strings":["State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, P.R. China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, P.R. China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5088639775"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.05234136,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"31","issue":null,"first_page":"845","last_page":"850"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9987999796867371,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9986000061035156,"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":0.7465803623199463},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6603505611419678},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.6466084122657776},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6244162917137146},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.6139189600944519},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6111719012260437},{"id":"https://openalex.org/keywords/correctness","display_name":"Correctness","score":0.5259354710578918},{"id":"https://openalex.org/keywords/3d-pose-estimation","display_name":"3D pose estimation","score":0.4109151065349579},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3961968421936035},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3959650695323944},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.32508477568626404},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24044856429100037},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.24005460739135742},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.08583813905715942}],"concepts":[{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.7465803623199463},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6603505611419678},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.6466084122657776},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6244162917137146},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.6139189600944519},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6111719012260437},{"id":"https://openalex.org/C55439883","wikidata":"https://www.wikidata.org/wiki/Q360812","display_name":"Correctness","level":2,"score":0.5259354710578918},{"id":"https://openalex.org/C36613465","wikidata":"https://www.wikidata.org/wiki/Q4636322","display_name":"3D pose estimation","level":3,"score":0.4109151065349579},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3961968421936035},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3959650695323944},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.32508477568626404},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24044856429100037},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.24005460739135742},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.08583813905715942},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/rcar52367.2021.9517401","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar52367.2021.9517401","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W148565212","https://openalex.org/W612478963","https://openalex.org/W1612997784","https://openalex.org/W1677409904","https://openalex.org/W1973080743","https://openalex.org/W1991544872","https://openalex.org/W2035379092","https://openalex.org/W2064451896","https://openalex.org/W2085261163","https://openalex.org/W2097649661","https://openalex.org/W2105824943","https://openalex.org/W2108134361","https://openalex.org/W2117228865","https://openalex.org/W2130103520","https://openalex.org/W2135926837","https://openalex.org/W2140599684","https://openalex.org/W2151103935","https://openalex.org/W2152671441","https://openalex.org/W2218842719","https://openalex.org/W2320444803","https://openalex.org/W2471962767","https://openalex.org/W2474281075","https://openalex.org/W2535547924","https://openalex.org/W2726631490","https://openalex.org/W2770176163","https://openalex.org/W2808571300","https://openalex.org/W2897085414","https://openalex.org/W2898182017","https://openalex.org/W2922243907","https://openalex.org/W2962867954","https://openalex.org/W2963106865","https://openalex.org/W2964307318","https://openalex.org/W2982529469","https://openalex.org/W2999597893","https://openalex.org/W3003884170","https://openalex.org/W3043075211","https://openalex.org/W3102327032","https://openalex.org/W3103648783","https://openalex.org/W3105489439","https://openalex.org/W3106458387","https://openalex.org/W4295719664","https://openalex.org/W6606128126","https://openalex.org/W6637400245","https://openalex.org/W6745935785"],"related_works":["https://openalex.org/W4210897550","https://openalex.org/W4253893311","https://openalex.org/W2798721181","https://openalex.org/W3201205132","https://openalex.org/W4287600488","https://openalex.org/W4312694060","https://openalex.org/W4386075737","https://openalex.org/W4281696776","https://openalex.org/W4387967917","https://openalex.org/W4299867837"],"abstract_inverted_index":{"Visual":[0],"pose":[1,16,65,90,117,152],"estimation":[2,17,66],"is":[3],"a":[4,60,102,149],"fundamental":[5],"problem":[6],"for":[7,13,63,88,115],"autonomous":[8],"robot":[9],"navigation.":[10],"Basically,":[11],"methods":[12,26,35,46,71,83,172],"structure-based":[14],"visual":[15,64,89,116,151],"can":[18,84],"be":[19,86],"categorized":[20],"into":[21],"direct":[22,44,159],"and":[23,78,143,146,160],"indirect":[24,161],"based":[25,34,45,162],"considering":[27],"the":[28,50,94,99,107,120,127,156,166,170,180,183,188,191],"way":[29],"of":[30,52,101,138,176,182,190],"data":[31,121,141,177],"association.":[32],"Indirect":[33],"extract":[36],"features":[37],"to":[38,67,123],"establish":[39],"correspondences":[40],"across":[41],"images,":[42],"while":[43],"align":[47],"images":[48],"under":[49],"assumption":[51],"local":[53],"consistency.":[54],"In":[55,164],"this":[56],"paper,":[57],"we":[58,109,132],"propose":[59,148],"unified":[61,87],"framework":[62,184],"show":[68],"that":[69,154],"typical":[70],"within":[72],"these":[73],"two":[74],"categories,":[75],"including":[76],"photometric":[77],"edge-based":[79],"alignment,":[80],"feature-based":[81],"matching":[82],"all":[85],"estimation,":[91,118],"among":[92],"which":[93],"differences":[95],"only":[96],"lie":[97],"in":[98,136],"design":[100],"multi-layer":[103],"scalar":[104,113],"field.":[105],"Upon":[106],"framework,":[108],"derive":[110],"an":[111],"optimal":[112],"field":[114],"generalizing":[119],"association":[122,142],"point-to-region":[124],"correspondence.":[125],"With":[126],"theoretic":[128,192],"analysis":[129],"as":[130,185,187],"reference,":[131],"discuss":[133],"their":[134],"performances":[135],"terms":[137],"convergence":[139],"basin,":[140],"outlier":[144],"robustness,":[145],"furthermore":[147],"general":[150],"estimator":[153,168],"integrates":[155],"insights":[157],"from":[158],"methods.":[163],"experiments,":[165],"combined":[167],"outperforms":[169],"other":[171],"with":[173],"one":[174],"kind":[175],"association,":[178],"validating":[179],"effectiveness":[181],"well":[186],"correctness":[189],"analysis.":[193]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}