{"id":"https://openalex.org/W2036807459","doi":"https://doi.org/10.1109/robio.2011.6181734","title":"Self-monitoring to improve robustness of 3D object tracking for robotics","display_name":"Self-monitoring to improve robustness of 3D object tracking for robotics","publication_year":2011,"publication_date":"2011-12-01","ids":{"openalex":"https://openalex.org/W2036807459","doi":"https://doi.org/10.1109/robio.2011.6181734","mag":"2036807459"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2011.6181734","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2011.6181734","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Biomimetics","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/A5017066812","display_name":"Thomas M\u00f6rwald","orcid":"https://orcid.org/0000-0001-6698-0222"},"institutions":[{"id":"https://openalex.org/I145847075","display_name":"TU Wien","ror":"https://ror.org/04d836q62","country_code":"AT","type":"education","lineage":["https://openalex.org/I145847075"]}],"countries":["AT"],"is_corresponding":true,"raw_author_name":"Thomas Morwald","raw_affiliation_strings":["Automation and Control Institute, Vienna University of Technology, Austria","Automation and Control Institute, Vienna University of Technology, AT"],"affiliations":[{"raw_affiliation_string":"Automation and Control Institute, Vienna University of Technology, Austria","institution_ids":["https://openalex.org/I145847075"]},{"raw_affiliation_string":"Automation and Control Institute, Vienna University of Technology, AT","institution_ids":["https://openalex.org/I145847075"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033133747","display_name":"Michael Zillich","orcid":null},"institutions":[{"id":"https://openalex.org/I145847075","display_name":"TU Wien","ror":"https://ror.org/04d836q62","country_code":"AT","type":"education","lineage":["https://openalex.org/I145847075"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Michael Zillich","raw_affiliation_strings":["Automation and Control Institute, Vienna University of Technology, Austria","Automation and Control Institute, Vienna University of Technology, AT"],"affiliations":[{"raw_affiliation_string":"Automation and Control Institute, Vienna University of Technology, Austria","institution_ids":["https://openalex.org/I145847075"]},{"raw_affiliation_string":"Automation and Control Institute, Vienna University of Technology, AT","institution_ids":["https://openalex.org/I145847075"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049409847","display_name":"Johann Prankl","orcid":null},"institutions":[{"id":"https://openalex.org/I145847075","display_name":"TU Wien","ror":"https://ror.org/04d836q62","country_code":"AT","type":"education","lineage":["https://openalex.org/I145847075"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Johann Prankl","raw_affiliation_strings":["Automation and Control Institute, Vienna University of Technology, Austria","Automation and Control Institute, Vienna University of Technology, AT"],"affiliations":[{"raw_affiliation_string":"Automation and Control Institute, Vienna University of Technology, Austria","institution_ids":["https://openalex.org/I145847075"]},{"raw_affiliation_string":"Automation and Control Institute, Vienna University of Technology, AT","institution_ids":["https://openalex.org/I145847075"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013565399","display_name":"Markus Vincze","orcid":"https://orcid.org/0000-0002-2799-491X"},"institutions":[{"id":"https://openalex.org/I145847075","display_name":"TU Wien","ror":"https://ror.org/04d836q62","country_code":"AT","type":"education","lineage":["https://openalex.org/I145847075"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Markus Vincze","raw_affiliation_strings":["Automation and Control Institute, Vienna University of Technology, Austria","Automation and Control Institute, Vienna University of Technology, AT"],"affiliations":[{"raw_affiliation_string":"Automation and Control Institute, Vienna University of Technology, Austria","institution_ids":["https://openalex.org/I145847075"]},{"raw_affiliation_string":"Automation and Control Institute, Vienna University of Technology, AT","institution_ids":["https://openalex.org/I145847075"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5017066812"],"corresponding_institution_ids":["https://openalex.org/I145847075"],"apc_list":null,"apc_paid":null,"fwci":1.7119,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.86186299,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"7","issue":null,"first_page":"2830","last_page":"2837"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9995999932289124,"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":0.9995999932289124,"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9994000196456909,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.8939388990402222},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.8939214944839478},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7766005992889404},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7167187929153442},{"id":"https://openalex.org/keywords/video-tracking","display_name":"Video tracking","score":0.5880939364433289},{"id":"https://openalex.org/keywords/scale-invariant-feature-transform","display_name":"Scale-invariant feature transform","score":0.5513222813606262},{"id":"https://openalex.org/keywords/motion-blur","display_name":"Motion blur","score":0.5276814103126526},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5242210626602173},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.48153072595596313},{"id":"https://openalex.org/keywords/tracking-system","display_name":"Tracking system","score":0.45709672570228577},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.4493100643157959},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.4337235689163208},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics","score":0.4287137985229492},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4226498603820801},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.41426026821136475},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.355618417263031},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.30019253492355347},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.20852655172348022},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.16320449113845825},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.13359272480010986},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.1019173264503479}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.8939388990402222},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8939214944839478},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7766005992889404},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7167187929153442},{"id":"https://openalex.org/C202474056","wikidata":"https://www.wikidata.org/wiki/Q1931635","display_name":"Video tracking","level":3,"score":0.5880939364433289},{"id":"https://openalex.org/C61265191","wikidata":"https://www.wikidata.org/wiki/Q767770","display_name":"Scale-invariant feature transform","level":3,"score":0.5513222813606262},{"id":"https://openalex.org/C2777708103","wikidata":"https://www.wikidata.org/wiki/Q852589","display_name":"Motion blur","level":3,"score":0.5276814103126526},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5242210626602173},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.48153072595596313},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.45709672570228577},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.4493100643157959},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.4337235689163208},{"id":"https://openalex.org/C77660652","wikidata":"https://www.wikidata.org/wiki/Q150971","display_name":"Computer graphics","level":2,"score":0.4287137985229492},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4226498603820801},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.41426026821136475},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.355618417263031},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.30019253492355347},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.20852655172348022},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.16320449113845825},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.13359272480010986},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.1019173264503479},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"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/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},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2011.6181734","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2011.6181734","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Biomimetics","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":39,"referenced_works":["https://openalex.org/W26224176","https://openalex.org/W1483307070","https://openalex.org/W1485447181","https://openalex.org/W1608265178","https://openalex.org/W1756242324","https://openalex.org/W1960404228","https://openalex.org/W1968118421","https://openalex.org/W1971616954","https://openalex.org/W1974069346","https://openalex.org/W1980720386","https://openalex.org/W1982959340","https://openalex.org/W1983615882","https://openalex.org/W1988186395","https://openalex.org/W2035989459","https://openalex.org/W2042690125","https://openalex.org/W2063451050","https://openalex.org/W2075812737","https://openalex.org/W2085261163","https://openalex.org/W2094773057","https://openalex.org/W2099969393","https://openalex.org/W2108940975","https://openalex.org/W2109363336","https://openalex.org/W2112725185","https://openalex.org/W2115519999","https://openalex.org/W2118262294","https://openalex.org/W2126736494","https://openalex.org/W2128447112","https://openalex.org/W2133192850","https://openalex.org/W2141473805","https://openalex.org/W2143383760","https://openalex.org/W2157367311","https://openalex.org/W2169657771","https://openalex.org/W2475682564","https://openalex.org/W2908931433","https://openalex.org/W4240218948","https://openalex.org/W4246763320","https://openalex.org/W4285719527","https://openalex.org/W6601056318","https://openalex.org/W6757938239"],"related_works":["https://openalex.org/W3034955165","https://openalex.org/W2094920358","https://openalex.org/W2041448692","https://openalex.org/W2247121321","https://openalex.org/W2391926582","https://openalex.org/W2087391438","https://openalex.org/W1966831329","https://openalex.org/W2316074893","https://openalex.org/W4307623796","https://openalex.org/W4394784820"],"abstract_inverted_index":{"In":[0],"robotics":[1],"object":[2,28,95,104,116],"tracking":[3,29,46,64,162],"is":[4,13,67,110,159],"needed":[5],"to":[6,52,91,97,102,112,141,163,172],"steer":[7],"towards":[8],"objects,":[9],"check":[10],"if":[11],"grasping":[12],"successful,":[14],"or":[15,22,145],"investigate":[16],"objects":[17],"more":[18],"closely":[19],"by":[20],"poking":[21],"handling":[23],"them.":[24],"While":[25],"many":[26],"3D":[27,63],"approaches":[30],"have":[31],"been":[32],"proposed":[33],"in":[34,106,170,185],"the":[35,165],"past,":[36],"real":[37],"world":[38],"settings":[39],"pose":[40,105,175],"challenges":[41],"such":[42],"as":[43],"automatically":[44,142],"detecting":[45],"failure,":[47],"real-time":[48],"processing,":[49],"and":[50,55,101,124,150,177],"robustness":[51],"occlusion,":[53],"illumination,":[54],"view":[56],"point":[57],"changes.":[58],"This":[59],"paper":[60],"presents":[61],"a":[62,74,79,132,154],"system":[65,109,157],"that":[66,84,158],"capable":[68],"of":[69,81,87,131],"overcoming":[70],"these":[71],"difficulties":[72],"using":[73,136],"monocular":[75],"camera.":[76],"We":[77],"present":[78,179],"method":[80],"Tracking-State-Detection":[82],"(TSD)":[83],"takes":[85],"advantage":[86],"commercial":[88],"graphics":[89],"processors":[90],"map":[92],"textures":[93,99],"onto":[94],"geometry,":[96],"learn":[98],"online,":[100],"recover":[103,164],"real-time.":[107],"Our":[108],"able":[111,140],"handle":[113],"6":[114],"DOF":[115],"motion":[117,125],"during":[118,161],"changing":[119],"lighting":[120],"conditions,":[121],"partial":[122],"occlusion":[123],"blur":[126],"while":[127],"maintaining":[128],"an":[129],"accuracy":[130],"few":[133],"millimetres.":[134],"Furthermore":[135],"TSD":[137,180],"we":[138,147],"are":[139,168],"detect":[143],"occlusions":[144],"whether":[146],"lost":[148],"track,":[149],"can":[151],"then":[152],"trigger":[153],"SIFT-based":[155],"recognition":[156],"trained":[160],"pose.":[166],"Evaluations":[167],"presented":[169,184],"relation":[171],"ground":[173],"truth":[174],"data":[176],"examples":[178],"on":[181],"real-world":[182],"scenes":[183],"video":[186],"sequences.":[187]},"counts_by_year":[{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2013,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
