{"id":"https://openalex.org/W4317383406","doi":"https://doi.org/10.1109/robio55434.2022.10011660","title":"LiePoseNet: Heterogeneous Loss Function Based on Lie Group for Significant Speed-up of PoseNet Training Process","display_name":"LiePoseNet: Heterogeneous Loss Function Based on Lie Group for Significant Speed-up of PoseNet Training Process","publication_year":2022,"publication_date":"2022-12-05","ids":{"openalex":"https://openalex.org/W4317383406","doi":"https://doi.org/10.1109/robio55434.2022.10011660"},"language":"en","primary_location":{"id":"doi:10.1109/robio55434.2022.10011660","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robio55434.2022.10011660","pdf_url":null,"source":{"id":"https://openalex.org/S4363607789","display_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5068691144","display_name":"Mikhail Kurenkov","orcid":"https://orcid.org/0000-0001-5718-956X"},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Mikhail Kurenkov","raw_affiliation_strings":["Skolkovo Institute of Science and Technology,Moscow,Russia,143026"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Skolkovo Institute of Science and Technology,Moscow,Russia,143026","institution_ids":["https://openalex.org/I125989756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027027337","display_name":"Ivan Kalinov","orcid":"https://orcid.org/0000-0002-1003-0962"},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Ivan Kalinov","raw_affiliation_strings":["Skolkovo Institute of Science and Technology,Moscow,Russia,143026"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Skolkovo Institute of Science and Technology,Moscow,Russia,143026","institution_ids":["https://openalex.org/I125989756"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056458774","display_name":"Dzmitry Tsetserukou","orcid":"https://orcid.org/0000-0001-8055-5345"},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Dzmitry Tsetserukou","raw_affiliation_strings":["Skolkovo Institute of Science and Technology,Moscow,Russia,143026"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Skolkovo Institute of Science and Technology,Moscow,Russia,143026","institution_ids":["https://openalex.org/I125989756"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I125989756"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"21","last_page":"26"},"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9991000294685364,"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/T12549","display_name":"Image and Object Detection Techniques","score":0.9990000128746033,"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":0.6445354223251343},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6132424473762512},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5685498714447021},{"id":"https://openalex.org/keywords/lie-group","display_name":"Lie group","score":0.5633312463760376},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5203185081481934},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5197341442108154},{"id":"https://openalex.org/keywords/landmark","display_name":"Landmark","score":0.5114482641220093},{"id":"https://openalex.org/keywords/training","display_name":"Training (meteorology)","score":0.5090879797935486},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5026981830596924},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4737418591976166},{"id":"https://openalex.org/keywords/group","display_name":"Group (periodic table)","score":0.4519472122192383},{"id":"https://openalex.org/keywords/symmetry","display_name":"Symmetry (geometry)","score":0.4388655126094818},{"id":"https://openalex.org/keywords/homogeneous","display_name":"Homogeneous","score":0.4353751540184021},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.43024343252182007},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3219205141067505},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.265595018863678},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.17184913158416748},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10723474621772766}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6445354223251343},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6132424473762512},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5685498714447021},{"id":"https://openalex.org/C187915474","wikidata":"https://www.wikidata.org/wiki/Q622679","display_name":"Lie group","level":2,"score":0.5633312463760376},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5203185081481934},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5197341442108154},{"id":"https://openalex.org/C2780297707","wikidata":"https://www.wikidata.org/wiki/Q4895393","display_name":"Landmark","level":2,"score":0.5114482641220093},{"id":"https://openalex.org/C2777211547","wikidata":"https://www.wikidata.org/wiki/Q17141490","display_name":"Training (meteorology)","level":2,"score":0.5090879797935486},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5026981830596924},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4737418591976166},{"id":"https://openalex.org/C2781311116","wikidata":"https://www.wikidata.org/wiki/Q83306","display_name":"Group (periodic table)","level":2,"score":0.4519472122192383},{"id":"https://openalex.org/C2779886137","wikidata":"https://www.wikidata.org/wiki/Q21030012","display_name":"Symmetry (geometry)","level":2,"score":0.4388655126094818},{"id":"https://openalex.org/C66882249","wikidata":"https://www.wikidata.org/wiki/Q169336","display_name":"Homogeneous","level":2,"score":0.4353751540184021},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.43024343252182007},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3219205141067505},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.265595018863678},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.17184913158416748},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10723474621772766},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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},{"id":"https://openalex.org/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C178790620","wikidata":"https://www.wikidata.org/wiki/Q11351","display_name":"Organic chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio55434.2022.10011660","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robio55434.2022.10011660","pdf_url":null,"source":{"id":"https://openalex.org/S4363607789","display_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1989476314","https://openalex.org/W2017693484","https://openalex.org/W2018655096","https://openalex.org/W2117539524","https://openalex.org/W2194775991","https://openalex.org/W2200124539","https://openalex.org/W2522940611","https://openalex.org/W2556455135","https://openalex.org/W2584731199","https://openalex.org/W2592936284","https://openalex.org/W2602709638","https://openalex.org/W2605111497","https://openalex.org/W2749379418","https://openalex.org/W2752709290","https://openalex.org/W2795645133","https://openalex.org/W2803292182","https://openalex.org/W2922243907","https://openalex.org/W2922374969","https://openalex.org/W2955730076","https://openalex.org/W2963024893","https://openalex.org/W2963324085","https://openalex.org/W2963523575","https://openalex.org/W2963856988","https://openalex.org/W2985516791","https://openalex.org/W3035056458","https://openalex.org/W3036919210","https://openalex.org/W3038975720","https://openalex.org/W3045264917","https://openalex.org/W3101037136","https://openalex.org/W3187917571","https://openalex.org/W3202897040","https://openalex.org/W3205085146","https://openalex.org/W3214919204","https://openalex.org/W4226396378","https://openalex.org/W4293363567","https://openalex.org/W4312325479","https://openalex.org/W6780901898"],"related_works":["https://openalex.org/W2056853153","https://openalex.org/W2057559274","https://openalex.org/W2026924879","https://openalex.org/W2005087563","https://openalex.org/W2378111931","https://openalex.org/W2052388267","https://openalex.org/W2950647290","https://openalex.org/W1968481813","https://openalex.org/W2620829895","https://openalex.org/W1542253299"],"abstract_inverted_index":{"Visual":[0],"localization":[1],"is":[2],"an":[3],"essential":[4],"modern":[5],"technology":[6],"for":[7,14],"robotics":[8],"and":[9,27,39,45],"computer":[10],"vision.":[11],"Popular":[12],"approaches":[13],"solving":[15],"this":[16],"task":[17],"are":[18,34],"image-based":[19],"methods.":[20],"Nowadays,":[21],"these":[22,66],"methods":[23],"have":[24],"low":[25],"accuracy":[26],"a":[28,51],"long":[29],"training":[30,80],"time.":[31],"The":[32],"reasons":[33],"the":[35,61,71,79],"lack":[36],"of":[37],"rigid-body":[38],"projective":[40],"geometry":[41],"awareness,":[42],"landmark":[43],"symmetry,":[44],"homogeneous":[46],"error":[47,90],"assumption.":[48],"We":[49],"propose":[50],"heterogeneous":[52],"loss":[53],"function":[54],"based":[55],"on":[56],"concentrated":[57],"Gaussian":[58],"distribution":[59],"with":[60,88],"Lie":[62],"group":[63],"to":[64,76,85],"overcome":[65],"difficulties.":[67],"Following":[68],"our":[69],"experiment,":[70],"proposed":[72],"method":[73],"allows":[74],"us":[75],"speed":[77],"up":[78],"process":[81],"significantly":[82],"(from":[83],"300":[84],"10":[86],"epochs)":[87],"acceptable":[89],"values.":[91]},"counts_by_year":[{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
