{"id":"https://openalex.org/W4408222563","doi":"https://doi.org/10.1109/robio64047.2024.10907717","title":"A Real-Time 6-DoF Object Pose Estimation Method Based on Template Iteration","display_name":"A Real-Time 6-DoF Object Pose Estimation Method Based on Template Iteration","publication_year":2024,"publication_date":"2024-12-10","ids":{"openalex":"https://openalex.org/W4408222563","doi":"https://doi.org/10.1109/robio64047.2024.10907717"},"language":"en","primary_location":{"id":"doi:10.1109/robio64047.2024.10907717","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio64047.2024.10907717","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5033438332","display_name":"Song Bi","orcid":"https://orcid.org/0000-0002-2601-6321"},"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":"Bochao Song","raw_affiliation_strings":["Robotics Institute, School of Mechanical Engineering and Automation, Beihang University,Beijing,China,100191"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, School of Mechanical Engineering and Automation, Beihang University,Beijing,China,100191","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005113827","display_name":"Weizong Ge","orcid":"https://orcid.org/0009-0007-3469-4791"},"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":"Weizong Ge","raw_affiliation_strings":["Robotics Institute, School of Mechanical Engineering and Automation, Beihang University,Beijing,China,100191"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, School of Mechanical Engineering and Automation, Beihang University,Beijing,China,100191","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100371643","display_name":"Chang Wang","orcid":"https://orcid.org/0000-0002-2330-6278"},"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":"Chang Wang","raw_affiliation_strings":["Robotics Institute, School of Mechanical Engineering and Automation, Beihang University,Beijing,China,100191"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, School of Mechanical Engineering and Automation, Beihang University,Beijing,China,100191","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100696879","display_name":"Yanan Wang","orcid":"https://orcid.org/0000-0001-9998-6882"},"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":"Yanan Wang","raw_affiliation_strings":["Robotics Institute, School of Mechanical Engineering and Automation, Beihang University,Beijing,China,100191"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, School of Mechanical Engineering and Automation, Beihang University,Beijing,China,100191","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100420239","display_name":"Mingyuan He","orcid":"https://orcid.org/0009-0006-9078-8322"},"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":"Mingyuan He","raw_affiliation_strings":["Robotics Institute, School of Mechanical Engineering and Automation, Beihang University,Beijing,China,100191"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, School of Mechanical Engineering and Automation, Beihang University,Beijing,China,100191","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027531151","display_name":"Meng Han","orcid":"https://orcid.org/0000-0002-4868-7556"},"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":"Meng Han","raw_affiliation_strings":["Robotics Institute, School of Mechanical Engineering and Automation, Beihang University,Beijing,China,100191"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, School of Mechanical Engineering and Automation, Beihang University,Beijing,China,100191","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030721148","display_name":"Jiawei Chen","orcid":"https://orcid.org/0000-0002-3616-8409"},"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":"Jiawei Chen","raw_affiliation_strings":["Robotics Institute, School of Mechanical Engineering and Automation, Beihang University,Beijing,China,100191"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, School of Mechanical Engineering and Automation, Beihang University,Beijing,China,100191","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029335824","display_name":"Kun Xu","orcid":"https://orcid.org/0000-0002-2671-4170"},"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":"Kun Xu","raw_affiliation_strings":["Robotics Institute, School of Mechanical Engineering and Automation, Beihang University,Beijing,China,100191"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, School of Mechanical Engineering and Automation, Beihang University,Beijing,China,100191","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059209683","display_name":"Xilun Ding","orcid":"https://orcid.org/0000-0002-9752-3937"},"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":"Xilun Ding","raw_affiliation_strings":["Robotics Institute, School of Mechanical Engineering and Automation, Beihang University,Beijing,China,100191"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, School of Mechanical Engineering and Automation, Beihang University,Beijing,China,100191","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1263","last_page":"1270"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9801999926567078,"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"}},"topics":[{"id":"https://openalex.org/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9801999926567078,"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"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9660000205039978,"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/T13579","display_name":"Image and Video Stabilization","score":0.9556999802589417,"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":0.7460882067680359},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7348089814186096},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.65982586145401},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5751676559448242},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5697944164276123},{"id":"https://openalex.org/keywords/3d-pose-estimation","display_name":"3D pose estimation","score":0.5095334649085999}],"concepts":[{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.7460882067680359},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7348089814186096},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.65982586145401},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5751676559448242},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5697944164276123},{"id":"https://openalex.org/C36613465","wikidata":"https://www.wikidata.org/wiki/Q4636322","display_name":"3D pose estimation","level":3,"score":0.5095334649085999}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio64047.2024.10907717","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio64047.2024.10907717","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2748669384","display_name":null,"funder_award_id":"U22B2080,52375003","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1969868017","https://openalex.org/W2012804028","https://openalex.org/W2101199297","https://openalex.org/W2146447720","https://openalex.org/W2161168419","https://openalex.org/W2200124539","https://openalex.org/W2280057228","https://openalex.org/W2344474200","https://openalex.org/W2515769376","https://openalex.org/W2768879211","https://openalex.org/W2795999188","https://openalex.org/W2925241625","https://openalex.org/W2962851801","https://openalex.org/W2963892972","https://openalex.org/W2964226622","https://openalex.org/W2964249569","https://openalex.org/W2981378444","https://openalex.org/W2989915422","https://openalex.org/W3009516594","https://openalex.org/W3034712732","https://openalex.org/W3034986117","https://openalex.org/W3035091076","https://openalex.org/W3035268949","https://openalex.org/W3090584485","https://openalex.org/W3107372911","https://openalex.org/W3113383835","https://openalex.org/W3130138602","https://openalex.org/W3163945288","https://openalex.org/W3179923621","https://openalex.org/W4224598146","https://openalex.org/W4281557677","https://openalex.org/W6754677871"],"related_works":["https://openalex.org/W4253893311","https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W4391695420","https://openalex.org/W2286009621","https://openalex.org/W2711238126","https://openalex.org/W1968716783","https://openalex.org/W2736638679","https://openalex.org/W2154822139"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,32,94],"novel":[4],"real-time":[5,41,158,189],"6-DoF":[6,48],"object":[7,20,120],"pose":[8,25,33,49,98,114,142,168,202],"estimation":[9,34,50,115,154,177,203],"framework":[10],"leveraging":[11],"template":[12,22,133],"iteration":[13],"combined":[14],"with":[15],"RGB":[16],"information.":[17],"By":[18],"integrating":[19],"detection,":[21],"matching,":[23],"and":[24,43,65,191,200,208],"refinement":[26],"techniques,":[27],"the":[28,56,66,73,103,109,129,137,141,149,167],"proposed":[29],"approach":[30],"constructs":[31],"network":[35,100,144],"characterized":[36],"by":[37,132],"strong":[38],"generalization":[39,85,187],"capabilities,":[40],"performance,":[42,159,190],"high":[44,192],"accuracy.":[45,155,178],"Traditional":[46],"RGB-based":[47],"methods":[51,81],"typically":[52],"rely":[53],"on":[54,108],"computing":[55],"residual":[57],"between":[58],"rendered":[59],"images":[60,107],"of":[61,75],"coarsely":[62],"estimated":[63],"poses":[64],"input":[67,110],"query":[68],"images.":[69],"However,":[70],"due":[71],"to":[72,86,125,135,147,165],"lack":[74],"sufficient":[76],"3D":[77,95],"structural":[78],"information,":[79],"these":[80],"often":[82],"exhibit":[83],"poor":[84],"unseen":[87],"objects.":[88],"In":[89],"this":[90],"paper,":[91],"we":[92],"propose":[93],"feature":[96],"set-based":[97],"iterative":[99,143,169],"that":[101,182],"eliminates":[102],"need":[104],"for":[105,205],"rendering":[106],"pose,":[111,151],"thus":[112],"enabling":[113],"without":[116],"CAD":[117],"models.":[118],"Initially,":[119],"detection":[121],"algorithms":[122],"are":[123,163],"employed":[124],"identify":[126],"objects":[127],"within":[128],"scene,":[130],"followed":[131],"matching":[134],"determine":[136],"initial":[138,150],"pose.":[139],"Subsequently,":[140],"is":[145],"designed":[146],"refine":[148],"achieving":[152],"higher":[153],"To":[156],"ensure":[157],"model":[160],"pruning":[161],"techniques":[162],"utilized":[164],"compress":[166],"network,":[170],"significantly":[171],"reducing":[172],"computational":[173],"complexity":[174],"while":[175],"maintaining":[176],"Experimental":[179],"results":[180],"demonstrate":[181],"our":[183],"method":[184],"exhibits":[185],"robust":[186],"capability,":[188],"accuracy":[193],"across":[194],"various":[195],"scenarios,":[196],"providing":[197],"an":[198],"efficient":[199],"reliable":[201],"solution":[204],"robotic":[206],"vision":[207],"automation.":[209]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
