{"id":"https://openalex.org/W2146447720","doi":"https://doi.org/10.1109/robot.2009.5152739","title":"Object recognition and full pose registration from a single image for robotic manipulation","display_name":"Object recognition and full pose registration from a single image for robotic manipulation","publication_year":2009,"publication_date":"2009-05-01","ids":{"openalex":"https://openalex.org/W2146447720","doi":"https://doi.org/10.1109/robot.2009.5152739","mag":"2146447720"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2009.5152739","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152739","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://figshare.com/articles/Object_Recognition_and_Full_Pose_Registration_from_a_Single_Image_for_Robotic_Manipulation/6556994","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5068136572","display_name":"Alvaro Collet","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Alvaro Collet","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","The Robotics Institute, Carnegie Mellon University 5000 Forbes Ave., Pittsburgh, PA, 15213, USA"],"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University 5000 Forbes Ave., Pittsburgh, PA, 15213, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083082888","display_name":"Dmitry Berenson","orcid":"https://orcid.org/0000-0002-9712-109X"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dmitry Berenson","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","The Robotics Institute, Carnegie Mellon University 5000 Forbes Ave., Pittsburgh, PA, 15213, USA"],"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University 5000 Forbes Ave., Pittsburgh, PA, 15213, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077719529","display_name":"Siddhartha S Srinivasa","orcid":"https://orcid.org/0000-0002-5091-106X"},"institutions":[{"id":"https://openalex.org/I1343180700","display_name":"Intel (United States)","ror":"https://ror.org/01ek73717","country_code":"US","type":"company","lineage":["https://openalex.org/I1343180700"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Siddhartha S. Srinivasa","raw_affiliation_strings":["Intel Research Pittsburgh, Pittsburgh, PA, USA","Intel Research, Pittsburgh, 4720 Forbes Ave., Suite 410, PA - 15213, USA"],"affiliations":[{"raw_affiliation_string":"Intel Research Pittsburgh, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I1343180700"]},{"raw_affiliation_string":"Intel Research, Pittsburgh, 4720 Forbes Ave., Suite 410, PA - 15213, USA","institution_ids":["https://openalex.org/I1343180700"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110331104","display_name":"Dave Ferguson","orcid":null},"institutions":[{"id":"https://openalex.org/I1343180700","display_name":"Intel (United States)","ror":"https://ror.org/01ek73717","country_code":"US","type":"company","lineage":["https://openalex.org/I1343180700"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dave Ferguson","raw_affiliation_strings":["Intel Research Pittsburgh, Pittsburgh, PA, USA","Intel Research, Pittsburgh, 4720 Forbes Ave., Suite 410, PA - 15213, USA"],"affiliations":[{"raw_affiliation_string":"Intel Research Pittsburgh, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I1343180700"]},{"raw_affiliation_string":"Intel Research, Pittsburgh, 4720 Forbes Ave., Suite 410, PA - 15213, USA","institution_ids":["https://openalex.org/I1343180700"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5068136572"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":714.9429,"has_fulltext":true,"cited_by_count":279,"citation_normalized_percentile":{"value":0.99997758,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"48","last_page":"55"},"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":0.9994000196456909,"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/T12549","display_name":"Image and Object Detection Techniques","score":0.9975000023841858,"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":0.8567512035369873},{"id":"https://openalex.org/keywords/ransac","display_name":"RANSAC","score":0.8384838104248047},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.8174677491188049},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.789257287979126},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.7695417404174805},{"id":"https://openalex.org/keywords/initialization","display_name":"Initialization","score":0.6483141779899597},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.5387787222862244},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5329462289810181},{"id":"https://openalex.org/keywords/translation","display_name":"Translation (biology)","score":0.5270569324493408},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.5242902636528015},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.49519458413124084},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4885907769203186},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4439314007759094},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4418407082557678},{"id":"https://openalex.org/keywords/image-registration","display_name":"Image registration","score":0.4234829545021057},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.294830858707428},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10153809189796448}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8567512035369873},{"id":"https://openalex.org/C114744707","wikidata":"https://www.wikidata.org/wiki/Q218533","display_name":"RANSAC","level":3,"score":0.8384838104248047},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.8174677491188049},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.789257287979126},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.7695417404174805},{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.6483141779899597},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.5387787222862244},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5329462289810181},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.5270569324493408},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.5242902636528015},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.49519458413124084},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4885907769203186},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4439314007759094},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4418407082557678},{"id":"https://openalex.org/C166704113","wikidata":"https://www.wikidata.org/wiki/Q861092","display_name":"Image registration","level":3,"score":0.4234829545021057},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.294830858707428},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10153809189796448},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/robot.2009.5152739","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152739","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:figshare.com:article/6556994","is_oa":true,"landing_page_url":null,"pdf_url":"https://figshare.com/articles/Object_Recognition_and_Full_Pose_Registration_from_a_Single_Image_for_Robotic_Manipulation/6556994","source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.187.8416","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.187.8416","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.ri.cmu.edu/pub_files/2009/5/icra09_final.pdf","raw_type":"text"},{"id":"doi:10.1184/r1/6556994.v1","is_oa":true,"landing_page_url":"https://doi.org/10.1184/r1/6556994.v1","pdf_url":null,"source":{"id":"https://openalex.org/S7407050927","display_name":"KiltHub Repository","issn_l":null,"issn":[],"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":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:figshare.com:article/6556994","is_oa":true,"landing_page_url":null,"pdf_url":"https://figshare.com/articles/Object_Recognition_and_Full_Pose_Registration_from_a_Single_Image_for_Robotic_Manipulation/6556994","source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320312058","display_name":"\u201cla Caixa\u201d Foundation","ror":"https://ror.org/03zhx9h04"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2146447720.pdf"},"referenced_works_count":32,"referenced_works":["https://openalex.org/W22745672","https://openalex.org/W79571608","https://openalex.org/W1567293446","https://openalex.org/W1602497574","https://openalex.org/W1825120835","https://openalex.org/W1968118421","https://openalex.org/W1976595761","https://openalex.org/W1991544872","https://openalex.org/W2022686119","https://openalex.org/W2033819227","https://openalex.org/W2057069782","https://openalex.org/W2085261163","https://openalex.org/W2087070363","https://openalex.org/W2088115584","https://openalex.org/W2096077837","https://openalex.org/W2108940975","https://openalex.org/W2127972053","https://openalex.org/W2128943708","https://openalex.org/W2135677376","https://openalex.org/W2137658800","https://openalex.org/W2140187121","https://openalex.org/W2151103935","https://openalex.org/W2160159038","https://openalex.org/W2161112350","https://openalex.org/W2162866804","https://openalex.org/W2168753754","https://openalex.org/W2177274842","https://openalex.org/W2209124607","https://openalex.org/W2541547251","https://openalex.org/W6603201145","https://openalex.org/W6635882378","https://openalex.org/W6999175994"],"related_works":["https://openalex.org/W2131378265","https://openalex.org/W2984240274","https://openalex.org/W4229588126","https://openalex.org/W1018308721","https://openalex.org/W4229059082","https://openalex.org/W2088028039","https://openalex.org/W4390872624","https://openalex.org/W2609306373","https://openalex.org/W1982036645","https://openalex.org/W1552514824"],"abstract_inverted_index":{"Robust":[0],"perception":[1],"is":[2,24,58],"a":[3,22,25,62,83,98,157],"vital":[4],"capability":[5],"for":[6,43,120,140],"robotic":[7],"manipulation":[8],"in":[9,21,128,143,173],"unstructured":[10],"scenes.":[11,145,176],"In":[12,36],"this":[13,37],"context,":[14],"full":[15],"pose":[16,138,162],"estimation":[17,139],"of":[18,31,48,64,101,112,126,160],"relevant":[19],"objects":[20,49,127,142],"scene":[23],"critical":[26],"step":[27,118],"towards":[28],"the":[29,70,75,79,89,102,129,161],"introduction":[30],"robots":[32],"into":[33],"household":[34],"environments.":[35],"paper,":[38],"we":[39,87],"present":[40],"an":[41,167],"approach":[42],"building":[44],"metric":[45],"3D":[46,76],"models":[47,95],"using":[50,97],"local":[51,90],"descriptors":[52,91],"from":[53],"several":[54],"images.":[55,131],"Each":[56],"model":[57,77],"optimized":[59],"to":[60,92,108,170],"fit":[61],"set":[63],"calibrated":[65],"training":[66],"images,":[67],"thus":[68],"obtaining":[69],"best":[71],"possible":[72],"alignment":[73],"between":[74],"and":[78,104,124,152],"real":[80],"object.":[81,114],"Given":[82],"new":[84],"test":[85,130],"image,":[86],"match":[88],"our":[93],"stored":[94],"online,":[96],"novel":[99],"combination":[100],"RANSAC":[103],"Mean":[105],"Shift":[106],"algorithms":[107],"register":[109],"multiple":[110],"instances":[111],"each":[113],"A":[115],"robust":[116],"initialization":[117],"allows":[119],"arbitrary":[121],"rotation,":[122],"translation":[123,153],"scaling":[125],"The":[132],"resulting":[133],"system":[134],"provides":[135],"markerless":[136],"6-DOF":[137],"complex":[141],"cluttered":[144,175],"We":[146],"provide":[147],"experimental":[148],"results":[149],"demonstrating":[150],"orientation":[151],"accuracy,":[154],"as":[155],"well":[156],"physical":[158],"implementation":[159],"output":[163],"being":[164],"used":[165],"by":[166],"autonomous":[168],"robot":[169],"perform":[171],"grasping":[172],"highly":[174]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":13},{"year":2020,"cited_by_count":12},{"year":2019,"cited_by_count":17},{"year":2018,"cited_by_count":20},{"year":2017,"cited_by_count":23},{"year":2016,"cited_by_count":19},{"year":2015,"cited_by_count":24},{"year":2014,"cited_by_count":21},{"year":2013,"cited_by_count":27},{"year":2012,"cited_by_count":19}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
