{"id":"https://openalex.org/W2033003500","doi":"https://doi.org/10.1109/robot.2010.5509304","title":"Simultaneous object class and pose estimation for mobile robotic applications with minimalistic recognition","display_name":"Simultaneous object class and pose estimation for mobile robotic applications with minimalistic recognition","publication_year":2010,"publication_date":"2010-05-01","ids":{"openalex":"https://openalex.org/W2033003500","doi":"https://doi.org/10.1109/robot.2010.5509304","mag":"2033003500"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2010.5509304","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509304","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Automation","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/A5017433305","display_name":"Alper Aydemir","orcid":"https://orcid.org/0000-0003-3143-6758"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Alper Aydemir","raw_affiliation_strings":["The Centre for Autonomous Systems, Royal Institute of Technology, Stockholm, Sweden","[Centre for Autonomous Systems (CAS) at the Royal Institute of Technology (KTH), Stockholm, Sweden]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Centre for Autonomous Systems, Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"[Centre for Autonomous Systems (CAS) at the Royal Institute of Technology (KTH), Stockholm, Sweden]","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110307296","display_name":"Adrian N. Bishop","orcid":null},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Adrian N Bishop","raw_affiliation_strings":["The Centre for Autonomous Systems, Royal Institute of Technology, Stockholm, Sweden","[Centre for Autonomous Systems (CAS) at the Royal Institute of Technology (KTH), Stockholm, Sweden]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Centre for Autonomous Systems, Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"[Centre for Autonomous Systems (CAS) at the Royal Institute of Technology (KTH), Stockholm, Sweden]","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028082686","display_name":"Patric Jensfelt","orcid":"https://orcid.org/0000-0002-1170-7162"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Patric Jensfelt","raw_affiliation_strings":["The Centre for Autonomous Systems, Royal Institute of Technology, Stockholm, Sweden","[Centre for Autonomous Systems (CAS) at the Royal Institute of Technology (KTH), Stockholm, Sweden]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Centre for Autonomous Systems, Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"[Centre for Autonomous Systems (CAS) at the Royal Institute of Technology (KTH), Stockholm, Sweden]","institution_ids":["https://openalex.org/I86987016"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I86987016"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2020","last_page":"2027"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9991000294685364,"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":0.9991000294685364,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9968000054359436,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9940000176429749,"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":0.7749719619750977},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.7306939363479614},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6631250381469727},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5902681946754456},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5857976078987122},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5770953297615051},{"id":"https://openalex.org/keywords/class","display_name":"Class (philosophy)","score":0.563510000705719},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4995119571685791},{"id":"https://openalex.org/keywords/cognitive-neuroscience-of-visual-object-recognition","display_name":"Cognitive neuroscience of visual object recognition","score":0.4874610900878906},{"id":"https://openalex.org/keywords/method","display_name":"Method","score":0.4791140556335449},{"id":"https://openalex.org/keywords/classifier","display_name":"Classifier (UML)","score":0.44108396768569946},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.4245433807373047},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.399366170167923},{"id":"https://openalex.org/keywords/object-oriented-programming","display_name":"Object-oriented programming","score":0.21610331535339355}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7749719619750977},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.7306939363479614},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6631250381469727},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5902681946754456},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5857976078987122},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5770953297615051},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.563510000705719},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4995119571685791},{"id":"https://openalex.org/C64876066","wikidata":"https://www.wikidata.org/wiki/Q5141226","display_name":"Cognitive neuroscience of visual object recognition","level":3,"score":0.4874610900878906},{"id":"https://openalex.org/C512554520","wikidata":"https://www.wikidata.org/wiki/Q815844","display_name":"Method","level":3,"score":0.4791140556335449},{"id":"https://openalex.org/C95623464","wikidata":"https://www.wikidata.org/wiki/Q1096149","display_name":"Classifier (UML)","level":2,"score":0.44108396768569946},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.4245433807373047},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.399366170167923},{"id":"https://openalex.org/C73752529","wikidata":"https://www.wikidata.org/wiki/Q79872","display_name":"Object-oriented programming","level":2,"score":0.21610331535339355},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/robot.2010.5509304","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509304","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.397.2264","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.397.2264","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.nada.kth.se/~patric/publications/AydemirICRA2010.pdf","raw_type":"text"},{"id":"pmh:oai:openresearch-repository.anu.edu.au:1885/83971","is_oa":false,"landing_page_url":"http://hdl.handle.net/1885/83971","pdf_url":null,"source":{"id":"https://openalex.org/S4306402539","display_name":"ANU Open Research (Australian National University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I118347636","host_organization_name":"Australian National University","host_organization_lineage":["https://openalex.org/I118347636"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Proceedings of IEEE International Conference on Robotics and Automation (ICRA 2010)","raw_type":"Conference paper"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Reduced inequalities","id":"https://metadata.un.org/sdg/10","score":0.4099999964237213}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1971616954","https://openalex.org/W2049323075","https://openalex.org/W2088115584","https://openalex.org/W2092517648","https://openalex.org/W2101886560","https://openalex.org/W2108143221","https://openalex.org/W2123977795","https://openalex.org/W2126842639","https://openalex.org/W2140724064","https://openalex.org/W2162440713","https://openalex.org/W2293807537","https://openalex.org/W2296039540","https://openalex.org/W4231002530"],"related_works":["https://openalex.org/W4387272257","https://openalex.org/W2144684827","https://openalex.org/W2727211572","https://openalex.org/W2046953865","https://openalex.org/W2587477420","https://openalex.org/W2970252859","https://openalex.org/W2591243219","https://openalex.org/W113382539","https://openalex.org/W2019233926","https://openalex.org/W2769899322"],"abstract_inverted_index":{"In":[0],"this":[1,75],"paper":[2],"we":[3,135,142],"address":[4],"the":[5,37,57,94,117,121,129,146,152],"problem":[6],"of":[7,47,51,69,89,131],"simultaneous":[8],"object":[9,18,25,49,66,95,122,147],"class":[10,19,54,138],"and":[11,63,92],"pose":[12,96,148],"estimation":[13],"using":[14],"nothing":[15],"more":[16],"than":[17],"label":[20,139],"measurements":[21,140],"from":[22,110],"a":[23,29,33,44,52,79,87],"generic":[24],"classifier.":[26],"We":[27,105],"detail":[28],"method":[30],"for":[31],"designing":[32],"likelihood":[34,45,76],"function":[35,42,77],"over":[36],"robot":[38,58,112],"configuration":[39],"space.":[40],"This":[41],"provides":[43],"measure":[46],"an":[48,65],"being":[50,68],"certain":[53,99,111],"given":[55],"that":[56],"(from":[59],"some":[60,70],"position)":[61],"sees":[62],"recognizes":[64],"as":[67],"(possibly":[71],"different)":[72],"class.":[73,153],"Using":[74],"in":[78,149],"recursive":[80],"Bayesian":[81],"framework":[82],"allows":[83],"us":[84],"to":[85,98,101,119,144,151],"achieve":[86],"kind":[88],"spatial":[90],"averaging":[91],"determine":[93,120],"(up":[97],"ambiguities":[100],"be":[102],"made":[103],"precise).":[104],"show":[106],"how":[107],"inter-class":[108],"confusion":[109],"viewpoints":[113],"can":[114],"actually":[115],"increase":[116],"ability":[118],"pose.":[123],"Our":[124],"approach":[125],"is":[126],"motivated":[127],"by":[128],"idea":[130],"minimalistic":[132],"sensing":[133],"since":[134],"use":[136],"only":[137],"albeit":[141],"attempt":[143],"estimate":[145],"addition":[150]},"counts_by_year":[{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
