{"id":"https://openalex.org/W4401871027","doi":"https://doi.org/10.1109/tase.2024.3443147","title":"Pose Estimation of Instruments for Automatic Chemical Laboratories Using Multi-Level Template Matching","display_name":"Pose Estimation of Instruments for Automatic Chemical Laboratories Using Multi-Level Template Matching","publication_year":2024,"publication_date":"2024-08-20","ids":{"openalex":"https://openalex.org/W4401871027","doi":"https://doi.org/10.1109/tase.2024.3443147"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2024.3443147","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2024.3443147","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-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/A5040086683","display_name":"Xuchun Zhang","orcid":"https://orcid.org/0000-0003-0439-4468"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuchun Zhang","raw_affiliation_strings":["Department of Automation, University of Science and Technology of China, Hefei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100412164","display_name":"Fei Zhang","orcid":"https://orcid.org/0000-0002-0584-8962"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fei Zhang","raw_affiliation_strings":["Department of Automation, University of Science and Technology of China, Hefei, China"],"raw_orcid":"https://orcid.org/0000-0002-0584-8962","affiliations":[{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043428861","display_name":"Xinsheng Tang","orcid":null},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinsheng Tang","raw_affiliation_strings":["Department of Automation, University of Science and Technology of China, Hefei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102111177","display_name":"Qing Zhu","orcid":"https://orcid.org/0009-0009-6703-0283"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210103894","display_name":"Hefei National Center for Physical Sciences at Nanoscale","ror":"https://ror.org/01jeedh73","country_code":"CN","type":"facility","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366","https://openalex.org/I4210103894"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qing Zhu","raw_affiliation_strings":["Hefei National Research Center for Physical Sciences at the Microscale, School of Chemistry and Materials Science, University of Science and Technology of China, Hefei, China","School of Chemistry and Materials Science, Hefei National Research Center for Physical Sciences at the Microscale, University of Science and Technology of China, Hefei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hefei National Research Center for Physical Sciences at the Microscale, School of Chemistry and Materials Science, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I4210103894","https://openalex.org/I126520041"]},{"raw_affiliation_string":"School of Chemistry and Materials Science, Hefei National Research Center for Physical Sciences at the Microscale, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I4210103894","https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090811307","display_name":"Luyuan Zhao","orcid":null},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210103894","display_name":"Hefei National Center for Physical Sciences at Nanoscale","ror":"https://ror.org/01jeedh73","country_code":"CN","type":"facility","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366","https://openalex.org/I4210103894"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Luyuan Zhao","raw_affiliation_strings":["Hefei National Research Center for Physical Sciences at the Microscale, School of Chemistry and Materials Science, University of Science and Technology of China, Hefei, China","School of Chemistry and Materials Science, Hefei National Research Center for Physical Sciences at the Microscale, University of Science and Technology of China, Hefei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hefei National Research Center for Physical Sciences at the Microscale, School of Chemistry and Materials Science, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I4210103894","https://openalex.org/I126520041"]},{"raw_affiliation_string":"School of Chemistry and Materials Science, Hefei National Research Center for Physical Sciences at the Microscale, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I4210103894","https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063836746","display_name":"Hengyu Xiao","orcid":null},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210103894","display_name":"Hefei National Center for Physical Sciences at Nanoscale","ror":"https://ror.org/01jeedh73","country_code":"CN","type":"facility","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366","https://openalex.org/I4210103894"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hengyu Xiao","raw_affiliation_strings":["Hefei National Research Center for Physical Sciences at the Microscale, School of Chemistry and Materials Science, University of Science and Technology of China, Hefei, China","School of Chemistry and Materials Science, Hefei National Research Center for Physical Sciences at the Microscale, University of Science and Technology of China, Hefei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hefei National Research Center for Physical Sciences at the Microscale, School of Chemistry and Materials Science, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I4210103894","https://openalex.org/I126520041"]},{"raw_affiliation_string":"School of Chemistry and Materials Science, Hefei National Research Center for Physical Sciences at the Microscale, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I4210103894","https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047621347","display_name":"Shuang Cong","orcid":"https://orcid.org/0000-0001-8101-0128"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuang Cong","raw_affiliation_strings":["Department of Automation, University of Science and Technology of China, Hefei, China"],"raw_orcid":"https://orcid.org/0000-0001-8101-0128","affiliations":[{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100619997","display_name":"Jun Jiang","orcid":"https://orcid.org/0000-0002-6116-5605"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210103894","display_name":"Hefei National Center for Physical Sciences at Nanoscale","ror":"https://ror.org/01jeedh73","country_code":"CN","type":"facility","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366","https://openalex.org/I4210103894"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jun Jiang","raw_affiliation_strings":["Hefei National Research Center for Physical Sciences at the Microscale, School of Chemistry and Materials Science, University of Science and Technology of China, Hefei, China","School of Chemistry and Materials Science, Hefei National Research Center for Physical Sciences at the Microscale, University of Science and Technology of China, Hefei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hefei National Research Center for Physical Sciences at the Microscale, School of Chemistry and Materials Science, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I4210103894","https://openalex.org/I126520041"]},{"raw_affiliation_string":"School of Chemistry and Materials Science, Hefei National Research Center for Physical Sciences at the Microscale, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I4210103894","https://openalex.org/I126520041"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031221880","display_name":"Weiwei Shang","orcid":"https://orcid.org/0000-0001-7541-2198"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weiwei Shang","raw_affiliation_strings":["Department of Automation, University of Science and Technology of China, Hefei, China"],"raw_orcid":"https://orcid.org/0000-0001-7541-2198","affiliations":[{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2044,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.46970251,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"22","issue":null,"first_page":"6327","last_page":"6339"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12549","display_name":"Image and Object Detection Techniques","score":0.9312000274658203,"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"}},"topics":[{"id":"https://openalex.org/T12549","display_name":"Image and Object Detection Techniques","score":0.9312000274658203,"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/matching","display_name":"Matching (statistics)","score":0.5853043794631958},{"id":"https://openalex.org/keywords/template-matching","display_name":"Template matching","score":0.5758477449417114},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.559345543384552},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.487308144569397},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3714866042137146},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17229503393173218},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.13831663131713867}],"concepts":[{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.5853043794631958},{"id":"https://openalex.org/C158096908","wikidata":"https://www.wikidata.org/wiki/Q3983303","display_name":"Template matching","level":3,"score":0.5758477449417114},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.559345543384552},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.487308144569397},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3714866042137146},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17229503393173218},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.13831663131713867},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2024.3443147","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2024.3443147","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1785420969","display_name":null,"funder_award_id":"U22A2056","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3701853210","display_name":null,"funder_award_id":"62173316","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5148924259","display_name":null,"funder_award_id":"2108085J32","funder_id":"https://openalex.org/F4320336125","funder_display_name":"National Science Fund for Distinguished Young Scholars"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320336125","display_name":"National Science Fund for Distinguished Young Scholars","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W1526868886","https://openalex.org/W1612997784","https://openalex.org/W1861492603","https://openalex.org/W1991544872","https://openalex.org/W2049981393","https://openalex.org/W2101199297","https://openalex.org/W2138554385","https://openalex.org/W2151103935","https://openalex.org/W2295628903","https://openalex.org/W2412515392","https://openalex.org/W2769591697","https://openalex.org/W2804855082","https://openalex.org/W2902762889","https://openalex.org/W2914477982","https://openalex.org/W2963059198","https://openalex.org/W2963346260","https://openalex.org/W2963756608","https://openalex.org/W2963892972","https://openalex.org/W3005596741","https://openalex.org/W3009516594","https://openalex.org/W3024236153","https://openalex.org/W3042021489","https://openalex.org/W3089874271","https://openalex.org/W3111598592","https://openalex.org/W3166285241","https://openalex.org/W3175295430","https://openalex.org/W3176437888","https://openalex.org/W3204319309","https://openalex.org/W4206044799","https://openalex.org/W4221153074","https://openalex.org/W4224598146","https://openalex.org/W4226322645","https://openalex.org/W4281557677","https://openalex.org/W4296154431","https://openalex.org/W4298014068","https://openalex.org/W4312867066","https://openalex.org/W4312982499","https://openalex.org/W4323065906","https://openalex.org/W4367309947","https://openalex.org/W4387609115","https://openalex.org/W6636759986","https://openalex.org/W6798838024"],"related_works":["https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2772917594","https://openalex.org/W2775347418","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"In":[0],"chemical":[1,62,162,181,309],"laboratories,":[2],"robot":[3,50,158,175,305],"operation":[4,159,176,306],"of":[5,30,37,49,103,125,134,157,174,191,230,252,287],"instruments":[6,31,178],"often":[7],"relies":[8],"on":[9,121],"structured":[10],"auxiliary":[11,184],"positioning":[12,172,185],"and":[13,19,27,35,90,151,153,189,212,227,270,284],"teaching":[14],"methods,":[15],"which":[16],"are":[17,187,196,255],"complicated":[18,188],"laborious.":[20],"Moreover,":[21],"the":[22,33,47,77,93,113,122,132,138,155,171,192,224,239,244,248,253,258,268,274,281,288,291],"single":[23],"color,":[24],"sparse":[25],"textures,":[26],"uneven":[28],"scales":[29],"make":[32],"accuracy":[34,133,152,269],"robustness":[36,150],"existing":[38],"visual":[39],"6-Dof":[40],"pose":[41,57,193,214,286],"estimation":[42,58,194,215],"methods":[43,186],"difficult":[44],"to":[45,68,98,107,130,165,233,263,266,273],"meet":[46],"requirement":[48,156],"operation.":[51],"Therefore,":[52],"we":[53,278],"propose":[54],"a":[55,116,207,213,235],"novel":[56,208],"approach":[59,75,147,216],"for":[60,177,199,220,303],"automatic":[61,161,180,308],"laboratories":[63],"using":[64,217],"multi-level":[65,218],"template":[66,117,135,209,242,254],"matching":[67,94,219,265],"assist":[69],"robots":[70],"in":[71,137,160,179,307],"operating":[72],"instruments.":[73,221],"This":[74,204],"matches":[76],"query":[78],"image":[79,260],"with":[80,243],"templates":[81],"step":[82,84],"by":[83,170,290],"from":[85,96,261],"three":[86],"levels:":[87],"template,":[88],"image,":[89],"pixel.":[91],"During":[92],"processes":[95],"global":[97],"local,":[99],"it":[100],"achieves":[101],"prediction":[102],"2D":[104],"key-point":[105],"coordinates":[106],"accurately":[108],"estimate":[109],"instrument":[110,275,289],"pose.":[111],"At":[112],"same":[114],"time,":[115],"searching":[118,136,210,238],"method":[119,211,300],"based":[120],"distribution":[123],"pattern":[124],"feature":[126,231,237],"points":[127,232],"is":[128,301],"proposed":[129],"ensure":[131,267],"real":[139],"world.":[140],"The":[141,294],"experimental":[142],"results":[143,296],"show":[144],"that":[145,298],"our":[146,299],"has":[148],"good":[149],"meets":[154],"laboratories.":[163,182,310],"Note":[164],"Practitioners\u2014This":[166],"paper":[167,205],"was":[168],"motivated":[169],"problem":[173],"Structured":[183],"most":[190],"works":[195],"not":[197],"suitable":[198,302],"practical":[200,304],"applications":[201],"at":[202],"present.":[203],"suggests":[206],"We":[222],"calculate":[223,285],"distances,":[225],"angles":[226],"point":[228],"number":[229],"construct":[234],"new":[236],"best":[240],"matched":[241],"input":[245,259],"image.":[246],"Then":[247],"predefined":[249],"key":[250],"pixels":[251],"transformed":[256],"into":[257],"coarse":[262],"fine":[264],"robustness.":[271],"Due":[272],"CAD":[276],"model,":[277],"can":[279],"obtain":[280],"2D-3D":[282],"correspondences":[283],"PnP":[292],"method.":[293],"experiment":[295],"validate":[297]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2025-12-26T23:08:49.675405","created_date":"2025-10-10T00:00:00"}
