{"id":"https://openalex.org/W4213322786","doi":"https://doi.org/10.1109/tcds.2022.3151331","title":"Six-Dimensional Target Pose Estimation for Robot Autonomous Manipulation: Methodology and Verification","display_name":"Six-Dimensional Target Pose Estimation for Robot Autonomous Manipulation: Methodology and Verification","publication_year":2022,"publication_date":"2022-02-15","ids":{"openalex":"https://openalex.org/W4213322786","doi":"https://doi.org/10.1109/tcds.2022.3151331"},"language":"en","primary_location":{"id":"doi:10.1109/tcds.2022.3151331","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcds.2022.3151331","pdf_url":null,"source":{"id":"https://openalex.org/S2488537894","display_name":"IEEE Transactions on Cognitive and Developmental Systems","issn_l":"2379-8920","issn":["2379-8920","2379-8939"],"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 Cognitive and Developmental Systems","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/A5100431397","display_name":"Rui Wang","orcid":"https://orcid.org/0000-0003-3172-3167"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rui Wang","raw_affiliation_strings":["State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-3172-3167","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210094879"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022142263","display_name":"Congjia Su","orcid":"https://orcid.org/0009-0007-4321-8009"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Congjia Su","raw_affiliation_strings":["State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210094879"]},{"raw_affiliation_string":"School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102925195","display_name":"Hao Yu","orcid":"https://orcid.org/0000-0002-5662-5910"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hao Yu","raw_affiliation_strings":["Yizhun Medical AI Company Ltd, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Yizhun Medical AI Company Ltd, Beijing, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100639215","display_name":"Shuo Wang","orcid":"https://orcid.org/0000-0002-1390-9219"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"id":"https://openalex.org/I4210097554","display_name":"Center for Excellence in Brain Science and Intelligence Technology","ror":"https://ror.org/00vpwhm04","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210097554"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuo Wang","raw_affiliation_strings":["State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","Yizhun Medical AI Company Ltd, Beijing, China","CAS Center for Excellence in Brain Science and Intelligence Technology, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-1390-9219","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210094879"]},{"raw_affiliation_string":"Yizhun Medical AI Company Ltd, Beijing, China","institution_ids":[]},{"raw_affiliation_string":"CAS Center for Excellence in Brain Science and Intelligence Technology, Shanghai, China","institution_ids":["https://openalex.org/I4210097554"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.3749,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.78329091,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"15","issue":"1","first_page":"186","last_page":"197"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.992900013923645,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9819999933242798,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.868797242641449},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8392825722694397},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7684115171432495},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6962248086929321},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6768848299980164},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.6416747570037842},{"id":"https://openalex.org/keywords/3d-pose-estimation","display_name":"3D pose estimation","score":0.6055512428283691},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.5417363047599792},{"id":"https://openalex.org/keywords/articulated-body-pose-estimation","display_name":"Articulated body pose estimation","score":0.5225805044174194},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.45056548714637756}],"concepts":[{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.868797242641449},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8392825722694397},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7684115171432495},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6962248086929321},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6768848299980164},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.6416747570037842},{"id":"https://openalex.org/C36613465","wikidata":"https://www.wikidata.org/wiki/Q4636322","display_name":"3D pose estimation","level":3,"score":0.6055512428283691},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.5417363047599792},{"id":"https://openalex.org/C22100474","wikidata":"https://www.wikidata.org/wiki/Q4800952","display_name":"Articulated body pose estimation","level":4,"score":0.5225805044174194},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.45056548714637756}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcds.2022.3151331","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcds.2022.3151331","pdf_url":null,"source":{"id":"https://openalex.org/S2488537894","display_name":"IEEE Transactions on Cognitive and Developmental Systems","issn_l":"2379-8920","issn":["2379-8920","2379-8939"],"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 Cognitive and Developmental Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.8199999928474426,"display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G135307976","display_name":null,"funder_award_id":"2018AAA0103003","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G3735161480","display_name":null,"funder_award_id":"4222056","funder_id":"https://openalex.org/F4320334977","funder_display_name":"Beijing Municipal Natural Science Foundation"},{"id":"https://openalex.org/G398002619","display_name":null,"funder_award_id":"U1913201","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5464853613","display_name":null,"funder_award_id":"Z211100002121152","funder_id":"https://openalex.org/F4320334978","funder_display_name":"Beijing Nova Program"},{"id":"https://openalex.org/G990984470","display_name":null,"funder_award_id":"2020137","funder_id":"https://openalex.org/F4320321133","funder_display_name":"Chinese Academy of Sciences"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321133","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35"},{"id":"https://openalex.org/F4320334977","display_name":"Beijing Municipal Natural Science Foundation","ror":null},{"id":"https://openalex.org/F4320334978","display_name":"Beijing Nova Program","ror":"https://ror.org/034k14f91"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":50,"referenced_works":["https://openalex.org/W132147841","https://openalex.org/W1022526533","https://openalex.org/W1686810756","https://openalex.org/W1883517952","https://openalex.org/W1903029394","https://openalex.org/W1966747088","https://openalex.org/W1969868017","https://openalex.org/W1978131245","https://openalex.org/W2021570254","https://openalex.org/W2049981393","https://openalex.org/W2076189885","https://openalex.org/W2085949256","https://openalex.org/W2088616581","https://openalex.org/W2160821342","https://openalex.org/W2161168419","https://openalex.org/W2485911221","https://openalex.org/W2519911873","https://openalex.org/W2528524188","https://openalex.org/W2561523096","https://openalex.org/W2580726517","https://openalex.org/W2593617942","https://openalex.org/W2604236302","https://openalex.org/W2609077090","https://openalex.org/W2768879211","https://openalex.org/W2788515346","https://openalex.org/W2795577874","https://openalex.org/W2802990478","https://openalex.org/W2888752296","https://openalex.org/W2910474428","https://openalex.org/W2950069298","https://openalex.org/W2963678509","https://openalex.org/W2963881378","https://openalex.org/W2963892972","https://openalex.org/W2967820818","https://openalex.org/W2981854237","https://openalex.org/W2995641611","https://openalex.org/W3009516594","https://openalex.org/W3043301796","https://openalex.org/W3084214343","https://openalex.org/W3099112683","https://openalex.org/W3110781789","https://openalex.org/W3139887931","https://openalex.org/W3157380428","https://openalex.org/W3173438814","https://openalex.org/W4206073324","https://openalex.org/W4249866455","https://openalex.org/W6637373629","https://openalex.org/W6754227600","https://openalex.org/W6760914965","https://openalex.org/W6805927405"],"related_works":["https://openalex.org/W2946083937","https://openalex.org/W2798721181","https://openalex.org/W4386075737","https://openalex.org/W2951583186","https://openalex.org/W4299867837","https://openalex.org/W2088028039","https://openalex.org/W4382141741","https://openalex.org/W3165753266","https://openalex.org/W1968783203","https://openalex.org/W4206633503"],"abstract_inverted_index":{"The":[0,39],"autonomous":[1,37,124],"and":[2,21,55,80,90,121,146],"precise":[3],"grasping":[4,77,99,125],"operation":[5,78],"of":[6,30,69,86,126],"robots":[7],"is":[8,42],"considered":[9],"challenging":[10],"in":[11,143],"situations":[12],"where":[13],"there":[14],"are":[15],"different":[16,19],"objects":[17,120],"with":[18,150],"shapes":[20],"postures.":[22],"In":[23],"this":[24],"study,":[25],"we":[26,73],"proposed":[27,40,71,108,134],"a":[28,46,75,112,140],"method":[29,41,109,138],"6-D":[31],"target":[32,62,88,119,135],"pose":[33,63,92,114,136],"estimation":[34,93,115,137],"for":[35,51,116],"robot":[36,76,98],"manipulation.":[38],"based":[43],"on:":[44],"1)":[45],"fully":[47],"convolutional":[48],"neural":[49],"network":[50],"scene":[52],"semantic":[53],"segmentation":[54],"2)":[56],"fast":[57],"global":[58],"registration":[59],"to":[60,95],"achieve":[61,111],"estimation.":[64],"To":[65],"verify":[66],"the":[67,70,82,87,97,107,123,127,133],"validity":[68],"algorithm,":[72],"built":[74],"system":[79],"used":[81],"point":[83],"cloud":[84],"model":[85],"object":[89],"its":[91],"results":[94,104],"generate":[96],"posture":[100],"control":[101],"strategy.":[102],"Experimental":[103],"showed":[105],"that":[106,132],"can":[110],"six-degree-of-freedom":[113],"arbitrarily":[117],"placed":[118],"complete":[122],"target.":[128],"Comparative":[129],"experiments":[130],"demonstrated":[131],"achieved":[139],"significant":[141],"improvement":[142],"average":[144],"accuracy":[145],"real-time":[147],"performance":[148],"compared":[149],"traditional":[151],"methods.":[152]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-27T08:26:11.824852","created_date":"2025-10-10T00:00:00"}