{"id":"https://openalex.org/W4285233964","doi":"https://doi.org/10.1109/tcsvt.2022.3181597","title":"HFF6D: Hierarchical Feature Fusion Network for Robust 6D Object Pose Tracking","display_name":"HFF6D: Hierarchical Feature Fusion Network for Robust 6D Object Pose Tracking","publication_year":2022,"publication_date":"2022-06-09","ids":{"openalex":"https://openalex.org/W4285233964","doi":"https://doi.org/10.1109/tcsvt.2022.3181597"},"language":"en","primary_location":{"id":"doi:10.1109/tcsvt.2022.3181597","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcsvt.2022.3181597","pdf_url":null,"source":{"id":"https://openalex.org/S115173108","display_name":"IEEE Transactions on Circuits and Systems for Video Technology","issn_l":"1051-8215","issn":["1051-8215","1558-2205"],"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 Circuits and Systems for Video Technology","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/A5108049455","display_name":"Jian Liu","orcid":"https://orcid.org/0000-0003-0604-8024"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Liu","raw_affiliation_strings":["National Engineering Research Center of Robot Visual Perception and Control Technology, College of Electrical and Information Engineering, and the State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body, Hunan University, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0003-0604-8024","affiliations":[{"raw_affiliation_string":"National Engineering Research Center of Robot Visual Perception and Control Technology, College of Electrical and Information Engineering, and the State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100637917","display_name":"Wei Sun","orcid":"https://orcid.org/0000-0002-8644-2998"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Sun","raw_affiliation_strings":["College of Electrical and Information Engineering, Hunan University, Changsha, China","Shenzhen Research Institute of Hunan University, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-8644-2998","affiliations":[{"raw_affiliation_string":"College of Electrical and Information Engineering, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]},{"raw_affiliation_string":"Shenzhen Research Institute of Hunan University, Shenzhen, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038350490","display_name":"Chongpei Liu","orcid":"https://orcid.org/0000-0002-5656-2622"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chongpei Liu","raw_affiliation_strings":["National Engineering Research Center of Robot Visual Perception and Control Technology, College of Electrical and Information Engineering, and the State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body, Hunan University, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0002-5656-2622","affiliations":[{"raw_affiliation_string":"National Engineering Research Center of Robot Visual Perception and Control Technology, College of Electrical and Information Engineering, and the State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100399141","display_name":"Xing Zhang","orcid":"https://orcid.org/0000-0002-7639-2704"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xing Zhang","raw_affiliation_strings":["National Engineering Research Center of Robot Visual Perception and Control Technology, College of Electrical and Information Engineering, and the State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body, Hunan University, Changsha, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Engineering Research Center of Robot Visual Perception and Control Technology, College of Electrical and Information Engineering, and the State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089102115","display_name":"Shimeng Fan","orcid":"https://orcid.org/0000-0002-1369-0122"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shimeng Fan","raw_affiliation_strings":["National Engineering Research Center of Robot Visual Perception and Control Technology, College of Electrical and Information Engineering, and the State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body, Hunan University, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0002-1369-0122","affiliations":[{"raw_affiliation_string":"National Engineering Research Center of Robot Visual Perception and Control Technology, College of Electrical and Information Engineering, and the State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005544115","display_name":"Wei Wu","orcid":"https://orcid.org/0000-0001-8500-1923"},"institutions":[{"id":"https://openalex.org/I49934816","display_name":"Hunan University of Technology","ror":"https://ror.org/04j3vr751","country_code":"CN","type":"education","lineage":["https://openalex.org/I49934816"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Wu","raw_affiliation_strings":["College of Electrical and Information Engineering, Hunan University of Technology, Zhuzhou, China"],"raw_orcid":"https://orcid.org/0000-0001-8500-1923","affiliations":[{"raw_affiliation_string":"College of Electrical and Information Engineering, Hunan University of Technology, Zhuzhou, China","institution_ids":["https://openalex.org/I49934816"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.6117,"has_fulltext":false,"cited_by_count":41,"citation_normalized_percentile":{"value":0.95327676,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"32","issue":"11","first_page":"7719","last_page":"7731"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9994000196456909,"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":0.9994000196456909,"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/T12549","display_name":"Image and Object Detection Techniques","score":0.9890999794006348,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9828000068664551,"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":0.7499750256538391},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.680302083492279},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6597612500190735},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.552303671836853},{"id":"https://openalex.org/keywords/video-tracking","display_name":"Video tracking","score":0.5226709246635437},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.48267796635627747},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4590733051300049},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.4556070864200592},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.43298986554145813},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.42249301075935364}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7499750256538391},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.680302083492279},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6597612500190735},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.552303671836853},{"id":"https://openalex.org/C202474056","wikidata":"https://www.wikidata.org/wiki/Q1931635","display_name":"Video tracking","level":3,"score":0.5226709246635437},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.48267796635627747},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4590733051300049},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.4556070864200592},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.43298986554145813},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.42249301075935364},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcsvt.2022.3181597","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcsvt.2022.3181597","pdf_url":null,"source":{"id":"https://openalex.org/S115173108","display_name":"IEEE Transactions on Circuits and Systems for Video Technology","issn_l":"1051-8215","issn":["1051-8215","1558-2205"],"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 Circuits and Systems for Video Technology","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.7300000190734863,"display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G8615171270","display_name":null,"funder_award_id":"U1813205","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"},{"id":"https://openalex.org/F4320326870","display_name":"State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":53,"referenced_works":["https://openalex.org/W619079416","https://openalex.org/W1526868886","https://openalex.org/W1677409904","https://openalex.org/W1992706277","https://openalex.org/W2012804028","https://openalex.org/W2017161545","https://openalex.org/W2051460003","https://openalex.org/W2065042868","https://openalex.org/W2085261163","https://openalex.org/W2099969393","https://openalex.org/W2101199297","https://openalex.org/W2117228865","https://openalex.org/W2136567909","https://openalex.org/W2151103935","https://openalex.org/W2161168419","https://openalex.org/W2280057228","https://openalex.org/W2295692686","https://openalex.org/W2519822546","https://openalex.org/W2560609797","https://openalex.org/W2566265240","https://openalex.org/W2604236302","https://openalex.org/W2604662268","https://openalex.org/W2605102758","https://openalex.org/W2736890021","https://openalex.org/W2781064046","https://openalex.org/W2797394534","https://openalex.org/W2962783853","https://openalex.org/W2962956488","https://openalex.org/W2963177347","https://openalex.org/W2963188159","https://openalex.org/W2963675327","https://openalex.org/W2963756608","https://openalex.org/W2964014140","https://openalex.org/W2964056579","https://openalex.org/W2964249569","https://openalex.org/W3011171290","https://openalex.org/W3012509084","https://openalex.org/W3034534268","https://openalex.org/W3045003611","https://openalex.org/W3124643953","https://openalex.org/W3129056128","https://openalex.org/W3130138602","https://openalex.org/W3133557228","https://openalex.org/W3163527364","https://openalex.org/W3177709384","https://openalex.org/W3179923621","https://openalex.org/W3190988267","https://openalex.org/W3195196013","https://openalex.org/W4206171875","https://openalex.org/W6637373629","https://openalex.org/W6748617018","https://openalex.org/W6754677871","https://openalex.org/W6790219418"],"related_works":["https://openalex.org/W2084086966","https://openalex.org/W4285271403","https://openalex.org/W2542007731","https://openalex.org/W2968379562","https://openalex.org/W2091015105","https://openalex.org/W4388689193","https://openalex.org/W2110899030","https://openalex.org/W29633852","https://openalex.org/W2985362983","https://openalex.org/W4327670844"],"abstract_inverted_index":{"Tracking":[0],"the":[1,68,116,124,147,167,199],"6-degree-of-freedom":[2],"(6D)":[3],"object":[4,49],"pose":[5,50,71,128],"in":[6,18,29,130,146,160,184],"video":[7],"sequences":[8],"is":[9,191],"gaining":[10],"attention":[11,104],"because":[12],"it":[13,61,190],"has":[14],"a":[15,46,54,96],"wide":[16],"application":[17],"multimedia":[19],"and":[20,39,170,174,187],"robotic":[21],"manipulation.":[22],"However,":[23],"current":[24],"methods":[25,183],"often":[26],"perform":[27],"poorly":[28],"challenging":[30,131,201],"scenes,":[31],"such":[32],"as":[33,62],"incorrect":[34],"initial":[35],"pose,":[36],"sudden":[37],"re-orientation,":[38],"severe":[40],"occlusion.":[41],"In":[42,92],"contrast,":[43],"we":[44,94,134],"present":[45],"robust":[47],"6D":[48],"tracking":[51,197],"method":[52],"with":[53,103,153],"novel":[55,97],"hierarchical":[56],"feature":[57,99,108,111,117],"fusion":[58,100],"network,":[59],"refer":[60],"HFF6D,":[63],"which":[64],"aims":[65],"to":[66,106,139,194],"predict":[67],"object\u2019s":[69],"relative":[70,127],"between":[72,89,119],"adjacent":[73,80,90,120],"frames.":[74,91],"Instead":[75],"of":[76,126],"extracting":[77],"features":[78],"from":[79],"frames":[81],"separately,":[82],"HFF6D":[83,141,165,179],"establishes":[84],"sufficient":[85],"spatial-temporal":[86],"information":[87],"interaction":[88],"addition,":[93],"propose":[95],"subtraction":[98,109],"(SFF)":[101],"module":[102],"mechanism":[105],"leverage":[107,135],"during":[110],"fusion.":[112],"It":[113],"explicitly":[114],"highlights":[115],"differences":[118],"frames,":[121],"thus":[122],"improving":[123],"robustness":[125],"estimation":[129],"scenes.":[132,202],"Besides,":[133],"data":[136,161],"augmentation":[137],"technology":[138],"make":[140],"be":[142],"used":[143],"more":[144],"effectively":[145],"real":[148],"world":[149],"by":[150],"training":[151],"only":[152],"synthetic":[154],"data,":[155],"thereby":[156],"reducing":[157],"manual":[158],"effort":[159],"annotation.":[162],"We":[163],"evaluate":[164],"on":[166],"well-known":[168],"YCB-Video":[169],"YCBInEOAT":[171],"datasets.":[172],"Quantitative":[173],"qualitative":[175],"results":[176],"demonstrate":[177],"that":[178],"outperforms":[180],"state-of-the-art":[181],"(SOTA)":[182],"both":[185],"accuracy":[186],"efficiency.":[188],"Moreover,":[189],"also":[192],"proved":[193],"achieve":[195],"high-robustness":[196],"under":[198],"above-mentioned":[200]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":19},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
