{"id":"https://openalex.org/W4407574843","doi":"https://doi.org/10.1109/tcsvt.2025.3542089","title":"Canonical Shape Reconstruction With SE(3) Equivariance Learning for Weakly-Supervised Object Pose Estimation","display_name":"Canonical Shape Reconstruction With SE(3) Equivariance Learning for Weakly-Supervised Object Pose Estimation","publication_year":2025,"publication_date":"2025-02-14","ids":{"openalex":"https://openalex.org/W4407574843","doi":"https://doi.org/10.1109/tcsvt.2025.3542089"},"language":"en","primary_location":{"id":"doi:10.1109/tcsvt.2025.3542089","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcsvt.2025.3542089","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/A5101917144","display_name":"Jun Zhou","orcid":"https://orcid.org/0000-0001-9352-9584"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":true,"raw_author_name":"Jun Zhou","raw_affiliation_strings":["Center of Smart Health, School of Nursing, The Hong Kong Polytechnic University, Hong Kong, China","School of Nursing, Center of Smart Health, The Hong Kong Polytechnic University, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Center of Smart Health, School of Nursing, The Hong Kong Polytechnic University, Hong Kong, China","institution_ids":["https://openalex.org/I14243506"]},{"raw_affiliation_string":"School of Nursing, Center of Smart Health, The Hong Kong Polytechnic University, Hong Kong, China","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102003705","display_name":"Kai Chen","orcid":"https://orcid.org/0000-0002-5028-2603"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Kai Chen","raw_affiliation_strings":["Department of Computer Science and Engineering, The Chinese University of Hong Kong, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, The Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051555459","display_name":"Mingqiang Wei","orcid":"https://orcid.org/0000-0003-0429-490X"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingqiang Wei","raw_affiliation_strings":["School of Computer Science and Technology, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100363146","display_name":"Xiao\u2013Ping Zhang","orcid":"https://orcid.org/0000-0001-5241-0069"},"institutions":[{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]},{"id":"https://openalex.org/I4210114105","display_name":"Tsinghua\u2013Berkeley Shenzhen Institute","ror":"https://ror.org/02hhwwz98","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210114105","https://openalex.org/I95457486","https://openalex.org/I99065089"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiao-Ping Zhang","raw_affiliation_strings":["Shenzhen Ubiquitous Data Enabling Key Laboratory, Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen, China","Shenzhen Ubiquitous Data Enabling Key Lab, Shenzhen International Graduate School, Tsinghua University, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Shenzhen Ubiquitous Data Enabling Key Laboratory, Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen, China","institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I4210114105"]},{"raw_affiliation_string":"Shenzhen Ubiquitous Data Enabling Key Lab, Shenzhen International Graduate School, Tsinghua University, Shenzhen, China","institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090516040","display_name":"Qi Dou","orcid":"https://orcid.org/0000-0002-3416-9950"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Qi Dou","raw_affiliation_strings":["Department of Computer Science and Engineering, The Chinese University of Hong Kong, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, The Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005393674","display_name":"Jing Qin","orcid":"https://orcid.org/0000-0002-2961-0860"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Jing Qin","raw_affiliation_strings":["Center of Smart Health, School of Nursing, The Hong Kong Polytechnic University, Hong Kong, China","School of Nursing, Center of Smart Health, The Hong Kong Polytechnic University, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Center of Smart Health, School of Nursing, The Hong Kong Polytechnic University, Hong Kong, China","institution_ids":["https://openalex.org/I14243506"]},{"raw_affiliation_string":"School of Nursing, Center of Smart Health, The Hong Kong Polytechnic University, Hong Kong, China","institution_ids":["https://openalex.org/I14243506"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5101917144"],"corresponding_institution_ids":["https://openalex.org/I14243506"],"apc_list":null,"apc_paid":null,"fwci":3.6542,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.91903393,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":"35","issue":"7","first_page":"6895","last_page":"6909"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.9952999949455261,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9952999949455261,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9822999835014343,"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/T14510","display_name":"Medical Imaging and Analysis","score":0.9692999720573425,"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":0.6648999452590942},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6595182418823242},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6107273697853088},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5535901188850403},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5164070725440979},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4732949137687683},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4631933569908142},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.45668235421180725}],"concepts":[{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.6648999452590942},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6595182418823242},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6107273697853088},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5535901188850403},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5164070725440979},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4732949137687683},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4631933569908142},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.45668235421180725}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tcsvt.2025.3542089","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcsvt.2025.3542089","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"},{"id":"pmh:oai:ira.lib.polyu.edu.hk:10397/118083","is_oa":false,"landing_page_url":"http://hdl.handle.net/10397/118083","pdf_url":null,"source":{"id":"https://openalex.org/S4306400205","display_name":"PolyU Institutional Research Archive (Hong Kong Polytechnic University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I14243506","host_organization_name":"Hong Kong Polytechnic University","host_organization_lineage":["https://openalex.org/I14243506"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Journal/Magazine Article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1356116451","display_name":null,"funder_award_id":"15218521","funder_id":"https://openalex.org/F4320334971","funder_display_name":"Science and Engineering Research Council"},{"id":"https://openalex.org/G3499667924","display_name":null,"funder_award_id":"T2322012","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5387761213","display_name":null,"funder_award_id":"62172218","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8918111865","display_name":null,"funder_award_id":"ITS/223/22","funder_id":"https://openalex.org/F4320324196","funder_display_name":"Innovation and Technology Commission - Hong Kong"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320324196","display_name":"Innovation and Technology Commission - Hong Kong","ror":"https://ror.org/04vf9tr09"},{"id":"https://openalex.org/F4320334971","display_name":"Science and Engineering Research Council","ror":"https://ror.org/00zgdb249"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":85,"referenced_works":["https://openalex.org/W132147841","https://openalex.org/W1505952289","https://openalex.org/W1526868886","https://openalex.org/W1861492603","https://openalex.org/W1969868017","https://openalex.org/W1975611886","https://openalex.org/W2083624955","https://openalex.org/W2161168419","https://openalex.org/W2194775991","https://openalex.org/W2524140598","https://openalex.org/W2560023338","https://openalex.org/W2605102758","https://openalex.org/W2796426482","https://openalex.org/W2886499109","https://openalex.org/W2949924544","https://openalex.org/W2950921159","https://openalex.org/W2953669419","https://openalex.org/W2961368225","https://openalex.org/W2962888833","https://openalex.org/W2963177347","https://openalex.org/W2963188159","https://openalex.org/W2963756608","https://openalex.org/W2964054038","https://openalex.org/W2979750740","https://openalex.org/W2985683375","https://openalex.org/W3024760004","https://openalex.org/W3032131819","https://openalex.org/W3034534268","https://openalex.org/W3034584726","https://openalex.org/W3034986117","https://openalex.org/W3035198432","https://openalex.org/W3035268949","https://openalex.org/W3035424742","https://openalex.org/W3035662013","https://openalex.org/W3056171435","https://openalex.org/W3090077593","https://openalex.org/W3090584485","https://openalex.org/W3096093845","https://openalex.org/W3107730598","https://openalex.org/W3128632815","https://openalex.org/W3141835154","https://openalex.org/W3158545781","https://openalex.org/W3160889789","https://openalex.org/W3170469318","https://openalex.org/W3176751833","https://openalex.org/W3177826989","https://openalex.org/W3178144853","https://openalex.org/W3179923621","https://openalex.org/W3191573718","https://openalex.org/W3194916214","https://openalex.org/W3203898101","https://openalex.org/W3205186076","https://openalex.org/W3207187156","https://openalex.org/W3207755626","https://openalex.org/W4200604336","https://openalex.org/W4205274304","https://openalex.org/W4283808280","https://openalex.org/W4285233964","https://openalex.org/W4285600335","https://openalex.org/W4307339700","https://openalex.org/W4312241108","https://openalex.org/W4312251507","https://openalex.org/W4313183789","https://openalex.org/W4382365515","https://openalex.org/W4383097758","https://openalex.org/W4383109347","https://openalex.org/W4383109669","https://openalex.org/W4386065651","https://openalex.org/W4386065886","https://openalex.org/W4386066268","https://openalex.org/W4386083014","https://openalex.org/W4388266322","https://openalex.org/W4390871811","https://openalex.org/W4390872355","https://openalex.org/W4390872924","https://openalex.org/W4390874575","https://openalex.org/W4390874795","https://openalex.org/W6687484953","https://openalex.org/W6748208425","https://openalex.org/W6749031613","https://openalex.org/W6752979358","https://openalex.org/W6779789776","https://openalex.org/W6780110325","https://openalex.org/W6804361632","https://openalex.org/W6805042473"],"related_works":["https://openalex.org/W2123263858","https://openalex.org/W3127959533","https://openalex.org/W4387967917","https://openalex.org/W4387968151","https://openalex.org/W4386925306","https://openalex.org/W2736638679","https://openalex.org/W4313046826","https://openalex.org/W1968716783","https://openalex.org/W4292830139","https://openalex.org/W4319309705"],"abstract_inverted_index":{"6D":[0],"object":[1,32,46,60,90,120,168,178],"pose":[2,91,100,204],"estimation":[3,92,205],"from":[4,36,50,123],"a":[5,10,113,129,186,208],"single":[6],"RGB-D":[7],"image":[8],"is":[9,40,54,85,141],"fundamental":[11],"problem":[12,88],"in":[13,112,135,207],"computer":[14],"vision":[15],"and":[16,62,175,184,197,221],"robot":[17],"manipulation.":[18],"Despite":[19],"recent":[20],"advancements,":[21],"existing":[22],"methods":[23],"still":[24],"suffer":[25],"several":[26],"limitations.":[27],"First":[28],"of":[29,152,223],"all,":[30],"the":[31,37,45,51,59,66,94,109,119,124,145,153,166,173,181,203,219],"shape":[33,70,121,132,161,179],"representation":[34,71,122],"extracted":[35],"depth":[38,52],"map":[39,53],"often":[41],"less":[42],"expressive":[43],"because":[44],"point":[47,126,155],"cloud":[48,127,156],"parsed":[49],"highly":[55],"incomplete":[56],"due":[57,64],"to":[58,65,107,159,191,201],"self-occlusion":[61],"noisy":[63],"sensor":[67],"artifacts.":[68],"This":[69],"issue":[72],"further":[73,171],"intensifies":[74],"when":[75],"lacking":[76],"sufficient":[77],"labeled":[78,194],"data":[79,196,200],"for":[80,89,98],"model":[81,206],"training,":[82],"which":[83,136],"unfortunately":[84],"another":[86],"typical":[87],"considering":[93],"heavy":[95],"annotation":[96],"cost":[97],"real-world":[99],"labeling.":[101],"In":[102],"this":[103],"study,":[104],"we":[105,117,170],"propose":[106],"tackle":[108],"above":[110],"issues":[111],"unified":[114],"way.":[115,210],"First,":[116],"enhance":[118],"partial":[125,154],"with":[128],"novel":[130,187],"canonical":[131,139],"reconstruction":[133],"module,":[134],"an":[137],"implicit":[138,149],"frame":[140],"established":[142],"by":[143],"incorporating":[144],"SE(3)":[146],"equivariance,":[147],"achieving":[148],"feature":[150],"alignment":[151],"inputs,":[157],"leading":[158],"robust":[160],"recovery.":[162],"Second,":[163],"based":[164],"on":[165,213],"enhanced":[167],"representation,":[169],"utilize":[172],"de-canonicalized":[174],"pose-dependent":[176],"completed":[177],"as":[180],"training":[182],"signal,":[183],"develop":[185],"weakly-supervised":[188],"learning":[189],"framework":[190,225],"leverage":[192],"both":[193],"synthetic":[195],"unlabeled":[198],"real":[199],"train":[202],"label-efficient":[209],"Extensive":[211],"experiments":[212],"three":[214],"widely":[215],"used":[216],"benchmarks":[217],"demonstrate":[218],"effectiveness,":[220],"superiority":[222],"our":[224],"over":[226],"state-of-the-art":[227],"methods.":[228]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}