{"id":"https://openalex.org/W3156283702","doi":"https://doi.org/10.1109/tie.2021.3070501","title":"Pseudo-Siamese Graph Matching Network for Textureless Objects\u2019 6-D Pose Estimation","display_name":"Pseudo-Siamese Graph Matching Network for Textureless Objects\u2019 6-D Pose Estimation","publication_year":2021,"publication_date":"2021-04-07","ids":{"openalex":"https://openalex.org/W3156283702","doi":"https://doi.org/10.1109/tie.2021.3070501","mag":"3156283702"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2021.3070501","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2021.3070501","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","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/A5020270822","display_name":"Chenrui Wu","orcid":"https://orcid.org/0000-0002-8264-471X"},"institutions":[{"id":"https://openalex.org/I148128674","display_name":"University of Shanghai for Science and Technology","ror":"https://ror.org/00ay9v204","country_code":"CN","type":"education","lineage":["https://openalex.org/I148128674"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Chenrui Wu","raw_affiliation_strings":["Department of Mechanical Engineering, University of Shanghai for Science and Technology, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Shanghai for Science and Technology, Shanghai, China","institution_ids":["https://openalex.org/I148128674"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100759040","display_name":"Long Chen","orcid":"https://orcid.org/0000-0003-4914-514X"},"institutions":[{"id":"https://openalex.org/I148128674","display_name":"University of Shanghai for Science and Technology","ror":"https://ror.org/00ay9v204","country_code":"CN","type":"education","lineage":["https://openalex.org/I148128674"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Long Chen","raw_affiliation_strings":["Department of Mechanical Engineering, University of Shanghai for Science and Technology, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Shanghai for Science and Technology, Shanghai, China","institution_ids":["https://openalex.org/I148128674"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046557433","display_name":"Zaixing He","orcid":"https://orcid.org/0000-0003-0577-8009"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zaixing He","raw_affiliation_strings":["School of Mechanical Engineering, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101993412","display_name":"Junjie Jiang","orcid":"https://orcid.org/0000-0001-8923-9082"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junjie Jiang","raw_affiliation_strings":["School of Mechanical Engineering, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5020270822"],"corresponding_institution_ids":["https://openalex.org/I148128674"],"apc_list":null,"apc_paid":null,"fwci":4.1597,"has_fulltext":false,"cited_by_count":41,"citation_normalized_percentile":{"value":0.94366612,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"69","issue":"3","first_page":"2718","last_page":"2727"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9955999851226807,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9926000237464905,"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/ransac","display_name":"RANSAC","score":0.8689419627189636},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.8085612058639526},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7519355416297913},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5929193496704102},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5734628438949585},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.5488855242729187},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5307987332344055},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.49375399947166443},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.4795372486114502},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.45293760299682617},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.44279956817626953},{"id":"https://openalex.org/keywords/similarity","display_name":"Similarity (geometry)","score":0.4269484281539917},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3213239908218384},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.24823135137557983},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.08750519156455994}],"concepts":[{"id":"https://openalex.org/C114744707","wikidata":"https://www.wikidata.org/wiki/Q218533","display_name":"RANSAC","level":3,"score":0.8689419627189636},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.8085612058639526},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7519355416297913},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5929193496704102},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5734628438949585},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.5488855242729187},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5307987332344055},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.49375399947166443},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.4795372486114502},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.45293760299682617},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.44279956817626953},{"id":"https://openalex.org/C103278499","wikidata":"https://www.wikidata.org/wiki/Q254465","display_name":"Similarity (geometry)","level":3,"score":0.4269484281539917},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3213239908218384},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.24823135137557983},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.08750519156455994},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2021.3070501","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2021.3070501","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6000000238418579,"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9"}],"awards":[{"id":"https://openalex.org/G1294831185","display_name":null,"funder_award_id":"52075340","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8200260204","display_name":null,"funder_award_id":"51775497","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"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":55,"referenced_works":["https://openalex.org/W1022526533","https://openalex.org/W1526868886","https://openalex.org/W1569530544","https://openalex.org/W1984667320","https://openalex.org/W1997500560","https://openalex.org/W2017814585","https://openalex.org/W2033819227","https://openalex.org/W2101199297","https://openalex.org/W2117228865","https://openalex.org/W2126959282","https://openalex.org/W2129000642","https://openalex.org/W2142578527","https://openalex.org/W2145072179","https://openalex.org/W2162394290","https://openalex.org/W2162440713","https://openalex.org/W2172012009","https://openalex.org/W2194775991","https://openalex.org/W2200124539","https://openalex.org/W2412515392","https://openalex.org/W2470394683","https://openalex.org/W2472269674","https://openalex.org/W2560023338","https://openalex.org/W2560771231","https://openalex.org/W2600447016","https://openalex.org/W2719164362","https://openalex.org/W2768308213","https://openalex.org/W2768879211","https://openalex.org/W2787091153","https://openalex.org/W2805611890","https://openalex.org/W2807943222","https://openalex.org/W2900190636","https://openalex.org/W2905536983","https://openalex.org/W2906047344","https://openalex.org/W2914477982","https://openalex.org/W2962783853","https://openalex.org/W2963177347","https://openalex.org/W2963188159","https://openalex.org/W2963756608","https://openalex.org/W2963794138","https://openalex.org/W2964015378","https://openalex.org/W2964249569","https://openalex.org/W2968930673","https://openalex.org/W2981378444","https://openalex.org/W2989915422","https://openalex.org/W2990613095","https://openalex.org/W2993534970","https://openalex.org/W3002155012","https://openalex.org/W3012494314","https://openalex.org/W3014641072","https://openalex.org/W3034986117","https://openalex.org/W3035355652","https://openalex.org/W4288103373","https://openalex.org/W6726873649","https://openalex.org/W6766978945","https://openalex.org/W6767570889"],"related_works":["https://openalex.org/W2131378265","https://openalex.org/W2984240274","https://openalex.org/W3107042705","https://openalex.org/W2115876589","https://openalex.org/W2981196697","https://openalex.org/W4229588126","https://openalex.org/W1018308721","https://openalex.org/W4229059082","https://openalex.org/W4390872624","https://openalex.org/W2896146757"],"abstract_inverted_index":{"Pose":[0],"estimation":[1],"is":[2,25,44,151],"an":[3,35],"essential":[4],"technology":[5],"for":[6,171],"product":[7],"grasping":[8,169],"and":[9,21,77,102,114,130,156,167,177],"assembly":[10],"in":[11],"intelligent":[12],"manufacturing.":[13],"Finding":[14],"local":[15],"correspondences":[16,137],"between":[17,97],"the":[18,22,26,31,39,62,69,95,98,103,108,127,131,141,146,149,154,164,175],"2-D":[19,99,128],"image":[20,100,129],"3-D":[23,104,132],"model":[24,106],"key":[27],"step":[28],"to":[29,46,67,93,121],"estimate":[30,78],"6-D":[32],"pose":[33,147],"of":[34,71,74,107,126,148,179],"object.":[36,109],"However,":[37],"when":[38],"objects":[40,76],"are":[41,119,138],"textureless,":[42],"it":[43],"difficult":[45],"identify":[47],"distinguishable":[48],"point":[49],"features.":[50],"In":[51],"this":[52],"article,":[53],"we":[54],"propose":[55],"a":[56,83,89,115,168],"novel":[57],"deep":[58,124],"learning":[59],"framework":[60],"called":[61],"pseudo-Siamese":[63,90,142],"graph":[64,116],"matching":[65,73,143],"network":[66,91,113,118],"tackle":[68],"problem":[70],"feature":[72],"textureless":[75],"accurate":[79],"object":[80,150],"poses":[81],"with":[82],"single":[84],"RGB-only":[85],"image.":[86],"We":[87],"utilize":[88],"structure":[92],"learn":[94],"similarity":[96],"features":[101,125],"mesh":[105],"A":[110],"fully":[111],"convolutional":[112,117],"used":[120],"extract":[122],"high-dimensional":[123],"model,":[133],"respectively.":[134],"Dense":[135],"2-D\u20133-D":[136],"inferred":[139],"using":[140],"network.":[144],"Then,":[145],"calculated":[152],"by":[153],"Perspective-n-Point":[155],"random":[157],"sample":[158],"consensus":[159],"(RANSAC)":[160],"methods.":[161],"Experiments":[162],"on":[163],"LINEMOD":[165],"dataset":[166],"task":[170],"metal":[172],"part":[173],"show":[174],"accuracy":[176],"robustness":[178],"our":[180],"proposed":[181],"method.":[182],"<sup":[183],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[184],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">1</sup>":[185]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":13},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":2}],"updated_date":"2026-04-04T08:04:53.788161","created_date":"2025-10-10T00:00:00"}
