{"id":"https://openalex.org/W4226142897","doi":"https://doi.org/10.1109/tii.2022.3165979","title":"REG-Net: Improving 6DoF Object Pose Estimation With 2D Keypoint Long-Short-Range-Aware Registration","display_name":"REG-Net: Improving 6DoF Object Pose Estimation With 2D Keypoint Long-Short-Range-Aware Registration","publication_year":2022,"publication_date":"2022-04-08","ids":{"openalex":"https://openalex.org/W4226142897","doi":"https://doi.org/10.1109/tii.2022.3165979"},"language":"en","primary_location":{"id":"doi:10.1109/tii.2022.3165979","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tii.2022.3165979","pdf_url":null,"source":{"id":"https://openalex.org/S184777250","display_name":"IEEE Transactions on Industrial Informatics","issn_l":"1551-3203","issn":["1551-3203","1941-0050"],"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 Informatics","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/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":true,"raw_author_name":"Junjie Jiang","raw_affiliation_strings":["School of Mechanical Engineering, State Key Lab of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0001-8923-9082","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, State Key Lab of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"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, State Key Lab of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0003-0577-8009","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, State Key Lab of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083085634","display_name":"Xinyue Zhao","orcid":"https://orcid.org/0000-0002-7184-0985"},"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":"Xinyue Zhao","raw_affiliation_strings":["School of Mechanical Engineering, State Key Lab of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-7184-0985","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, State Key Lab of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041037485","display_name":"Shuyou Zhang","orcid":"https://orcid.org/0000-0001-9023-5361"},"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":"Shuyou Zhang","raw_affiliation_strings":["School of Mechanical Engineering, State Key Lab of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0001-9023-5361","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, State Key Lab of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","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":false,"raw_author_name":"Chenrui Wu","raw_affiliation_strings":["Department of Mechanical Engineering, University of Shanghai for Science and Technology, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-8264-471X","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":"last","author":{"id":"https://openalex.org/A5100784853","display_name":"Yang Wang","orcid":"https://orcid.org/0000-0002-3576-1817"},"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":"Yang Wang","raw_affiliation_strings":["School of Mechanical Engineering, State Key Lab of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-3576-1817","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, State Key Lab of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5101993412"],"corresponding_institution_ids":["https://openalex.org/I76130692"],"apc_list":null,"apc_paid":null,"fwci":3.2807,"has_fulltext":false,"cited_by_count":29,"citation_normalized_percentile":{"value":0.92103497,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"19","issue":"1","first_page":"328","last_page":"338"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9987000226974487,"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":0.9965000152587891,"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":0.7932159304618835},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7852751016616821},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7448570132255554},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.69081050157547},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.627032995223999},{"id":"https://openalex.org/keywords/offset","display_name":"Offset (computer science)","score":0.4748016893863678},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.45391350984573364},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.44566643238067627},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4113597869873047},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.100413978099823}],"concepts":[{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.7932159304618835},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7852751016616821},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7448570132255554},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.69081050157547},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.627032995223999},{"id":"https://openalex.org/C175291020","wikidata":"https://www.wikidata.org/wiki/Q1156822","display_name":"Offset (computer science)","level":2,"score":0.4748016893863678},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.45391350984573364},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.44566643238067627},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4113597869873047},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.100413978099823},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tii.2022.3165979","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tii.2022.3165979","pdf_url":null,"source":{"id":"https://openalex.org/S184777250","display_name":"IEEE Transactions on Industrial Informatics","issn_l":"1551-3203","issn":["1551-3203","1941-0050"],"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 Informatics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.6499999761581421}],"awards":[{"id":"https://openalex.org/G1313367244","display_name":null,"funder_award_id":"51775498","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":35,"referenced_works":["https://openalex.org/W132147841","https://openalex.org/W1526868886","https://openalex.org/W1677409904","https://openalex.org/W1991544872","https://openalex.org/W2030300879","https://openalex.org/W2101199297","https://openalex.org/W2160754664","https://openalex.org/W2177274842","https://openalex.org/W2344474200","https://openalex.org/W2472269674","https://openalex.org/W2529170537","https://openalex.org/W2604236302","https://openalex.org/W2795999188","https://openalex.org/W2797394534","https://openalex.org/W2901362978","https://openalex.org/W2906047344","https://openalex.org/W2914477982","https://openalex.org/W2955058313","https://openalex.org/W2963188159","https://openalex.org/W2964249569","https://openalex.org/W2968930673","https://openalex.org/W2981378444","https://openalex.org/W2989915422","https://openalex.org/W2999391884","https://openalex.org/W3009516594","https://openalex.org/W3027201070","https://openalex.org/W3034986117","https://openalex.org/W3035355652","https://openalex.org/W3036860872","https://openalex.org/W3113383835","https://openalex.org/W3118250615","https://openalex.org/W3156283702","https://openalex.org/W3179923621","https://openalex.org/W3185119718","https://openalex.org/W6799291117"],"related_works":["https://openalex.org/W2378211422","https://openalex.org/W4321353415","https://openalex.org/W2745001401","https://openalex.org/W2130974462","https://openalex.org/W2028665553","https://openalex.org/W2086519370","https://openalex.org/W4246352526","https://openalex.org/W2121910908","https://openalex.org/W915438175","https://openalex.org/W2964084369"],"abstract_inverted_index":{"TheSixdegrees":[0],"of":[1,6,13,31,67,146,171,189,196],"freedom":[2],"6DoF":[3,104],"pose":[4,54,105],"estimation":[5,106],"texture-less":[7,81],"objects":[8],"provides":[9],"a":[10,96,109,136,158],"spatial":[11],"understanding":[12],"industrial":[14,201],"scenes":[15],"and":[16,35,83,90,139,143,161,187],"is":[17,60,71],"the":[18,29,48,65,86,103,125,154,163,168,172,185,194,199],"basis":[19],"for":[20,73],"accurate":[21],"object":[22],"manipulation.":[23],"Recent":[24],"studies":[25],"have":[26],"shown":[27],"that":[28],"introduction":[30],"known":[32],"model":[33],"information":[34,121],"initial":[36],"poses":[37],"helps":[38],"CNNs-based":[39],"methods":[40],"achieve":[41],"better":[42],"performance":[43],"in":[44,135,157,198],"complex":[45],"scenes.":[46],"However,":[47],"mapping":[49],"from":[50,174],"image":[51],"space":[52,55,170],"to":[53,64,76,130,176],"learned":[56],"by":[57],"neural":[58,74],"networks":[59,75],"dimensionally":[61],"lifting.":[62],"Due":[63],"lack":[66],"depth":[68],"information,":[69],"it":[70],"difficult":[72],"capture":[77],"local":[78],"clues":[79],"on":[80,180],"surfaces":[82],"directly":[84],"regress":[85],"relative":[87],"3-D":[88,91,175],"translation":[89],"rotation.":[92],"Instead,":[93],"we":[94],"propose":[95],"novel":[97],"framework":[98,166],"named":[99],"REG-Net,":[100],"which":[101],"transforms":[102],"task":[107],"into":[108],"2-D":[110,132],"keypoint":[111,133,155],"registration":[112],"problem.":[113],"The":[114,148],"proposed":[115,149],"network":[116,173],"first":[117],"encodes":[118],"regional":[119,150],"prior":[120],"using":[122],"multi-representation,":[123],"utilizes":[124],"globally-consistent":[126],"offset":[127],"attention":[128],"module":[129],"align":[131],"features":[134],"long":[137],"range,":[138],"then":[140],"estimates":[141],"offsets":[142],"potential":[144],"regions":[145],"keypoints.":[147],"PnP":[151],"simultaneously":[152],"adjusts":[153],"locations":[156],"short":[159],"range":[160],"outputs":[162],"pose.":[164],"This":[165],"compresses":[167],"learning":[169],"2-D.":[177],"Extensive":[178],"experiments":[179],"two":[181],"benchmark":[182],"datasets":[183],"demonstrate":[184,193],"robustness":[186],"accuracy":[188],"REG-Net.":[190],"We":[191],"further":[192],"effectiveness":[195],"REG-Net":[197],"reflective":[200],"part":[202],"grasping":[203],"applications.":[204]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":15},{"year":2023,"cited_by_count":5}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
