{"id":"https://openalex.org/W4315778315","doi":"https://doi.org/10.1109/tim.2023.3236334","title":"A Geometry-Enhanced 6D Pose Estimation Network With Incomplete Shape Recovery for Industrial Parts","display_name":"A Geometry-Enhanced 6D Pose Estimation Network With Incomplete Shape Recovery for Industrial Parts","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4315778315","doi":"https://doi.org/10.1109/tim.2023.3236334"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2023.3236334","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2023.3236334","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"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 Instrumentation and Measurement","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/A5037080165","display_name":"Qide Wang","orcid":"https://orcid.org/0000-0003-0656-1581"},"institutions":[{"id":"https://openalex.org/I4210092088","display_name":"Zhejiang Province Institute of Architectural Design and Research","ror":"https://ror.org/00f89ms08","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210092088"]},{"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":"Qide Wang","raw_affiliation_strings":["State Key Laboratory of Computer-Aided Design and Computer Graphics (CAD & CG) and the Engineering Research Center for Design Engineering and Digital Twin of Zhejiang Province, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Computer-Aided Design and Computer Graphics (CAD & CG) and the Engineering Research Center for Design Engineering and Digital Twin of Zhejiang Province, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I4210092088","https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044457609","display_name":"Daxin Liu","orcid":"https://orcid.org/0000-0002-0379-1990"},"institutions":[{"id":"https://openalex.org/I4210092088","display_name":"Zhejiang Province Institute of Architectural Design and Research","ror":"https://ror.org/00f89ms08","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210092088"]},{"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":"Daxin Liu","raw_affiliation_strings":["State Key Laboratory of Computer-Aided Design and Computer Graphics (CAD & CG) and the Engineering Research Center for Design Engineering and Digital Twin of Zhejiang Province, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Computer-Aided Design and Computer Graphics (CAD & CG) and the Engineering Research Center for Design Engineering and Digital Twin of Zhejiang Province, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I4210092088","https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100405185","display_name":"Zhenyu Liu","orcid":"https://orcid.org/0000-0003-2463-4553"},"institutions":[{"id":"https://openalex.org/I4210092088","display_name":"Zhejiang Province Institute of Architectural Design and Research","ror":"https://ror.org/00f89ms08","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210092088"]},{"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":"Zhenyu Liu","raw_affiliation_strings":["State Key Laboratory of Computer-Aided Design and Computer Graphics (CAD & CG) and the Engineering Research Center for Design Engineering and Digital Twin of Zhejiang Province, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Computer-Aided Design and Computer Graphics (CAD & CG) and the Engineering Research Center for Design Engineering and Digital Twin of Zhejiang Province, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I4210092088","https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091280366","display_name":"Jiatong Xu","orcid":"https://orcid.org/0000-0003-3107-3491"},"institutions":[{"id":"https://openalex.org/I4210092088","display_name":"Zhejiang Province Institute of Architectural Design and Research","ror":"https://ror.org/00f89ms08","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210092088"]},{"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":"Jiatong Xu","raw_affiliation_strings":["State Key Laboratory of Computer-Aided Design and Computer Graphics (CAD & CG) and the Engineering Research Center for Design Engineering and Digital Twin of Zhejiang Province, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Computer-Aided Design and Computer Graphics (CAD & CG) and the Engineering Research Center for Design Engineering and Digital Twin of Zhejiang Province, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I4210092088","https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101887641","display_name":"Hui Liu","orcid":"https://orcid.org/0000-0002-6202-7917"},"institutions":[{"id":"https://openalex.org/I4210092088","display_name":"Zhejiang Province Institute of Architectural Design and Research","ror":"https://ror.org/00f89ms08","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210092088"]},{"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":"Hui Liu","raw_affiliation_strings":["State Key Laboratory of Computer-Aided Design and Computer Graphics (CAD & CG) and the Engineering Research Center for Design Engineering and Digital Twin of Zhejiang Province, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Computer-Aided Design and Computer Graphics (CAD & CG) and the Engineering Research Center for Design Engineering and Digital Twin of Zhejiang Province, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I4210092088","https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039962474","display_name":"Jianrong Tan","orcid":"https://orcid.org/0000-0002-7425-341X"},"institutions":[{"id":"https://openalex.org/I4210092088","display_name":"Zhejiang Province Institute of Architectural Design and Research","ror":"https://ror.org/00f89ms08","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210092088"]},{"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":"Jianrong Tan","raw_affiliation_strings":["State Key Laboratory of Computer-Aided Design and Computer Graphics (CAD & CG) and the Engineering Research Center for Design Engineering and Digital Twin of Zhejiang Province, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Computer-Aided Design and Computer Graphics (CAD & CG) and the Engineering Research Center for Design Engineering and Digital Twin of Zhejiang Province, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I4210092088","https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5037080165"],"corresponding_institution_ids":["https://openalex.org/I4210092088","https://openalex.org/I76130692"],"apc_list":null,"apc_paid":null,"fwci":4.023,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.94074164,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"72","issue":null,"first_page":"1","last_page":"11"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9984999895095825,"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":0.9984999895095825,"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":0.9854000210762024,"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/T12111","display_name":"Industrial Vision Systems and Defect Detection","score":0.9814000129699707,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/point-cloud","display_name":"Point cloud","score":0.7962141633033752},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.7664909958839417},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7369206547737122},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6954618692398071},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6910129189491272},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.6191461086273193},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5810266137123108}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7962141633033752},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.7664909958839417},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7369206547737122},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6954618692398071},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6910129189491272},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.6191461086273193},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5810266137123108},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/tim.2023.3236334","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2023.3236334","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"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 Instrumentation and Measurement","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9","score":0.6200000047683716}],"awards":[{"id":"https://openalex.org/G537125599","display_name":null,"funder_award_id":"2019YFB1312600","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G5385680445","display_name":null,"funder_award_id":"52075480","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/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W132147841","https://openalex.org/W1526868886","https://openalex.org/W1591870335","https://openalex.org/W1969552659","https://openalex.org/W2058761328","https://openalex.org/W2194775991","https://openalex.org/W2337420161","https://openalex.org/W2560023338","https://openalex.org/W2560609797","https://openalex.org/W2560722161","https://openalex.org/W2795999188","https://openalex.org/W2882985702","https://openalex.org/W2886499109","https://openalex.org/W2895439318","https://openalex.org/W2949671016","https://openalex.org/W2953668091","https://openalex.org/W2962888833","https://openalex.org/W2963121255","https://openalex.org/W2963150697","https://openalex.org/W2963177347","https://openalex.org/W2963188159","https://openalex.org/W2964249569","https://openalex.org/W2981378444","https://openalex.org/W2989915422","https://openalex.org/W2990502153","https://openalex.org/W3009516594","https://openalex.org/W3027201070","https://openalex.org/W3034534268","https://openalex.org/W3034681942","https://openalex.org/W3034986117","https://openalex.org/W3035355652","https://openalex.org/W3102309535","https://openalex.org/W3113383835","https://openalex.org/W3128461539","https://openalex.org/W3179923621","https://openalex.org/W3189651322","https://openalex.org/W3193676140","https://openalex.org/W3203218344","https://openalex.org/W3204203737","https://openalex.org/W3207065311","https://openalex.org/W4214519684","https://openalex.org/W4285260479","https://openalex.org/W4285272888","https://openalex.org/W4313047263","https://openalex.org/W6739778489","https://openalex.org/W6748208425"],"related_works":["https://openalex.org/W4389574804","https://openalex.org/W2123263858","https://openalex.org/W3127959533","https://openalex.org/W3016928466","https://openalex.org/W2936725271","https://openalex.org/W3150655618","https://openalex.org/W4320086129","https://openalex.org/W2736638679","https://openalex.org/W4313046826","https://openalex.org/W1968716783"],"abstract_inverted_index":{"Accurate":[0],"and":[1,12,28,33,138,169,189,213],"robust":[2],"6-DOF":[3],"(6D)":[4],"pose":[5,79],"estimation":[6],"from":[7,38,112,120,130],"a":[8,67,92,180],"single":[9],"RGB":[10],"image":[11,16],"depth":[13,39,113],"map":[14],"(RGB-D)":[15],"is":[17,98,193],"an":[18,84],"essential":[19],"task":[20,43],"of":[21,80,107,158,200],"intelligent":[22],"manufacturing,":[23],"such":[24],"as":[25],"robot":[26],"assembly":[27],"digital":[29],"twin.":[30],"However,":[31],"incomplete":[32,71,85],"noisy":[34],"3-D":[35,86,104],"data":[36,123],"acquired":[37],"sensors":[40],"make":[41],"the":[42,54,58,77,102,116,127,131,143,150,156,173,198,207],"challenging,":[44],"especially":[45],"for":[46],"various":[47],"industrial":[48,81,183,186],"parts":[49,191],"without":[50],"sufficient":[51],"textures,":[52],"where":[53,203],"occlusion":[55],"further":[56],"exacerbates":[57],"problem.":[59],"To":[60],"tackle":[61],"this":[62,64,148],"issue,":[63],"article":[65],"proposes":[66],"geometry-enhanced":[68],"network":[69],"with":[70,91,126,210],"shape":[72,87,94],"recovery":[73,88],"(GER-Net)":[74],"to":[75,100,155,195],"estimate":[76],"6D":[78,160],"parts.":[82],"First,":[83],"(ISR)":[89],"module":[90],"learnable":[93],"protection":[95],"(SP)":[96],"layer":[97],"introduced":[99],"recover":[101],"complete":[103],"geometry":[105,128],"shapes":[106],"raw":[108,121],"point":[109,133,144],"clouds":[110],"obtained":[111],"measurements.":[114],"Subsequently,":[115],"multimodal":[117],"features":[118],"extracted":[119],"RGB-D":[122,152],"are":[124],"enhanced":[125,151],"information":[129],"recovered":[132],"cloud":[134,145],"via":[135],"multiscale":[136],"concatenation":[137],"recurrent":[139],"forward":[140],"fusion":[141],"in":[142],"space.":[146],"In":[147],"way,":[149],"representations":[153],"contribute":[154],"regression":[157],"accurate":[159],"pose.":[161],"Experiments":[162],"on":[163],"two":[164],"popular":[165],"benchmark":[166],"datasets":[167],"(LineMOD":[168],"Occlusion-LineMOD)":[170],"show":[171],"that":[172],"proposed":[174],"approach":[175],"achieves":[176,206],"state-of-the-art":[177],"performance.":[178],"Furthermore,":[179],"real-world":[181],"low-texture":[182],"part":[184],"dataset":[185],"texture-less":[187],"machined":[188],"3-D-printed":[190],"(ITM3D)":[192],"presented":[194],"fully":[196],"validate":[197],"effectiveness":[199],"our":[201],"method,":[202],"it":[204],"also":[205],"best":[208],"performance":[209],"remarkable":[211],"accuracy":[212],"robustness.":[214]},"counts_by_year":[{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":4}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}