{"id":"https://openalex.org/W3113383835","doi":"https://doi.org/10.1109/tpami.2020.3047388","title":"PVNet: Pixel-Wise Voting Network for 6DoF Object Pose Estimation","display_name":"PVNet: Pixel-Wise Voting Network for 6DoF Object Pose Estimation","publication_year":2020,"publication_date":"2020-12-25","ids":{"openalex":"https://openalex.org/W3113383835","doi":"https://doi.org/10.1109/tpami.2020.3047388","mag":"3113383835","pmid":"https://pubmed.ncbi.nlm.nih.gov/33360984"},"language":"en","primary_location":{"id":"doi:10.1109/tpami.2020.3047388","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tpami.2020.3047388","pdf_url":null,"source":{"id":"https://openalex.org/S199944782","display_name":"IEEE Transactions on Pattern Analysis and Machine Intelligence","issn_l":"0162-8828","issn":["0162-8828","1939-3539","2160-9292"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320439","host_organization_name":"IEEE Computer Society","host_organization_lineage":["https://openalex.org/P4310320439","https://openalex.org/P4310319808"],"host_organization_lineage_names":["IEEE Computer Society","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 Pattern Analysis and Machine Intelligence","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5073087748","display_name":"Sida Peng","orcid":null},"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":"Sida Peng","raw_affiliation_strings":["State Key Lab of CAD&CG, College of Computer Science, Zhejiang University, Hangzhou, Zhejiang, China"],"affiliations":[{"raw_affiliation_string":"State Key Lab of CAD&CG, College of Computer Science, Zhejiang University, Hangzhou, Zhejiang, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101814482","display_name":"Xiaowei Zhou","orcid":"https://orcid.org/0000-0003-1926-5597"},"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":"Xiaowei Zhou","raw_affiliation_strings":["State Key Lab of CAD&CG, College of Computer Science, Zhejiang University, Hangzhou, Zhejiang, China"],"affiliations":[{"raw_affiliation_string":"State Key Lab of CAD&CG, College of Computer Science, Zhejiang University, Hangzhou, Zhejiang, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034194344","display_name":"Yuan Liu","orcid":"https://orcid.org/0000-0003-2933-5667"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yuan Liu","raw_affiliation_strings":["Computer Science Department, University of Hong Kong, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Computer Science Department, University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011625261","display_name":"Haotong Lin","orcid":"https://orcid.org/0000-0001-5862-3268"},"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":"Haotong Lin","raw_affiliation_strings":["State Key Lab of CAD&CG, College of Computer Science, Zhejiang University, Hangzhou, Zhejiang, China"],"affiliations":[{"raw_affiliation_string":"State Key Lab of CAD&CG, College of Computer Science, Zhejiang University, Hangzhou, Zhejiang, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056540212","display_name":"Qixing Huang","orcid":"https://orcid.org/0000-0001-6365-8051"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Qixing Huang","raw_affiliation_strings":["College of Computer Science, University of Texas at Austin, Austin, TX, USA"],"affiliations":[{"raw_affiliation_string":"College of Computer Science, University of Texas at Austin, Austin, TX, USA","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059021869","display_name":"Hujun Bao","orcid":"https://orcid.org/0000-0002-2662-0334"},"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":"Hujun Bao","raw_affiliation_strings":["State Key Lab of CAD&CG, College of Computer Science, Zhejiang University, Hangzhou, Zhejiang, China"],"affiliations":[{"raw_affiliation_string":"State Key Lab of CAD&CG, College of Computer Science, Zhejiang University, Hangzhou, Zhejiang, China","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5073087748"],"corresponding_institution_ids":["https://openalex.org/I76130692"],"apc_list":null,"apc_paid":null,"fwci":97.5021,"has_fulltext":false,"cited_by_count":145,"citation_normalized_percentile":{"value":0.99902112,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"44","issue":"6","first_page":"3212","last_page":"3223"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9991000294685364,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9991000294685364,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9970999956130981,"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":0.996999979019165,"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":0.7869762182235718},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.7704542875289917},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7372782230377197},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7102025747299194},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5865411162376404},{"id":"https://openalex.org/keywords/pixel","display_name":"Pixel","score":0.5289863348007202},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4765777587890625},{"id":"https://openalex.org/keywords/voting","display_name":"Voting","score":0.46617555618286133}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7869762182235718},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.7704542875289917},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7372782230377197},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7102025747299194},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5865411162376404},{"id":"https://openalex.org/C160633673","wikidata":"https://www.wikidata.org/wiki/Q355198","display_name":"Pixel","level":2,"score":0.5289863348007202},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4765777587890625},{"id":"https://openalex.org/C520049643","wikidata":"https://www.wikidata.org/wiki/Q189760","display_name":"Voting","level":3,"score":0.46617555618286133},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","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/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","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},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D011057","descriptor_name":"Politics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D011057","descriptor_name":"Politics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D011057","descriptor_name":"Politics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true}],"locations_count":3,"locations":[{"id":"doi:10.1109/tpami.2020.3047388","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tpami.2020.3047388","pdf_url":null,"source":{"id":"https://openalex.org/S199944782","display_name":"IEEE Transactions on Pattern Analysis and Machine Intelligence","issn_l":"0162-8828","issn":["0162-8828","1939-3539","2160-9292"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320439","host_organization_name":"IEEE Computer Society","host_organization_lineage":["https://openalex.org/P4310320439","https://openalex.org/P4310319808"],"host_organization_lineage_names":["IEEE Computer Society","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 Pattern Analysis and Machine Intelligence","raw_type":"journal-article"},{"id":"pmid:33360984","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/33360984","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on pattern analysis and machine intelligence","raw_type":null},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-148061","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-148061","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"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":"Article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.5400000214576721,"id":"https://metadata.un.org/sdg/16"}],"awards":[{"id":"https://openalex.org/G4165369234","display_name":null,"funder_award_id":"TRIPODS-1934932","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G7078032888","display_name":null,"funder_award_id":"61806176","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"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":75,"referenced_works":["https://openalex.org/W132147841","https://openalex.org/W639708223","https://openalex.org/W1505952289","https://openalex.org/W1526868886","https://openalex.org/W1533501036","https://openalex.org/W1536680647","https://openalex.org/W1576725826","https://openalex.org/W1591870335","https://openalex.org/W1677409904","https://openalex.org/W1861492603","https://openalex.org/W1949483711","https://openalex.org/W1967378103","https://openalex.org/W1991264156","https://openalex.org/W1991544872","https://openalex.org/W2011792403","https://openalex.org/W2017814585","https://openalex.org/W2031489346","https://openalex.org/W2039032788","https://openalex.org/W2059412355","https://openalex.org/W2085261163","https://openalex.org/W2101199297","https://openalex.org/W2111187045","https://openalex.org/W2118104180","https://openalex.org/W2124386111","https://openalex.org/W2129259959","https://openalex.org/W2160754664","https://openalex.org/W2194775991","https://openalex.org/W2200124539","https://openalex.org/W2307770531","https://openalex.org/W2472269674","https://openalex.org/W2488101876","https://openalex.org/W2529170537","https://openalex.org/W2560535692","https://openalex.org/W2570343428","https://openalex.org/W2574567538","https://openalex.org/W2580726517","https://openalex.org/W2600447016","https://openalex.org/W2604236302","https://openalex.org/W2768879211","https://openalex.org/W2797394534","https://openalex.org/W2804855082","https://openalex.org/W2888752296","https://openalex.org/W2895439318","https://openalex.org/W2949924544","https://openalex.org/W2962730651","https://openalex.org/W2962773068","https://openalex.org/W2962783853","https://openalex.org/W2963139856","https://openalex.org/W2963177347","https://openalex.org/W2963188159","https://openalex.org/W2963271314","https://openalex.org/W2963323244","https://openalex.org/W2963351448","https://openalex.org/W2963756608","https://openalex.org/W2963892972","https://openalex.org/W2964249569","https://openalex.org/W2981378444","https://openalex.org/W2982445554","https://openalex.org/W2988715931","https://openalex.org/W2989915422","https://openalex.org/W3009516594","https://openalex.org/W3034268164","https://openalex.org/W3034597466","https://openalex.org/W3034986117","https://openalex.org/W3035268949","https://openalex.org/W3035709245","https://openalex.org/W3091357794","https://openalex.org/W3092774272","https://openalex.org/W3101524204","https://openalex.org/W3107372911","https://openalex.org/W3107992529","https://openalex.org/W4206771003","https://openalex.org/W6696085341","https://openalex.org/W6760424586","https://openalex.org/W6790041281"],"related_works":["https://openalex.org/W2123263858","https://openalex.org/W3127959533","https://openalex.org/W4285411112","https://openalex.org/W2085033728","https://openalex.org/W2171299904","https://openalex.org/W2894986065","https://openalex.org/W4390494008","https://openalex.org/W4387967917","https://openalex.org/W4287600488","https://openalex.org/W2922442631"],"abstract_inverted_index":{"This":[0,93],"paper":[1],"addresses":[2],"the":[3,82,124,130,134,137,140,164],"problem":[4,35],"of":[5,44,51,107,115,136,166],"instance-level":[6],"6DoF":[7],"object":[8],"pose":[9,37,153],"estimation":[10],"from":[11],"a":[12,22,32,49,71,95,158],"single":[13],"RGB":[14],"image.":[15],"Many":[16],"recent":[17],"works":[18],"have":[19],"shown":[20],"that":[21,111,118,129],"two-stage":[23],"approach,":[24],"which":[25,61],"first":[26],"detects":[27],"keypoints":[28,53,83],"and":[29,66,84,145],"then":[30],"solves":[31],"Perspective-n-Point":[33],"(PnP)":[34],"for":[36,90,98,151],"estimation,":[38],"achieves":[39],"remarkable":[40],"performance.":[41],"However,":[42],"most":[43],"these":[45,86],"methods":[46],"only":[47],"localize":[48],"set":[50],"sparse":[52],"by":[54,123],"regressing":[55],"their":[56],"image":[57],"coordinates":[58],"or":[59,101],"heatmaps,":[60],"are":[62],"sensitive":[63],"to":[64,76,81,88,162],"occlusion":[65],"truncation.":[67,170],"Instead,":[68],"we":[69],"introduce":[70],"Pixel-wise":[72],"Voting":[73],"Network":[74],"(PVNet)":[75],"regress":[77],"pixel-wise":[78],"vectors":[79,87],"pointing":[80],"use":[85],"vote":[89],"keypoint":[91,116],"locations.":[92],"creates":[94],"flexible":[96],"representation":[97,109],"localizing":[99],"occluded":[100],"truncated":[102],"keypoints.":[103],"Another":[104],"important":[105],"feature":[106],"this":[108],"is":[110,173],"it":[112],"provides":[113],"uncertainties":[114],"locations":[117],"can":[119],"be":[120],"further":[121,156],"leveraged":[122],"PnP":[125],"solver.":[126],"Experiments":[127],"show":[128],"proposed":[131],"approach":[132,168],"outperforms":[133],"state":[135],"art":[138],"on":[139],"LINEMOD,":[141,143],"Occluded":[142],"YCB-Video,":[144],"Tless":[146],"datasets,":[147],"while":[148],"being":[149],"efficient":[150],"real-time":[152],"estimation.":[154],"We":[155],"create":[157],"Truncated":[159],"LINEMOD":[160],"dataset":[161],"validate":[163],"robustness":[165],"our":[167],"against":[169],"The":[171],"code":[172],"available":[174],"at":[175],"https://github.com/zju3dv/pvnet.":[176]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":40},{"year":2024,"cited_by_count":40},{"year":2023,"cited_by_count":38},{"year":2022,"cited_by_count":17},{"year":2021,"cited_by_count":7}],"updated_date":"2026-03-27T14:29:43.386196","created_date":"2025-10-10T00:00:00"}