{"id":"https://openalex.org/W3204319309","doi":"https://doi.org/10.1109/tpami.2021.3118833","title":"DPODv2: Dense Correspondence-Based 6 DoF Pose Estimation","display_name":"DPODv2: Dense Correspondence-Based 6 DoF Pose Estimation","publication_year":2021,"publication_date":"2021-10-10","ids":{"openalex":"https://openalex.org/W3204319309","doi":"https://doi.org/10.1109/tpami.2021.3118833","mag":"3204319309","pmid":"https://pubmed.ncbi.nlm.nih.gov/34623263"},"language":"en","primary_location":{"id":"doi:10.1109/tpami.2021.3118833","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tpami.2021.3118833","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":["arxiv","crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2207.02805","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5027563468","display_name":"Ivan Shugurov","orcid":"https://orcid.org/0000-0001-5413-6622"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Ivan Shugurov","raw_affiliation_strings":["Department of Informatics, Technical University of Munich, München, Germany"],"raw_orcid":"https://orcid.org/0000-0001-5413-6622","affiliations":[{"raw_affiliation_string":"Department of Informatics, Technical University of Munich, München, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102739061","display_name":"Sergey Zakharov","orcid":"https://orcid.org/0000-0002-6231-6137"},"institutions":[{"id":"https://openalex.org/I4391768151","display_name":"Toyota Research Institute","ror":"https://ror.org/04fpkc108","country_code":null,"type":"facility","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4391768151"]},{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]},{"id":"https://openalex.org/I917207718","display_name":"Toyota Industries (United States)","ror":"https://ror.org/0132ebr60","country_code":"US","type":"company","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4210145315","https://openalex.org/I917207718"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"Sergey Zakharov","raw_affiliation_strings":["Department of Informatics, Technical University of Munich, München, Germany","Toyota Research Institute, Los Altos, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Informatics, Technical University of Munich, München, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Toyota Research Institute, Los Altos, CA, USA","institution_ids":["https://openalex.org/I917207718","https://openalex.org/I4391768151"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045382199","display_name":"Slobodan Ili\u0107","orcid":"https://orcid.org/0000-0002-3413-1936"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Slobodan Ilic","raw_affiliation_strings":["Department of Informatics, Technical University of Munich, München, Germany"],"raw_orcid":"https://orcid.org/0000-0002-3413-1936","affiliations":[{"raw_affiliation_string":"Department of Informatics, Technical University of Munich, München, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.4435,"has_fulltext":false,"cited_by_count":55,"citation_normalized_percentile":{"value":0.95017473,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"44","issue":"11","first_page":"7417","last_page":"7435"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9972000122070312,"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":0.9972000122070312,"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":0.9954000115394592,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9951000213623047,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.8425278663635254},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.7819727659225464},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7672421932220459},{"id":"https://openalex.org/keywords/3d-pose-estimation","display_name":"3D pose estimation","score":0.6506431102752686},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6405078172683716},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.5884020924568176},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.5861508846282959},{"id":"https://openalex.org/keywords/rendering","display_name":"Rendering (computer graphics)","score":0.5446715354919434},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.5103926062583923},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4883846640586853},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.4309196472167969},{"id":"https://openalex.org/keywords/detector","display_name":"Detector","score":0.42594683170318604}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8425278663635254},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.7819727659225464},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7672421932220459},{"id":"https://openalex.org/C36613465","wikidata":"https://www.wikidata.org/wiki/Q4636322","display_name":"3D pose estimation","level":3,"score":0.6506431102752686},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6405078172683716},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.5884020924568176},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.5861508846282959},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.5446715354919434},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.5103926062583923},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4883846640586853},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.4309196472167969},{"id":"https://openalex.org/C94915269","wikidata":"https://www.wikidata.org/wiki/Q1834857","display_name":"Detector","level":2,"score":0.42594683170318604},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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":"D021621","descriptor_name":"Imaging, Three-Dimensional","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D021621","descriptor_name":"Imaging, Three-Dimensional","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D021621","descriptor_name":"Imaging, Three-Dimensional","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true}],"locations_count":3,"locations":[{"id":"doi:10.1109/tpami.2021.3118833","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tpami.2021.3118833","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:34623263","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/34623263","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:arXiv.org:2207.02805","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2207.02805","pdf_url":"https://arxiv.org/pdf/2207.02805","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2207.02805","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2207.02805","pdf_url":"https://arxiv.org/pdf/2207.02805","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":103,"referenced_works":["https://openalex.org/W132147841","https://openalex.org/W1022526533","https://openalex.org/W1526868886","https://openalex.org/W1836465849","https://openalex.org/W1861492603","https://openalex.org/W1901129140","https://openalex.org/W1909903157","https://openalex.org/W1966832848","https://openalex.org/W1969868017","https://openalex.org/W1991544872","https://openalex.org/W1992989752","https://openalex.org/W2033819227","https://openalex.org/W2049981393","https://openalex.org/W2050966058","https://openalex.org/W2096758544","https://openalex.org/W2101199297","https://openalex.org/W2108598243","https://openalex.org/W2111073598","https://openalex.org/W2130017587","https://openalex.org/W2156094778","https://openalex.org/W2161168419","https://openalex.org/W2194775991","https://openalex.org/W2196978909","https://openalex.org/W2200124539","https://openalex.org/W2221752211","https://openalex.org/W2472269674","https://openalex.org/W2488101876","https://openalex.org/W2502312327","https://openalex.org/W2519138183","https://openalex.org/W2520352517","https://openalex.org/W2520803775","https://openalex.org/W2580726517","https://openalex.org/W2584731199","https://openalex.org/W2604236302","https://openalex.org/W2605111497","https://openalex.org/W2768879211","https://openalex.org/W2768890541","https://openalex.org/W2771008497","https://openalex.org/W2773456899","https://openalex.org/W2786036844","https://openalex.org/W2804855082","https://openalex.org/W2887599887","https://openalex.org/W2895410314","https://openalex.org/W2895439318","https://openalex.org/W2899771611","https://openalex.org/W2920582597","https://openalex.org/W2949924544","https://openalex.org/W2952019568","https://openalex.org/W2955863859","https://openalex.org/W2962783853","https://openalex.org/W2962828767","https://openalex.org/W2962888833","https://openalex.org/W2962914239","https://openalex.org/W2963037989","https://openalex.org/W2963121255","https://openalex.org/W2963139856","https://openalex.org/W2963177347","https://openalex.org/W2963188159","https://openalex.org/W2963203908","https://openalex.org/W2963756608","https://openalex.org/W2963835812","https://openalex.org/W2963876278","https://openalex.org/W2963890451","https://openalex.org/W2963892972","https://openalex.org/W2964056579","https://openalex.org/W2964249569","https://openalex.org/W2964271185","https://openalex.org/W2981378444","https://openalex.org/W2981410089","https://openalex.org/W2981854237","https://openalex.org/W2982445554","https://openalex.org/W2986197551","https://openalex.org/W2989915422","https://openalex.org/W2990173985","https://openalex.org/W3004023976","https://openalex.org/W3009516594","https://openalex.org/W3011972190","https://openalex.org/W3034268164","https://openalex.org/W3034603747","https://openalex.org/W3034986117","https://openalex.org/W3035355652","https://openalex.org/W3092774272","https://openalex.org/W3100052745","https://openalex.org/W3100621253","https://openalex.org/W3101102451","https://openalex.org/W3101524204","https://openalex.org/W3103919331","https://openalex.org/W3118099906","https://openalex.org/W3119643838","https://openalex.org/W3133860213","https://openalex.org/W3180597453","https://openalex.org/W4239072543","https://openalex.org/W4293584584","https://openalex.org/W4295312788","https://openalex.org/W4394666750","https://openalex.org/W6724804524","https://openalex.org/W6747827861","https://openalex.org/W6750227808","https://openalex.org/W6754227600","https://openalex.org/W6766978945","https://openalex.org/W6798369812","https://openalex.org/W6803376173","https://openalex.org/W6864332406"],"related_works":["https://openalex.org/W4253893311","https://openalex.org/W3089306886","https://openalex.org/W2113785214","https://openalex.org/W2798721181","https://openalex.org/W3201205132","https://openalex.org/W4312694060","https://openalex.org/W4386075737","https://openalex.org/W4393563475","https://openalex.org/W4307623796","https://openalex.org/W4394784820"],"abstract_inverted_index":{"We":[0,20,165],"propose":[1,59,77],"a":[2,22,27,33,40,60,78,104,131],"three-stage":[3],"6":[4,42],"DoF":[5,43],"object":[6,24],"detection":[7],"method":[8,37,117],"called":[9],"DPODv2":[10,184],"(Dense":[11],"Pose":[12],"Object":[13],"Detector)":[14],"that":[15,50,83,138],"relies":[16],"on":[17,86,121,180,188],"dense":[18,28],"correspondences.":[19],"combine":[21],"2D":[23],"detector":[25],"with":[26,109],"correspondence":[29,142],"estimation":[30],"network":[31,64],"and":[32,96,125,170,176,196,204],"multi-view":[34],"pose":[35,80,105,149],"refinement":[36,81],"to":[38,54,69,93,102,147,174],"estimate":[39],"full":[41],"pose.":[44],"Unlike":[45],"other":[46],"deep":[47,62],"learning":[48,63],"methods":[49],"are":[51,155],"typically":[52],"restricted":[53],"monocular":[55],"RGB":[56,139],"images,":[57],"we":[58,76],"unified":[61],"allowing":[65],"different":[66,122],"imaging":[67],"modalities":[68,124],"be":[70],"used":[71,201],"(RGB":[72],"or":[73],"Depth).":[74],"Moreover,":[75],"novel":[79],"method,":[82],"is":[84,92,107,118,137],"based":[85],"differentiable":[87],"rendering.":[88],"The":[89,134],"main":[90,135],"concept":[91],"compare":[94],"predicted":[95,110],"rendered":[97],"correspondences":[98,111,154],"in":[99,112,130,141],"multiple":[100],"views":[101],"obtain":[103],"which":[106],"consistent":[108],"all":[113,189],"views.":[114],"Our":[115],"proposed":[116],"evaluated":[119],"rigorously":[120],"data":[123,129,202],"types":[126],"of":[127,190,199,207],"training":[128,208],"controlled":[132],"setup.":[133],"conclusions":[136],"excels":[140],"estimation,":[143],"while":[144,192],"depth":[145],"contributes":[146],"the":[148,161,178,200,205],"accuracy":[150],"if":[151],"good":[152],"3D-3D":[153],"available.":[156],"Naturally,":[157],"their":[158],"combination":[159],"achieves":[160,185],"overall":[162],"best":[163],"performance.":[164],"perform":[166],"an":[167,171],"extensive":[168],"evaluation":[169],"ablation":[172],"study":[173],"analyze":[175],"validate":[177],"results":[179,187],"several":[181],"challenging":[182],"datasets.":[183],"excellent":[186],"them":[191],"still":[193],"remaining":[194],"fast":[195],"scalable":[197],"independent":[198],"modality":[203],"type":[206],"data.":[209]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":20},{"year":2024,"cited_by_count":13},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":9}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}