{"id":"https://openalex.org/W4390956176","doi":"https://doi.org/10.1109/tpami.2024.3355198","title":"Match Normalization: Learning-Based Point Cloud Registration for 6D Object Pose Estimation in the Real World","display_name":"Match Normalization: Learning-Based Point Cloud Registration for 6D Object Pose Estimation in the Real World","publication_year":2024,"publication_date":"2024-01-17","ids":{"openalex":"https://openalex.org/W4390956176","doi":"https://doi.org/10.1109/tpami.2024.3355198","pmid":"https://pubmed.ncbi.nlm.nih.gov/38231797"},"language":"en","primary_location":{"id":"doi:10.1109/tpami.2024.3355198","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tpami.2024.3355198","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":true,"oa_status":"green","oa_url":"http://infoscience.epfl.ch/record/311356","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101436854","display_name":"Zheng Dang","orcid":"https://orcid.org/0000-0003-2028-6096"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Zheng Dang","raw_affiliation_strings":["Computer Vision Laboratory, École Polytechnique Fédérale de Lausanne, Lausanne, Switzerland"],"affiliations":[{"raw_affiliation_string":"Computer Vision Laboratory, École Polytechnique Fédérale de Lausanne, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102899083","display_name":"L Wang","orcid":"https://orcid.org/0000-0003-3267-1987"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lizhou Wang","raw_affiliation_strings":["School of Software Engineering, Xi’an Jiaotong University, Xi’an, Shaanxi, China"],"affiliations":[{"raw_affiliation_string":"School of Software Engineering, Xi’an Jiaotong University, Xi’an, Shaanxi, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101652862","display_name":"Yu Guo","orcid":"https://orcid.org/0000-0002-5489-8288"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Guo","raw_affiliation_strings":["National Key Laboratory of Human-Machine Hybrid Augmented Intelligence, Institute of Artificial Intelligence and Robotics, Xi’an Jiaotong University, Xi’an, Shaanxi, China"],"affiliations":[{"raw_affiliation_string":"National Key Laboratory of Human-Machine Hybrid Augmented Intelligence, Institute of Artificial Intelligence and Robotics, Xi’an Jiaotong University, Xi’an, Shaanxi, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049300388","display_name":"Mathieu Salzmann","orcid":"https://orcid.org/0000-0002-8347-8637"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Mathieu Salzmann","raw_affiliation_strings":["Computer Vision Laboratory, École Polytechnique Fédérale de Lausanne, Lausanne, Switzerland"],"affiliations":[{"raw_affiliation_string":"Computer Vision Laboratory, École Polytechnique Fédérale de Lausanne, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5101436854"],"corresponding_institution_ids":["https://openalex.org/I5124864"],"apc_list":null,"apc_paid":null,"fwci":17.2193,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.98738601,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"46","issue":"6","first_page":"4489","last_page":"4503"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9980999827384949,"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":0.9980999827384949,"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/T10719","display_name":"3D Shape Modeling and Analysis","score":0.996999979019165,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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":0.9922000169754028,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.8325461149215698},{"id":"https://openalex.org/keywords/normalization","display_name":"Normalization (sociology)","score":0.8032494783401489},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7832567691802979},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7261930108070374},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.6428242921829224},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5064359903335571},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.474735826253891},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.442207396030426},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.40951409935951233}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.8325461149215698},{"id":"https://openalex.org/C136886441","wikidata":"https://www.wikidata.org/wiki/Q926129","display_name":"Normalization (sociology)","level":2,"score":0.8032494783401489},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7832567691802979},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7261930108070374},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.6428242921829224},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5064359903335571},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.474735826253891},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.442207396030426},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.40951409935951233},{"id":"https://openalex.org/C19165224","wikidata":"https://www.wikidata.org/wiki/Q23404","display_name":"Anthropology","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C144024400","wikidata":"https://www.wikidata.org/wiki/Q21201","display_name":"Sociology","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tpami.2024.3355198","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tpami.2024.3355198","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:38231797","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/38231797","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:infoscience.epfl.ch:311356","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/311356","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"WoS","raw_type":"research article"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:311356","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/311356","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"WoS","raw_type":"research article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":81,"referenced_works":["https://openalex.org/W94821084","https://openalex.org/W132147841","https://openalex.org/W146688636","https://openalex.org/W1526868886","https://openalex.org/W1886475886","https://openalex.org/W2004312117","https://openalex.org/W2032618685","https://openalex.org/W2034950486","https://openalex.org/W2049981393","https://openalex.org/W2098764590","https://openalex.org/W2099606917","https://openalex.org/W2107528150","https://openalex.org/W2119851068","https://openalex.org/W2160821342","https://openalex.org/W2161168419","https://openalex.org/W2166606682","https://openalex.org/W2178371335","https://openalex.org/W2204257188","https://openalex.org/W2271206385","https://openalex.org/W2344109021","https://openalex.org/W2472269674","https://openalex.org/W2472414548","https://openalex.org/W2502312327","https://openalex.org/W2519911873","https://openalex.org/W2547811925","https://openalex.org/W2566597158","https://openalex.org/W2574567538","https://openalex.org/W2599464279","https://openalex.org/W2604236302","https://openalex.org/W2738467687","https://openalex.org/W2771008497","https://openalex.org/W2786036844","https://openalex.org/W2788158258","https://openalex.org/W2798405286","https://openalex.org/W2887599887","https://openalex.org/W2888752296","https://openalex.org/W2889300857","https://openalex.org/W2895439318","https://openalex.org/W2962729173","https://openalex.org/W2962783853","https://openalex.org/W2962941647","https://openalex.org/W2963072534","https://openalex.org/W2963177347","https://openalex.org/W2963188159","https://openalex.org/W2963264709","https://openalex.org/W2963756608","https://openalex.org/W2963847924","https://openalex.org/W2963892972","https://openalex.org/W2964253930","https://openalex.org/W2979750740","https://openalex.org/W2981378444","https://openalex.org/W2981995220","https://openalex.org/W2986382673","https://openalex.org/W2990111328","https://openalex.org/W3009516594","https://openalex.org/W3013243617","https://openalex.org/W3034275286","https://openalex.org/W3035030518","https://openalex.org/W3035338950","https://openalex.org/W3092774272","https://openalex.org/W3096538374","https://openalex.org/W3108059345","https://openalex.org/W3111598592","https://openalex.org/W3168156488","https://openalex.org/W3177280664","https://openalex.org/W3203699830","https://openalex.org/W4237162356","https://openalex.org/W4249866455","https://openalex.org/W4289489637","https://openalex.org/W4385245566","https://openalex.org/W6631190155","https://openalex.org/W6656866612","https://openalex.org/W6677548441","https://openalex.org/W6724804524","https://openalex.org/W6739778489","https://openalex.org/W6744580074","https://openalex.org/W6747827861","https://openalex.org/W6754677871","https://openalex.org/W6763422710","https://openalex.org/W6764386676","https://openalex.org/W6767019538"],"related_works":["https://openalex.org/W4244478748","https://openalex.org/W2953716828","https://openalex.org/W2904857019","https://openalex.org/W4223488648","https://openalex.org/W2944728705","https://openalex.org/W3011538607","https://openalex.org/W2904022177","https://openalex.org/W2591697403","https://openalex.org/W4321441197","https://openalex.org/W4320086129"],"abstract_inverted_index":{"In":[0],"this":[1],"work,":[2],"we":[3,30,109,135],"tackle":[4,106],"the":[5,9,37,44,58,64,69,74,80,88,102,107,150,170,178,200],"task":[6],"of":[7,12,39,47,57,66,142,172,203],"estimating":[8],"6D":[10],"pose":[11],"an":[13],"object":[14,131,182],"from":[15],"point":[16,71,84,204],"cloud":[17,205],"data.":[18,41,191],"While":[19],"recent":[20],"learning-based":[21,129,180],"approaches":[22],"have":[23,31],"shown":[24],"remarkable":[25],"success":[26],"on":[27,149,189],"synthetic":[28],"datasets,":[29],"observed":[32],"them":[33,139,195],"to":[34,63,126,185,196,199],"fail":[35],"in":[36,76,140],"presence":[38],"real-world":[40,190],"We":[42,86,192],"investigate":[43],"root":[45],"causes":[46],"these":[48],"failures":[49],"and":[50,73,82,122,145,162],"identify":[51],"two":[52,70,118,141],"main":[53],"challenges:":[54],"The":[55],"sensitivity":[56],"widely-used":[59],"SVD-based":[60],"loss":[61,96],"function":[62,97],"range":[65],"rotation":[67],"between":[68,79],"clouds,":[72],"difference":[75],"feature":[77],"distributions":[78],"source":[81],"target":[83],"clouds.":[85],"address":[87],"first":[89],"challenge":[90],"by":[91,137],"introducing":[92],"a":[93,111],"directly":[94],"supervised":[95],"that":[98],"does":[99],"not":[100],"utilize":[101],"SVD":[103],"operation.":[104],"To":[105],"second,":[108],"introduce":[110],"new":[112],"normalization":[113],"strategy,":[114],"Match":[115],"Normalization.":[116],"Our":[117,147],"contributions":[119],"are":[120],"general":[121],"can":[123],"be":[124,197],"applied":[125],"many":[127],"existing":[128],"3D":[130,181],"registration":[132,183,206],"frameworks,":[133],"which":[134],"illustrate":[136],"implementing":[138],"them,":[143],"DCP":[144],"IDAM.":[146],"experiments":[148],"real-scene":[151],"TUD-L":[152],"Hodan":[153],"et":[154,159,165],"al.":[155,160,166],"2018,":[156],"LINEMOD":[157],"Hinterstoisser":[158],"2012":[161],"Occluded-LINEMOD":[163],"Brachmann":[164],"2014":[167],"datasets":[168],"evidence":[169],"benefits":[171],"our":[173],"strategies.":[174],"They":[175],"allow":[176],"for":[177],"first-time":[179],"methods":[184],"achieve":[186],"meaningful":[187],"results":[188],"therefore":[193],"expect":[194],"key":[198],"future":[201],"developments":[202],"methods.":[207]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":2}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}