{"id":"https://openalex.org/W2509953675","doi":"https://doi.org/10.1155/2016/6937852","title":"Dual-Layer Density Estimation for Multiple Object Instance Detection","display_name":"Dual-Layer Density Estimation for Multiple Object Instance Detection","publication_year":2016,"publication_date":"2016-01-01","ids":{"openalex":"https://openalex.org/W2509953675","doi":"https://doi.org/10.1155/2016/6937852","mag":"2509953675"},"language":"en","primary_location":{"id":"doi:10.1155/2016/6937852","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2016/6937852","pdf_url":"https://downloads.hindawi.com/journals/js/2016/6937852.pdf","source":{"id":"https://openalex.org/S96783963","display_name":"Journal of Sensors","issn_l":"1687-725X","issn":["1687-725X","1687-7268"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://downloads.hindawi.com/journals/js/2016/6937852.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100381940","display_name":"Qiang Zhang","orcid":"https://orcid.org/0000-0002-8015-9753"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Qiang Zhang","raw_affiliation_strings":["SIASUN Robot & Automation Co., Ltd., No. 16 Jinhui Street, Hunnan New District, Shenyang 110168, China","State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, No. 114 Nanta Street, Shenhe District, Shenyang 110016, China","University of Chinese Academy of Sciences, No. 19A Yuquan Road, Beijing 100049, China"],"raw_orcid":"https://orcid.org/0000-0002-8015-9753","affiliations":[{"raw_affiliation_string":"SIASUN Robot & Automation Co., Ltd., No. 16 Jinhui Street, Hunnan New District, Shenyang 110168, China","institution_ids":[]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, No. 114 Nanta Street, Shenhe District, Shenyang 110016, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, No. 19A Yuquan Road, Beijing 100049, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112460364","display_name":"Daokui Qu","orcid":null},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Daokui Qu","raw_affiliation_strings":["SIASUN Robot & Automation Co., Ltd., No. 16 Jinhui Street, Hunnan New District, Shenyang 110168, China","State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, No. 114 Nanta Street, Shenhe District, Shenyang 110016, China","University of Chinese Academy of Sciences, No. 19A Yuquan Road, Beijing 100049, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"SIASUN Robot & Automation Co., Ltd., No. 16 Jinhui Street, Hunnan New District, Shenyang 110168, China","institution_ids":[]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, No. 114 Nanta Street, Shenhe District, Shenyang 110016, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, No. 19A Yuquan Road, Beijing 100049, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065162054","display_name":"Fang Xu","orcid":"https://orcid.org/0000-0003-4260-7911"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fang Xu","raw_affiliation_strings":["SIASUN Robot & Automation Co., Ltd., No. 16 Jinhui Street, Hunnan New District, Shenyang 110168, China","State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, No. 114 Nanta Street, Shenhe District, Shenyang 110016, China","University of Chinese Academy of Sciences, No. 19A Yuquan Road, Beijing 100049, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"SIASUN Robot & Automation Co., Ltd., No. 16 Jinhui Street, Hunnan New District, Shenyang 110168, China","institution_ids":[]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, No. 114 Nanta Street, Shenhe District, Shenyang 110016, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, No. 19A Yuquan Road, Beijing 100049, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000699866","display_name":"Kai Jia","orcid":"https://orcid.org/0000-0001-6192-7094"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kai Jia","raw_affiliation_strings":["SIASUN Robot & Automation Co., Ltd., No. 16 Jinhui Street, Hunnan New District, Shenyang 110168, China","State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, No. 114 Nanta Street, Shenhe District, Shenyang 110016, China","University of Chinese Academy of Sciences, No. 19A Yuquan Road, Beijing 100049, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"SIASUN Robot & Automation Co., Ltd., No. 16 Jinhui Street, Hunnan New District, Shenyang 110168, China","institution_ids":[]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, No. 114 Nanta Street, Shenhe District, Shenyang 110016, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, No. 19A Yuquan Road, Beijing 100049, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041967609","display_name":"Xueying Sun","orcid":"https://orcid.org/0000-0003-0539-6916"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xueying Sun","raw_affiliation_strings":["Department of Information Service and Intelligent Control, Chinese Academy of Sciences, No. 114 Nanta Street, Shenhe District, Shenyang 110016, China","University of Chinese Academy of Sciences, No. 19A Yuquan Road, Beijing 100049, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Information Service and Intelligent Control, Chinese Academy of Sciences, No. 114 Nanta Street, Shenhe District, Shenyang 110016, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, No. 19A Yuquan Road, Beijing 100049, China","institution_ids":["https://openalex.org/I4210165038"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100381940"],"corresponding_institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366","https://openalex.org/I4210165038"],"apc_list":{"value":2100,"currency":"USD","value_usd":2100},"apc_paid":{"value":2100,"currency":"USD","value_usd":2100},"fwci":0.3315,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.65672299,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"2016","issue":null,"first_page":"1","last_page":"12"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9998000264167786,"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":0.9994000196456909,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9962999820709229,"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/ransac","display_name":"RANSAC","score":0.7151244878768921},{"id":"https://openalex.org/keywords/scale-invariant-feature-transform","display_name":"Scale-invariant feature transform","score":0.7069500684738159},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6189509034156799},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5878384113311768},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.5366103053092957},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5227092504501343},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.4958532750606537},{"id":"https://openalex.org/keywords/template-matching","display_name":"Template matching","score":0.4277116060256958},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.37846291065216064},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.32104766368865967},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.11520665884017944}],"concepts":[{"id":"https://openalex.org/C114744707","wikidata":"https://www.wikidata.org/wiki/Q218533","display_name":"RANSAC","level":3,"score":0.7151244878768921},{"id":"https://openalex.org/C61265191","wikidata":"https://www.wikidata.org/wiki/Q767770","display_name":"Scale-invariant feature transform","level":3,"score":0.7069500684738159},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6189509034156799},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5878384113311768},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.5366103053092957},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5227092504501343},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.4958532750606537},{"id":"https://openalex.org/C158096908","wikidata":"https://www.wikidata.org/wiki/Q3983303","display_name":"Template matching","level":3,"score":0.4277116060256958},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.37846291065216064},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.32104766368865967},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.11520665884017944},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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":2,"locations":[{"id":"doi:10.1155/2016/6937852","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2016/6937852","pdf_url":"https://downloads.hindawi.com/journals/js/2016/6937852.pdf","source":{"id":"https://openalex.org/S96783963","display_name":"Journal of Sensors","issn_l":"1687-725X","issn":["1687-725X","1687-7268"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Sensors","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:93df091caa294ff29d5f9909488ddd07","is_oa":false,"landing_page_url":"https://doaj.org/article/93df091caa294ff29d5f9909488ddd07","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Journal of Sensors, Vol 2016 (2016)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1155/2016/6937852","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2016/6937852","pdf_url":"https://downloads.hindawi.com/journals/js/2016/6937852.pdf","source":{"id":"https://openalex.org/S96783963","display_name":"Journal of Sensors","issn_l":"1687-725X","issn":["1687-725X","1687-7268"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Sensors","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2509953675.pdf","grobid_xml":"https://content.openalex.org/works/W2509953675.grobid-xml"},"referenced_works_count":12,"referenced_works":["https://openalex.org/W7746136","https://openalex.org/W1991544872","https://openalex.org/W2041140352","https://openalex.org/W2053775669","https://openalex.org/W2058761328","https://openalex.org/W2099907898","https://openalex.org/W2119605622","https://openalex.org/W2147981502","https://openalex.org/W2151103935","https://openalex.org/W2157887643","https://openalex.org/W2177274842","https://openalex.org/W2405440347"],"related_works":["https://openalex.org/W2912782527","https://openalex.org/W2002904063","https://openalex.org/W2184781617","https://openalex.org/W2559085038","https://openalex.org/W2724122122","https://openalex.org/W2410884360","https://openalex.org/W2032794652","https://openalex.org/W2613823046","https://openalex.org/W4251240031","https://openalex.org/W2574175918"],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"a":[3,38,133,138],"dual-layer":[4],"density":[5,50,75],"estimation-based":[6],"architecture":[7],"for":[8,87,152],"multiple":[9],"object":[10,106],"instance":[11],"detection":[12,109,124],"in":[13,116,137],"robot":[14],"inventory":[15,153],"management":[16,154],"applications.":[17],"The":[18,33,91,123,140],"approach":[19,129,145],"consists":[20],"of":[21,48,54,74,126],"raw":[22],"scale-invariant":[23],"feature":[24,27,59,64],"transform":[25],"(SIFT)":[26],"matching":[28,65],"and":[29,37,62,149],"key":[30],"point":[31],"projection.":[32],"dominant":[34],"scale":[35],"ratio":[36],"reference":[39,89],"clustering":[40],"threshold":[41,79],"are":[42,130],"estimated":[43],"using":[44,112],"the":[45,49,71,77,88,127,144],"first":[46],"layer":[47,73],"estimation.":[51],"A":[52],"cascade":[53],"filters":[55],"is":[56,80,93,100,110],"applied":[57,101],"after":[58],"template":[60],"reconstruction":[61],"refined":[63],"to":[66,102],"eliminate":[67],"false":[68],"matches.":[69],"Before":[70],"second":[72],"estimation,":[76],"adaptive":[78],"finalized":[81],"by":[82],"multiplying":[83],"an":[84],"empirical":[85],"coefficient":[86,92],"value.":[90],"identified":[94],"experimentally.":[95],"Adaptive":[96],"threshold-based":[97],"grid":[98],"voting":[99],"find":[103],"all":[104],"candidate":[105],"instances.":[107],"Error":[108],"eliminated":[111],"final":[113],"geometric":[114],"verification":[115],"accordance":[117],"with":[118],"Random":[119],"Sample":[120],"Consensus":[121],"(RANSAC).":[122],"results":[125,141],"proposed":[128],"evaluated":[131],"on":[132],"self-built":[134],"dataset":[135],"collected":[136],"supermarket.":[139],"demonstrate":[142],"that":[143],"provides":[146],"high":[147],"robustness":[148],"low":[150],"latency":[151],"application.":[155]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2019,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}