{"id":"https://openalex.org/W2080342258","doi":"https://doi.org/10.1177/0278364911436018","title":"Fast object localization and pose estimation in heavy clutter for robotic bin picking","display_name":"Fast object localization and pose estimation in heavy clutter for robotic bin picking","publication_year":2012,"publication_date":"2012-05-08","ids":{"openalex":"https://openalex.org/W2080342258","doi":"https://doi.org/10.1177/0278364911436018","mag":"2080342258"},"language":"en","primary_location":{"id":"doi:10.1177/0278364911436018","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364911436018","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","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/A5100335547","display_name":"Mingyu Liu","orcid":"https://orcid.org/0009-0005-2064-4844"},"institutions":[{"id":"https://openalex.org/I4210159266","display_name":"Mitsubishi Electric (United States)","ror":"https://ror.org/053jnhe44","country_code":"US","type":"company","lineage":["https://openalex.org/I1306287861","https://openalex.org/I4210133125","https://openalex.org/I4210159266"]},{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ming-Yu Liu","raw_affiliation_strings":["Mitsubishi Electric Research Laboratories (MERL), Cambridge, MA, USA","University of Maryland, College Park, MD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mitsubishi Electric Research Laboratories (MERL), Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210159266"]},{"raw_affiliation_string":"University of Maryland, College Park, MD, USA","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028613002","display_name":"Oncel Tuzel","orcid":null},"institutions":[{"id":"https://openalex.org/I4210159266","display_name":"Mitsubishi Electric (United States)","ror":"https://ror.org/053jnhe44","country_code":"US","type":"company","lineage":["https://openalex.org/I1306287861","https://openalex.org/I4210133125","https://openalex.org/I4210159266"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Oncel Tuzel","raw_affiliation_strings":["Mitsubishi Electric Research Laboratories (MERL), Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mitsubishi Electric Research Laboratories (MERL), Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210159266"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073971393","display_name":"Ashok Veeraraghavan","orcid":"https://orcid.org/0000-0001-5043-7460"},"institutions":[{"id":"https://openalex.org/I4210159266","display_name":"Mitsubishi Electric (United States)","ror":"https://ror.org/053jnhe44","country_code":"US","type":"company","lineage":["https://openalex.org/I1306287861","https://openalex.org/I4210133125","https://openalex.org/I4210159266"]},{"id":"https://openalex.org/I74775410","display_name":"Rice University","ror":"https://ror.org/008zs3103","country_code":"US","type":"education","lineage":["https://openalex.org/I74775410"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ashok Veeraraghavan","raw_affiliation_strings":["Mitsubishi Electric Research Laboratories (MERL), Cambridge, MA, USA","Rice University, Houston, TX, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mitsubishi Electric Research Laboratories (MERL), Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210159266"]},{"raw_affiliation_string":"Rice University, Houston, TX, USA","institution_ids":["https://openalex.org/I74775410"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008067705","display_name":"Yuichi Taguchi","orcid":null},"institutions":[{"id":"https://openalex.org/I4210159266","display_name":"Mitsubishi Electric (United States)","ror":"https://ror.org/053jnhe44","country_code":"US","type":"company","lineage":["https://openalex.org/I1306287861","https://openalex.org/I4210133125","https://openalex.org/I4210159266"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yuichi Taguchi","raw_affiliation_strings":["Mitsubishi Electric Research Laboratories (MERL), Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mitsubishi Electric Research Laboratories (MERL), Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210159266"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008369672","display_name":"Tim K. Marks","orcid":null},"institutions":[{"id":"https://openalex.org/I4210159266","display_name":"Mitsubishi Electric (United States)","ror":"https://ror.org/053jnhe44","country_code":"US","type":"company","lineage":["https://openalex.org/I1306287861","https://openalex.org/I4210133125","https://openalex.org/I4210159266"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tim K Marks","raw_affiliation_strings":["Mitsubishi Electric Research Laboratories (MERL), Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mitsubishi Electric Research Laboratories (MERL), Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210159266"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102762707","display_name":"Rama Chellappa","orcid":"https://orcid.org/0000-0002-7638-1650"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rama Chellappa","raw_affiliation_strings":["University of Maryland, College Park, MD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Maryland, College Park, MD, USA","institution_ids":["https://openalex.org/I66946132"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":232.5583,"has_fulltext":false,"cited_by_count":194,"citation_normalized_percentile":{"value":0.99958527,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"31","issue":"8","first_page":"951","last_page":"973"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9991999864578247,"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":0.9991999864578247,"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":0.9973999857902527,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9959999918937683,"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":0.7448501586914062},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7209344506263733},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7144801616668701},{"id":"https://openalex.org/keywords/bin","display_name":"Bin","score":0.6210663318634033},{"id":"https://openalex.org/keywords/clutter","display_name":"Clutter","score":0.596325695514679},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.5901445150375366},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.5507262945175171},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.5460020899772644},{"id":"https://openalex.org/keywords/chamfer","display_name":"Chamfer (geometry)","score":0.5243397355079651},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5094996094703674},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.46146753430366516},{"id":"https://openalex.org/keywords/enhanced-data-rates-for-gsm-evolution","display_name":"Enhanced Data Rates for GSM Evolution","score":0.4321584105491638},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2856046259403229},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.2759990096092224},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21155312657356262}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7448501586914062},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7209344506263733},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7144801616668701},{"id":"https://openalex.org/C156273044","wikidata":"https://www.wikidata.org/wiki/Q4913766","display_name":"Bin","level":2,"score":0.6210663318634033},{"id":"https://openalex.org/C132094186","wikidata":"https://www.wikidata.org/wiki/Q641585","display_name":"Clutter","level":3,"score":0.596325695514679},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.5901445150375366},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.5507262945175171},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.5460020899772644},{"id":"https://openalex.org/C2776313386","wikidata":"https://www.wikidata.org/wiki/Q18018756","display_name":"Chamfer (geometry)","level":2,"score":0.5243397355079651},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5094996094703674},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.46146753430366516},{"id":"https://openalex.org/C162307627","wikidata":"https://www.wikidata.org/wiki/Q204833","display_name":"Enhanced Data Rates for GSM Evolution","level":2,"score":0.4321584105491638},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2856046259403229},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.2759990096092224},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21155312657356262},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1177/0278364911436018","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364911436018","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.643.7841","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.643.7841","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.ece.rice.edu/~av21/Documents/pre2011/Fast Object Localization and Pose Estimation in.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":60,"referenced_works":["https://openalex.org/W1518641734","https://openalex.org/W1532977286","https://openalex.org/W1551519658","https://openalex.org/W1566135517","https://openalex.org/W1573758649","https://openalex.org/W1594957066","https://openalex.org/W1666447063","https://openalex.org/W1919689106","https://openalex.org/W1932758808","https://openalex.org/W1978752561","https://openalex.org/W1993267444","https://openalex.org/W2011852571","https://openalex.org/W2018469774","https://openalex.org/W2033834476","https://openalex.org/W2046333466","https://openalex.org/W2057175746","https://openalex.org/W2075097124","https://openalex.org/W2085261163","https://openalex.org/W2096600681","https://openalex.org/W2097459996","https://openalex.org/W2099606917","https://openalex.org/W2099747208","https://openalex.org/W2108825216","https://openalex.org/W2111309546","https://openalex.org/W2115733720","https://openalex.org/W2116022929","https://openalex.org/W2118104180","https://openalex.org/W2119605622","https://openalex.org/W2123503110","https://openalex.org/W2125310690","https://openalex.org/W2126624994","https://openalex.org/W2129296354","https://openalex.org/W2131806657","https://openalex.org/W2137279553","https://openalex.org/W2143158307","https://openalex.org/W2145023731","https://openalex.org/W2145169631","https://openalex.org/W2148821982","https://openalex.org/W2151103935","https://openalex.org/W2155479981","https://openalex.org/W2159589665","https://openalex.org/W2161168419","https://openalex.org/W2161567010","https://openalex.org/W2161969291","https://openalex.org/W2162253476","https://openalex.org/W2162820221","https://openalex.org/W2162915993","https://openalex.org/W2164598857","https://openalex.org/W2165095705","https://openalex.org/W2165414070","https://openalex.org/W2165916500","https://openalex.org/W2168002178","https://openalex.org/W2168709984","https://openalex.org/W2296319761","https://openalex.org/W2531563875","https://openalex.org/W2538521351","https://openalex.org/W3150997492","https://openalex.org/W4236965008","https://openalex.org/W4250589301","https://openalex.org/W4362597616"],"related_works":["https://openalex.org/W2088651759","https://openalex.org/W2107701374","https://openalex.org/W2134508677","https://openalex.org/W4324094550","https://openalex.org/W2054153498","https://openalex.org/W4381747464","https://openalex.org/W4307266377","https://openalex.org/W1993689898","https://openalex.org/W2023549875","https://openalex.org/W4317376074"],"abstract_inverted_index":{"We":[0,126,150],"present":[1],"a":[2,22,62,118],"practical":[3],"vision-based":[4],"robotic":[5],"bin-picking":[6],"system":[7,51],"that":[8,65,129],"performs":[9,33],"detection":[10,35],"and":[11,32,36,56,90,122,141,164],"three-dimensional":[12,119],"pose":[13,37],"estimation":[14],"of":[15,98,116,136,162,176,183,193],"objects":[16,89],"in":[17,43,110,138,159,181],"an":[18,73],"unstructured":[19],"bin":[20],"using":[21,113],"novel":[23],"camera":[24,64],"design,":[25],"picks":[26],"up":[27,189],"parts":[28],"from":[29],"the":[30,40,44,96,134,139,145,160,174,184,197],"bin,":[31],"error":[34],"correction":[38],"while":[39],"part":[41],"is":[42,84,188],"gripper.":[45],"Two":[46],"main":[47],"innovations":[48],"enable":[49],"our":[50,153],"to":[52,86,156,170,190],"achieve":[53],"real-time":[54],"robust":[55,67],"accurate":[57],"operation.":[58],"First,":[59],"we":[60,71],"use":[61,135],"multi-flash":[63],"extracts":[66],"depth":[68],"edges.":[69],"Second,":[70],"introduce":[72],"efficient":[74],"shape-matching":[75],"algorithm":[76,146],"called":[77],"fast":[78],"directional":[79,123],"chamfer":[80,99,178],"matching":[81,100,111,179],"(FDCM),":[82],"which":[83],"used":[85],"reliably":[87],"detect":[88],"estimate":[91],"their":[92],"poses.":[93],"FDCM":[94,154,187],"improves":[95],"accuracy":[97,175],"by":[101],"including":[102],"edge":[103],"orientation.":[104],"It":[105],"also":[106,151],"achieves":[107],"massive":[108],"improvements":[109],"speed":[112],"line-segment":[114],"approximations":[115],"edges,":[117],"distance":[120],"transform,":[121],"integral":[124],"images.":[125],"empirically":[127],"show":[128],"these":[130],"speedups,":[131],"combined":[132],"with":[133],"bounds":[137],"spatial":[140],"hypothesis":[142],"domains,":[143],"give":[144],"sublinear":[147],"computational":[148],"complexity.":[149],"apply":[152],"method":[155],"other":[157],"applications":[158],"context":[161],"deformable":[163],"articulated":[165],"shape":[166],"matching.":[167],"In":[168],"addition":[169],"significantly":[171],"improving":[172],"upon":[173],"previous":[177,198],"methods":[180],"all":[182],"evaluated":[185],"applications,":[186],"two":[191],"orders":[192],"magnitude":[194],"faster":[195],"than":[196],"methods.":[199]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":17},{"year":2022,"cited_by_count":16},{"year":2021,"cited_by_count":11},{"year":2020,"cited_by_count":16},{"year":2019,"cited_by_count":22},{"year":2018,"cited_by_count":22},{"year":2017,"cited_by_count":22},{"year":2016,"cited_by_count":20},{"year":2015,"cited_by_count":11},{"year":2014,"cited_by_count":9},{"year":2013,"cited_by_count":10},{"year":2012,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}