{"id":"https://openalex.org/W3175651897","doi":"https://doi.org/10.1587/transinf.2020edp7235","title":"Attention Voting Network with Prior Distance Augmented Loss for 6DoF Pose Estimation","display_name":"Attention Voting Network with Prior Distance Augmented Loss for 6DoF Pose Estimation","publication_year":2021,"publication_date":"2021-06-30","ids":{"openalex":"https://openalex.org/W3175651897","doi":"https://doi.org/10.1587/transinf.2020edp7235","mag":"3175651897"},"language":"en","primary_location":{"id":"doi:10.1587/transinf.2020edp7235","is_oa":true,"landing_page_url":"https://doi.org/10.1587/transinf.2020edp7235","pdf_url":"https://www.jstage.jst.go.jp/article/transinf/E104.D/7/E104.D_2020EDP7235/_pdf","source":{"id":"https://openalex.org/S2486202937","display_name":"IEICE Transactions on Information and Systems","issn_l":"0916-8532","issn":["0916-8532","1745-1361"],"is_oa":true,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4320800604","host_organization_name":"Institute of Electronics, Information and Communication Engineers","host_organization_lineage":["https://openalex.org/P4320800604"],"host_organization_lineage_names":["Institute of Electronics, Information and Communication Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEICE Transactions on Information and Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"diamond","oa_url":"https://www.jstage.jst.go.jp/article/transinf/E104.D/7/E104.D_2020EDP7235/_pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100342968","display_name":"Yong He","orcid":"https://orcid.org/0000-0001-6752-1757"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yong HE","raw_affiliation_strings":["School of Computer Science, Chongqing University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science, Chongqing University","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101642707","display_name":"Ji Li","orcid":"https://orcid.org/0000-0002-6286-0896"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ji LI","raw_affiliation_strings":["School of Computer Science, Chongqing University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science, Chongqing University","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103220281","display_name":"Xuanhong Zhou","orcid":"https://orcid.org/0000-0003-3409-9275"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuanhong ZHOU","raw_affiliation_strings":["School of Computer Science, Chongqing University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science, Chongqing University","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074545164","display_name":"Zewei Chen","orcid":"https://orcid.org/0000-0001-7758-7581"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zewei CHEN","raw_affiliation_strings":["School of Computer Science, Chongqing University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science, Chongqing University","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100746260","display_name":"Xin Liu","orcid":"https://orcid.org/0000-0001-9691-9916"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin LIU","raw_affiliation_strings":["School of Computer Science, Chongqing University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science, Chongqing University","institution_ids":["https://openalex.org/I158842170"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.4166,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":{"value":0.60484066,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"E104.D","issue":"7","first_page":"1039","last_page":"1048"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9968000054359436,"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":0.9968000054359436,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9965999722480774,"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/T12549","display_name":"Image and Object Detection Techniques","score":0.9961000084877014,"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/computer-science","display_name":"Computer science","score":0.8551853895187378},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7174346446990967},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.5153993368148804},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.513873815536499},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.4559685289859772},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.45423051714897156},{"id":"https://openalex.org/keywords/embedding","display_name":"Embedding","score":0.44719600677490234},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.44113099575042725},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.41744357347488403},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3502883315086365}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8551853895187378},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7174346446990967},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.5153993368148804},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.513873815536499},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.4559685289859772},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.45423051714897156},{"id":"https://openalex.org/C41608201","wikidata":"https://www.wikidata.org/wiki/Q980509","display_name":"Embedding","level":2,"score":0.44719600677490234},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.44113099575042725},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.41744357347488403},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3502883315086365},{"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/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1587/transinf.2020edp7235","is_oa":true,"landing_page_url":"https://doi.org/10.1587/transinf.2020edp7235","pdf_url":"https://www.jstage.jst.go.jp/article/transinf/E104.D/7/E104.D_2020EDP7235/_pdf","source":{"id":"https://openalex.org/S2486202937","display_name":"IEICE Transactions on Information and Systems","issn_l":"0916-8532","issn":["0916-8532","1745-1361"],"is_oa":true,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4320800604","host_organization_name":"Institute of Electronics, Information and Communication Engineers","host_organization_lineage":["https://openalex.org/P4320800604"],"host_organization_lineage_names":["Institute of Electronics, Information and Communication Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEICE Transactions on Information and Systems","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1587/transinf.2020edp7235","is_oa":true,"landing_page_url":"https://doi.org/10.1587/transinf.2020edp7235","pdf_url":"https://www.jstage.jst.go.jp/article/transinf/E104.D/7/E104.D_2020EDP7235/_pdf","source":{"id":"https://openalex.org/S2486202937","display_name":"IEICE Transactions on Information and Systems","issn_l":"0916-8532","issn":["0916-8532","1745-1361"],"is_oa":true,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4320800604","host_organization_name":"Institute of Electronics, Information and Communication Engineers","host_organization_lineage":["https://openalex.org/P4320800604"],"host_organization_lineage_names":["Institute of Electronics, Information and Communication Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEICE Transactions on Information and Systems","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.5600000023841858,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3175651897.pdf","grobid_xml":"https://content.openalex.org/works/W3175651897.grobid-xml"},"referenced_works_count":51,"referenced_works":["https://openalex.org/W132147841","https://openalex.org/W1526868886","https://openalex.org/W1533501036","https://openalex.org/W1536680647","https://openalex.org/W1901129140","https://openalex.org/W1991544872","https://openalex.org/W2010625607","https://openalex.org/W2011792403","https://openalex.org/W2049981393","https://openalex.org/W2101199297","https://openalex.org/W2150066425","https://openalex.org/W2194775991","https://openalex.org/W2200124539","https://openalex.org/W2344474200","https://openalex.org/W2472269674","https://openalex.org/W2604236302","https://openalex.org/W2624503621","https://openalex.org/W2752782242","https://openalex.org/W2768879211","https://openalex.org/W2797394534","https://openalex.org/W2798122215","https://openalex.org/W2799166040","https://openalex.org/W2804488433","https://openalex.org/W2884436604","https://openalex.org/W2886934227","https://openalex.org/W2893763910","https://openalex.org/W2895340641","https://openalex.org/W2921406441","https://openalex.org/W2950921159","https://openalex.org/W2962888833","https://openalex.org/W2962891704","https://openalex.org/W2963037989","https://openalex.org/W2963150697","https://openalex.org/W2963177347","https://openalex.org/W2963188159","https://openalex.org/W2963727650","https://openalex.org/W2963756608","https://openalex.org/W2963835812","https://openalex.org/W2963892972","https://openalex.org/W2964056579","https://openalex.org/W2964249569","https://openalex.org/W2981378444","https://openalex.org/W2989915422","https://openalex.org/W2993235622","https://openalex.org/W2996495478","https://openalex.org/W3009516594","https://openalex.org/W3010769982","https://openalex.org/W3025800305","https://openalex.org/W3034552520","https://openalex.org/W3034986117","https://openalex.org/W3035339581"],"related_works":["https://openalex.org/W2081900870","https://openalex.org/W2123263858","https://openalex.org/W3127959533","https://openalex.org/W2037549926","https://openalex.org/W4387967917","https://openalex.org/W2345479200","https://openalex.org/W200819717","https://openalex.org/W2183306018","https://openalex.org/W4307623796","https://openalex.org/W4394784820"],"abstract_inverted_index":{"6DoF":[0],"pose":[1],"estimation":[2],"from":[3],"a":[4,9,80,99],"monocular":[5],"RGB":[6],"image":[7],"is":[8,49,68],"challenging":[10],"but":[11],"fundamental":[12],"task.":[13],"The":[14],"methods":[15,145,159,168],"based":[16],"on":[17,146],"unit":[18,43],"direction":[19],"vector-field":[20,94],"representation":[21],"and":[22,61,140,150,164],"Hough":[23],"voting":[24],"strategy":[25],"achieved":[26],"state-ofthe-art":[27],"performance.":[28],"Nevertheless,":[29],"they":[30],"apply":[31],"the":[32,38,42,55,59,62,65,72,88,116,127,138,147,157],"smooth":[33],"1":[34],"loss":[35],"to":[36,86,124,136],"learn":[37],"two":[39],"elements":[40],"of":[41,129,143],"vector":[44],"separately,":[45],"resulting":[46],"in":[47],"which":[48],"not":[50],"taken":[51],"into":[52,115],"account":[53],"that":[54,156],"prior":[56,73,89],"distance":[57,90],"between":[58],"pixel":[60],"keypoint.":[63],"While":[64],"positioning":[66],"error":[67],"significantly":[69],"affected":[70],"by":[71],"distance.":[74],"In":[75],"this":[76,109],"work,":[77],"we":[78,97,118],"propose":[79,98],"Prior":[81],"Distance":[82],"Augmented":[83],"Loss":[84],"(PDAL)":[85],"exploit":[87],"for":[91,104],"more":[92],"accurate":[93],"representation.":[95],"Furthermore,":[96],"lightweight":[100],"channel-level":[101],"attention":[102],"module":[103],"adaptive":[105],"feature":[106],"fusion.":[107],"Embedding":[108],"Adaptive":[110],"Fusion":[111],"Attention":[112,121],"Module":[113],"(AFAM)":[114],"U-Net,":[117],"build":[119],"an":[120],"Voting":[122],"Network":[123],"further":[125],"improve":[126],"performance":[128,141,162],"our":[130,144],"method.":[131],"We":[132],"conduct":[133],"extensive":[134],"experiments":[135,154],"demonstrate":[137],"effectiveness":[139],"improvement":[142],"LINEMOD,":[148],"OCCLUSION":[149],"YCB-Video":[151],"datasets.":[152],"Our":[153],"show":[155],"proposed":[158],"bring":[160],"significant":[161],"gains":[163],"outperform":[165],"state-of-the-art":[166],"RGB-based":[167],"without":[169],"any":[170],"post-refinement.":[171]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}