{"id":"https://openalex.org/W7138072548","doi":"https://doi.org/10.1609/aaai.v40i10.37747","title":"Exploring Category-level Articulated Object Pose Tracking on SE(3) Manifolds","display_name":"Exploring Category-level Articulated Object Pose Tracking on SE(3) Manifolds","publication_year":2026,"publication_date":"2026-03-14","ids":{"openalex":"https://openalex.org/W7138072548","doi":"https://doi.org/10.1609/aaai.v40i10.37747"},"language":null,"primary_location":{"id":"doi:10.1609/aaai.v40i10.37747","is_oa":true,"landing_page_url":"https://doi.org/10.1609/aaai.v40i10.37747","pdf_url":null,"source":{"id":"https://openalex.org/S4210191458","display_name":"Proceedings of the AAAI Conference on Artificial Intelligence","issn_l":"2159-5399","issn":["2159-5399","2374-3468"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310320058","host_organization_name":"Association for the Advancement of Artificial Intelligence","host_organization_lineage":["https://openalex.org/P4310320058"],"host_organization_lineage_names":["Association for the Advancement of Artificial Intelligence"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the AAAI Conference on Artificial Intelligence","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"diamond","oa_url":"https://doi.org/10.1609/aaai.v40i10.37747","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5125171440","display_name":"Xianhui Meng","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Xianhui Meng","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102607445","display_name":"Yukang Huo","orcid":"https://orcid.org/0009-0001-9569-7028"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yukang Huo","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129732734","display_name":"Li Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li Zhang","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129647262","display_name":"Liu Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu Liu","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129676039","display_name":"Haonan Jiang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Haonan Jiang","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129716451","display_name":"Yan Zhong","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yan Zhong","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129713779","display_name":"Pingrui Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pingrui Zhang","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129716230","display_name":"Cewu Lu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cewu Lu","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5129642314","display_name":"Jun Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jun Liu","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5125171440"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.46590909,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"40","issue":"10","first_page":"8016","last_page":"8024"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.8353999853134155,"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":0.8353999853134155,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.05420000106096268,"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/T11398","display_name":"Hand Gesture Recognition Systems","score":0.026200000196695328,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"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/articulated-body-pose-estimation","display_name":"Articulated body pose estimation","score":0.7675999999046326},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.6941999793052673},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6093000173568726},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.571399986743927},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.49540001153945923},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.40549999475479126},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.4050000011920929},{"id":"https://openalex.org/keywords/3d-pose-estimation","display_name":"3D pose estimation","score":0.3643999993801117}],"concepts":[{"id":"https://openalex.org/C22100474","wikidata":"https://www.wikidata.org/wiki/Q4800952","display_name":"Articulated body pose estimation","level":4,"score":0.7675999999046326},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7293999791145325},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.6941999793052673},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6456999778747559},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6220999956130981},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6093000173568726},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.571399986743927},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.49540001153945923},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.40549999475479126},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.4050000011920929},{"id":"https://openalex.org/C36613465","wikidata":"https://www.wikidata.org/wiki/Q4636322","display_name":"3D pose estimation","level":3,"score":0.3643999993801117},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.35499998927116394},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.3379000127315521},{"id":"https://openalex.org/C202474056","wikidata":"https://www.wikidata.org/wiki/Q1931635","display_name":"Video tracking","level":3,"score":0.32269999384880066},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.3091999888420105},{"id":"https://openalex.org/C160920958","wikidata":"https://www.wikidata.org/wiki/Q7662746","display_name":"Synthetic data","level":2,"score":0.30410000681877136},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.29679998755455017},{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.2937999963760376},{"id":"https://openalex.org/C64876066","wikidata":"https://www.wikidata.org/wiki/Q5141226","display_name":"Cognitive neuroscience of visual object recognition","level":3,"score":0.2913999855518341},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.29100000858306885},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.26919999718666077}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1609/aaai.v40i10.37747","is_oa":true,"landing_page_url":"https://doi.org/10.1609/aaai.v40i10.37747","pdf_url":null,"source":{"id":"https://openalex.org/S4210191458","display_name":"Proceedings of the AAAI Conference on Artificial Intelligence","issn_l":"2159-5399","issn":["2159-5399","2374-3468"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310320058","host_organization_name":"Association for the Advancement of Artificial Intelligence","host_organization_lineage":["https://openalex.org/P4310320058"],"host_organization_lineage_names":["Association for the Advancement of Artificial Intelligence"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the AAAI Conference on Artificial Intelligence","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1609/aaai.v40i10.37747","is_oa":true,"landing_page_url":"https://doi.org/10.1609/aaai.v40i10.37747","pdf_url":null,"source":{"id":"https://openalex.org/S4210191458","display_name":"Proceedings of the AAAI Conference on Artificial Intelligence","issn_l":"2159-5399","issn":["2159-5399","2374-3468"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310320058","host_organization_name":"Association for the Advancement of Artificial Intelligence","host_organization_lineage":["https://openalex.org/P4310320058"],"host_organization_lineage_names":["Association for the Advancement of Artificial Intelligence"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the AAAI Conference on Artificial Intelligence","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Articulated":[0],"objects":[1,20,65],"are":[2],"prevalent":[3],"in":[4,55,131,145],"daily":[5],"life":[6],"and":[7,61,111,119,127,149],"robotic":[8],"manipulation":[9],"tasks.":[10],"However,":[11],"compared":[12],"to":[13,26,71,91],"rigid":[14],"objects,":[15],"pose":[16,41,73,133],"tracking":[17,42,134],"for":[18],"articulated":[19,64,101,136],"remains":[21],"an":[22],"underexplored":[23],"problem":[24],"due":[25],"their":[27],"inherent":[28],"kinematic":[29,94],"constraints.":[30],"To":[31],"address":[32],"these":[33],"challenges,":[34],"this":[35,140],"work":[36,141],"proposes":[37],"a":[38],"novel":[39],"point-pair-based":[40],"framework,":[43],"termed":[44],"PPF-Tracker.":[45],"The":[46],"proposed":[47],"framework":[48],"first":[49],"performs":[50],"quasi-canonicalization":[51],"of":[52,81,86,99,129,135],"point":[53],"clouds":[54],"the":[56,78,100,125],"SE(3)":[57],"Lie":[58],"group":[59],"space,":[60],"then":[62],"models":[63],"using":[66],"Point":[67],"Pair":[68],"Features":[69],"(PPF)":[70],"predict":[72],"voting":[74],"parameters":[75],"by":[76],"leveraging":[77],"invariance":[79],"properties":[80],"SE(3).":[82],"Finally,":[83],"semantic":[84],"information":[85],"joint":[87],"axes":[88],"is":[89,104],"incorporated":[90],"impose":[92],"unified":[93],"constraints":[95],"across":[96,117],"all":[97],"parts":[98],"object.":[102],"PPF-Tracker":[103,130],"systematically":[105],"evaluated":[106],"on":[107],"both":[108],"synthetic":[109],"datasets":[110],"real-world":[112],"scenarios,":[113],"demonstrating":[114],"strong":[115],"generalization":[116],"diverse":[118],"challenging":[120],"environments.":[121],"Experimental":[122],"results":[123],"highlight":[124],"effectiveness":[126],"robustness":[128],"multi-frame":[132],"objects.":[137],"We":[138],"believe":[139],"can":[142],"foster":[143],"advances":[144],"robotics,":[146],"embodied":[147],"intelligence,":[148],"augmented":[150],"reality.":[151]},"counts_by_year":[],"updated_date":"2026-03-18T06:31:55.123368","created_date":"2026-03-18T00:00:00"}