{"id":"https://openalex.org/W4406187897","doi":"https://doi.org/10.3389/frobt.2024.1424036","title":"A fast monocular 6D pose estimation method for textureless objects based on perceptual hashing and template matching","display_name":"A fast monocular 6D pose estimation method for textureless objects based on perceptual hashing and template matching","publication_year":2025,"publication_date":"2025-01-08","ids":{"openalex":"https://openalex.org/W4406187897","doi":"https://doi.org/10.3389/frobt.2024.1424036","pmid":"https://pubmed.ncbi.nlm.nih.gov/39845569"},"language":"en","primary_location":{"id":"doi:10.3389/frobt.2024.1424036","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2024.1424036","pdf_url":null,"source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.3389/frobt.2024.1424036","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5093052711","display_name":"Jose Moises Araya-Martinez","orcid":"https://orcid.org/0009-0006-5507-9512"},"institutions":[{"id":"https://openalex.org/I4577782","display_name":"Technische Universit\u00e4t Berlin","ror":"https://ror.org/03v4gjf40","country_code":"DE","type":"education","lineage":["https://openalex.org/I4577782"]},{"id":"https://openalex.org/I1332474105","display_name":"Mercedes-Benz (Germany)","ror":"https://ror.org/055rn2a38","country_code":"DE","type":"company","lineage":["https://openalex.org/I1332474105"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Jose Moises Araya-Martinez","raw_affiliation_strings":["Future Manufacturing Technologies, Mercedes-Benz AG, Sindelfingen, Germany","Industry Grade Networks and Clouds, Institute of Telecommunication Systems, Electrical Engineering and Computer Science, Technical University Berlin, Berlin, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Future Manufacturing Technologies, Mercedes-Benz AG, Sindelfingen, Germany","institution_ids":["https://openalex.org/I1332474105"]},{"raw_affiliation_string":"Industry Grade Networks and Clouds, Institute of Telecommunication Systems, Electrical Engineering and Computer Science, Technical University Berlin, Berlin, Germany","institution_ids":["https://openalex.org/I4577782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092705498","display_name":"Vinicius Soares Matthiesen","orcid":null},"institutions":[{"id":"https://openalex.org/I891191580","display_name":"Aalborg University","ror":"https://ror.org/04m5j1k67","country_code":"DK","type":"education","lineage":["https://openalex.org/I891191580"]},{"id":"https://openalex.org/I1332474105","display_name":"Mercedes-Benz (Germany)","ror":"https://ror.org/055rn2a38","country_code":"DE","type":"company","lineage":["https://openalex.org/I1332474105"]}],"countries":["DE","DK"],"is_corresponding":false,"raw_author_name":"Vinicius Soares Matthiesen","raw_affiliation_strings":["Department of Materials and Production, Aalborg University, Aalborg, Denmark","Future Manufacturing Technologies, Mercedes-Benz AG, Sindelfingen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Materials and Production, Aalborg University, Aalborg, Denmark","institution_ids":["https://openalex.org/I891191580"]},{"raw_affiliation_string":"Future Manufacturing Technologies, Mercedes-Benz AG, Sindelfingen, Germany","institution_ids":["https://openalex.org/I1332474105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048839097","display_name":"Simon B\u00f8gh","orcid":"https://orcid.org/0000-0002-5960-4365"},"institutions":[{"id":"https://openalex.org/I891191580","display_name":"Aalborg University","ror":"https://ror.org/04m5j1k67","country_code":"DK","type":"education","lineage":["https://openalex.org/I891191580"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Simon B\u00f8gh","raw_affiliation_strings":["Department of Materials and Production, Aalborg University, Aalborg, Denmark"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Materials and Production, Aalborg University, Aalborg, Denmark","institution_ids":["https://openalex.org/I891191580"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002499102","display_name":"Jens Lambrecht","orcid":"https://orcid.org/0000-0002-1017-9548"},"institutions":[{"id":"https://openalex.org/I4577782","display_name":"Technische Universit\u00e4t Berlin","ror":"https://ror.org/03v4gjf40","country_code":"DE","type":"education","lineage":["https://openalex.org/I4577782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jens Lambrecht","raw_affiliation_strings":["Industry Grade Networks and Clouds, Institute of Telecommunication Systems, Electrical Engineering and Computer Science, Technical University Berlin, Berlin, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Industry Grade Networks and Clouds, Institute of Telecommunication Systems, Electrical Engineering and Computer Science, Technical University Berlin, Berlin, Germany","institution_ids":["https://openalex.org/I4577782"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088704552","display_name":"Rui Pimentel de Figueiredo","orcid":"https://orcid.org/0000-0003-2443-5669"},"institutions":[{"id":"https://openalex.org/I891191580","display_name":"Aalborg University","ror":"https://ror.org/04m5j1k67","country_code":"DK","type":"education","lineage":["https://openalex.org/I891191580"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Rui Pimentel de Figueiredo","raw_affiliation_strings":["Department of Materials and Production, Aalborg University, Aalborg, Denmark"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Materials and Production, Aalborg University, Aalborg, Denmark","institution_ids":["https://openalex.org/I891191580"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5093052711"],"corresponding_institution_ids":["https://openalex.org/I1332474105","https://openalex.org/I4577782"],"apc_list":{"value":1900,"currency":"USD","value_usd":1900},"apc_paid":{"value":1900,"currency":"USD","value_usd":1900},"fwci":1.1455,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.69495596,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"11","issue":null,"first_page":"1424036","last_page":"1424036"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9966999888420105,"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"}},"topics":[{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9966999888420105,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9961000084877014,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.995199978351593,"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":0.8750203847885132},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.73067307472229},{"id":"https://openalex.org/keywords/hash-function","display_name":"Hash function","score":0.6052113175392151},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.585795521736145},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.5396139621734619},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.533744215965271},{"id":"https://openalex.org/keywords/template-matching","display_name":"Template matching","score":0.46091821789741516},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.45610836148262024},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.4486192464828491},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.22407469153404236},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.085106760263443},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.07643431425094604}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8750203847885132},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.73067307472229},{"id":"https://openalex.org/C99138194","wikidata":"https://www.wikidata.org/wiki/Q183427","display_name":"Hash function","level":2,"score":0.6052113175392151},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.585795521736145},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.5396139621734619},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.533744215965271},{"id":"https://openalex.org/C158096908","wikidata":"https://www.wikidata.org/wiki/Q3983303","display_name":"Template matching","level":3,"score":0.46091821789741516},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.45610836148262024},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.4486192464828491},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.22407469153404236},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.085106760263443},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.07643431425094604},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","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":5,"locations":[{"id":"doi:10.3389/frobt.2024.1424036","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2024.1424036","pdf_url":null,"source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},{"id":"pmid:39845569","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/39845569","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":"Frontiers in robotics and AI","raw_type":null},{"id":"pmh:oai:pure.atira.dk:openaire/af6791ef-f79e-4484-bf53-8fb9d5f0ec26","is_oa":true,"landing_page_url":"https://vbn.aau.dk/da/publications/af6791ef-f79e-4484-bf53-8fb9d5f0ec26","pdf_url":null,"source":{"id":"https://openalex.org/S4306401731","display_name":"VBN Forskningsportal (Aalborg Universitet)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I891191580","host_organization_name":"Aalborg University","host_organization_lineage":["https://openalex.org/I891191580"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Moises Araya-Martinez, J, Soares Matthiesen, V, B\u00f8gh, S, Lambrecht, J & Figueiredo, R M H P D 2024, 'A Fast Monocular 6D Pose Estimation Method for Textureless Objects Based on Perceptual Hashing and Template Matching', Frontiers in Robotics and AI, vol. 11, 1424036. https://doi.org/10.3389/frobt.2024.1424036","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:pubmedcentral.nih.gov:11750840","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/11750840","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Front Robot AI","raw_type":"Text"},{"id":"pmh:oai:doaj.org/article:ca9b65a0a19e441a87c15051dae99a41","is_oa":true,"landing_page_url":"https://doaj.org/article/ca9b65a0a19e441a87c15051dae99a41","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":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Frontiers in Robotics and AI, Vol 11 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3389/frobt.2024.1424036","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2024.1424036","pdf_url":null,"source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.5,"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W88434223","https://openalex.org/W132147841","https://openalex.org/W1517129425","https://openalex.org/W1526868886","https://openalex.org/W1788576983","https://openalex.org/W1976169942","https://openalex.org/W2002562485","https://openalex.org/W2017161545","https://openalex.org/W2033819227","https://openalex.org/W2065042868","https://openalex.org/W2085261163","https://openalex.org/W2116404897","https://openalex.org/W2161168419","https://openalex.org/W2472667043","https://openalex.org/W2807567209","https://openalex.org/W2884367402","https://openalex.org/W2915414978","https://openalex.org/W2940612399","https://openalex.org/W2981854237","https://openalex.org/W3009153702","https://openalex.org/W3009516594","https://openalex.org/W3056171435","https://openalex.org/W3092774272","https://openalex.org/W3101088080","https://openalex.org/W3104104643","https://openalex.org/W3148848505","https://openalex.org/W3208407227","https://openalex.org/W4310266187","https://openalex.org/W4311640782","https://openalex.org/W4321377343","https://openalex.org/W4378697042","https://openalex.org/W4383108328","https://openalex.org/W4383605056","https://openalex.org/W4387583608","https://openalex.org/W4391630742","https://openalex.org/W6732350924","https://openalex.org/W6759032116","https://openalex.org/W6854608599"],"related_works":["https://openalex.org/W200819717","https://openalex.org/W2032269556","https://openalex.org/W1991834176","https://openalex.org/W2944448661","https://openalex.org/W2064421702","https://openalex.org/W4253756925","https://openalex.org/W2805523177","https://openalex.org/W2131956013","https://openalex.org/W2802511870","https://openalex.org/W2372581239"],"abstract_inverted_index":{"per":[0],"image":[1],"on":[2,47],"a":[3,48,63],"small":[4],"form-factor":[5],"NVIDIA":[6],"AGX":[7],"Orin":[8],"device.":[9],"We":[10],"also":[11],"evaluate":[12],"robustness":[13],"under":[14],"partial":[15],"occlusions":[16],"(up":[17],"to":[18,28,42,76],"10%":[19],"occlusion)":[20],"and":[21,69],"noisy":[22],"inputs":[23],"(signal-to-noise":[24],"ratios":[25],"[SNRs]":[26],"up":[27],"10":[29],"dB),":[30],"with":[31],"only":[32],"minor":[33],"losses":[34],"in":[35,58],"accuracy.":[36],"Additionally,":[37],"we":[38],"compare":[39],"our":[40,52],"method":[41],"state-of-the-art":[43],"deep":[44],"learning":[45],"models":[46],"public":[49],"dataset.":[50],"Although":[51],"algorithm":[53],"does":[54],"not":[55],"outperform":[56],"them":[57],"absolute":[59],"accuracy,":[60],"it":[61],"provides":[62],"more":[64],"favorable":[65],"trade-off":[66],"between":[67],"accuracy":[68],"processing":[70],"time,":[71],"which":[72],"is":[73],"especially":[74],"relevant":[75],"applications":[77],"using":[78],"resource-constrained":[79],"devices.":[80]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-01-09T00:00:00"}