{"id":"https://openalex.org/W2754261779","doi":"https://doi.org/10.3390/s17092122","title":"Simultaneous Recognition and Relative Pose Estimation of 3D Objects Using 4D Orthonormal Moments","display_name":"Simultaneous Recognition and Relative Pose Estimation of 3D Objects Using 4D Orthonormal Moments","publication_year":2017,"publication_date":"2017-09-15","ids":{"openalex":"https://openalex.org/W2754261779","doi":"https://doi.org/10.3390/s17092122","mag":"2754261779","pmid":"https://pubmed.ncbi.nlm.nih.gov/28914779"},"language":"en","primary_location":{"id":"doi:10.3390/s17092122","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s17092122","pdf_url":"https://www.mdpi.com/1424-8220/17/9/2122/pdf?version=1505470251","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/17/9/2122/pdf?version=1505470251","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5059685905","display_name":"Sergio Dom\u00ednguez","orcid":"https://orcid.org/0000-0002-9498-5407"},"institutions":[{"id":"https://openalex.org/I4210125392","display_name":"Centre for Automation and Robotics","ror":"https://ror.org/02wh02235","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210125392","https://openalex.org/I88060688"]},{"id":"https://openalex.org/I88060688","display_name":"Universidad Polit\u00e9cnica de Madrid","ror":"https://ror.org/03n6nwv02","country_code":"ES","type":"education","lineage":["https://openalex.org/I88060688"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Sergio Dominguez","raw_affiliation_strings":["Centre for Automation and Robotics UPM-CSIC, Universidad Polit\u00e9cnica de Madrid, Jose Gutierrez Abascal, 2, 28006 Madrid, Spain"],"raw_orcid":"https://orcid.org/0000-0002-9498-5407","affiliations":[{"raw_affiliation_string":"Centre for Automation and Robotics UPM-CSIC, Universidad Polit\u00e9cnica de Madrid, Jose Gutierrez Abascal, 2, 28006 Madrid, Spain","institution_ids":["https://openalex.org/I4210125392","https://openalex.org/I88060688"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5059685905"],"corresponding_institution_ids":["https://openalex.org/I4210125392","https://openalex.org/I88060688"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2673},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2673},"fwci":22.3614,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.98870807,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":"17","issue":"9","first_page":"2122","last_page":"2122"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9980999827384949,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.996999979019165,"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/orthonormal-basis","display_name":"Orthonormal basis","score":0.8941832780838013},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.6897751688957214},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6300122737884521},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6015574336051941},{"id":"https://openalex.org/keywords/projection","display_name":"Projection (relational algebra)","score":0.5447810292243958},{"id":"https://openalex.org/keywords/cognitive-neuroscience-of-visual-object-recognition","display_name":"Cognitive neuroscience of visual object recognition","score":0.5407692193984985},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5332033038139343},{"id":"https://openalex.org/keywords/tensor","display_name":"Tensor (intrinsic definition)","score":0.5092674493789673},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.49709394574165344},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.47888892889022827},{"id":"https://openalex.org/keywords/matrix","display_name":"Matrix (chemical analysis)","score":0.4787139892578125},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4776657521724701},{"id":"https://openalex.org/keywords/3d-pose-estimation","display_name":"3D pose estimation","score":0.4355713725090027},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3585982620716095},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3341863751411438}],"concepts":[{"id":"https://openalex.org/C5806529","wikidata":"https://www.wikidata.org/wiki/Q2365325","display_name":"Orthonormal basis","level":2,"score":0.8941832780838013},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.6897751688957214},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6300122737884521},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6015574336051941},{"id":"https://openalex.org/C57493831","wikidata":"https://www.wikidata.org/wiki/Q3134666","display_name":"Projection (relational algebra)","level":2,"score":0.5447810292243958},{"id":"https://openalex.org/C64876066","wikidata":"https://www.wikidata.org/wiki/Q5141226","display_name":"Cognitive neuroscience of visual object recognition","level":3,"score":0.5407692193984985},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5332033038139343},{"id":"https://openalex.org/C155281189","wikidata":"https://www.wikidata.org/wiki/Q3518150","display_name":"Tensor (intrinsic definition)","level":2,"score":0.5092674493789673},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.49709394574165344},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.47888892889022827},{"id":"https://openalex.org/C106487976","wikidata":"https://www.wikidata.org/wiki/Q685816","display_name":"Matrix (chemical analysis)","level":2,"score":0.4787139892578125},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4776657521724701},{"id":"https://openalex.org/C36613465","wikidata":"https://www.wikidata.org/wiki/Q4636322","display_name":"3D pose estimation","level":3,"score":0.4355713725090027},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3585982620716095},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3341863751411438},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.0},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":7,"locations":[{"id":"doi:10.3390/s17092122","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s17092122","pdf_url":"https://www.mdpi.com/1424-8220/17/9/2122/pdf?version=1505470251","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},{"id":"pmid:28914779","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/28914779","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":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:dnet:archivodigit::77b4e0ac29e200c0243b90c63f9e4895","is_oa":false,"landing_page_url":"http://oa.upm.es/50151/","pdf_url":null,"source":{"id":"https://openalex.org/S4306402641","display_name":"LA Referencia (Red Federada de Repositorios Institucionales de Publicaciones Cient\u00edficas)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4383465926","host_organization_name":"LA Referencia","host_organization_lineage":["https://openalex.org/I4383465926"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"Sensors, ISSN 1424-8220, 2017-09, Vol. 17, No. 9","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:europepmc.org:4549622","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/5620957","pdf_url":null,"source":{"id":"https://openalex.org/S4306400806","display_name":"Europe PMC (PubMed Central)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1303153112","host_organization_name":"European Bioinformatics Institute","host_organization_lineage":["https://openalex.org/I1303153112"],"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":null,"raw_type":"Text"},{"id":"pmh:oai:digital.csic.es:10261/170690","is_oa":true,"landing_page_url":"http://hdl.handle.net/10261/170690","pdf_url":null,"source":{"id":"https://openalex.org/S4306400616","display_name":"DIGITAL.CSIC (Spanish National Research Council (CSIC))","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I134820265","host_organization_name":"Consejo Superior de Investigaciones Cient\u00edficas","host_organization_lineage":["https://openalex.org/I134820265"],"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":"","raw_type":"art\u00edculo"},{"id":"pmh:oai:doaj.org/article:55a9476fef3045fdba0f5493c303a95f","is_oa":true,"landing_page_url":"https://doaj.org/article/55a9476fef3045fdba0f5493c303a95f","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":"Sensors, Vol 17, Iss 9, p 2122 (2017)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/17/9/2122/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s17092122","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"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":"Sensors; Volume 17; Issue 9; Pages: 2122","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s17092122","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s17092122","pdf_url":"https://www.mdpi.com/1424-8220/17/9/2122/pdf?version=1505470251","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1591870335","https://openalex.org/W1949483711","https://openalex.org/W1991264156","https://openalex.org/W1993576584","https://openalex.org/W2032248989","https://openalex.org/W2033574012","https://openalex.org/W2101025736","https://openalex.org/W2129460581","https://openalex.org/W2137914836","https://openalex.org/W2146447720","https://openalex.org/W2160967076","https://openalex.org/W2161112350","https://openalex.org/W2295936090","https://openalex.org/W2335856055","https://openalex.org/W2344034789","https://openalex.org/W2344474200","https://openalex.org/W2461937780","https://openalex.org/W2513866242","https://openalex.org/W2546239211","https://openalex.org/W2550312906","https://openalex.org/W2574367920","https://openalex.org/W2589346439","https://openalex.org/W2604736759","https://openalex.org/W3124420883","https://openalex.org/W4251296018","https://openalex.org/W4298769985","https://openalex.org/W6682968578","https://openalex.org/W6941013356"],"related_works":["https://openalex.org/W4253893311","https://openalex.org/W2798721181","https://openalex.org/W3201205132","https://openalex.org/W4287600488","https://openalex.org/W4312694060","https://openalex.org/W4281696776","https://openalex.org/W4318148659","https://openalex.org/W4387967917","https://openalex.org/W4299867837","https://openalex.org/W2951583186"],"abstract_inverted_index":{"Both":[0],"three-dimensional":[1],"(3D)":[2],"object":[3,80,149],"recognition":[4,112,150,238],"and":[5,43,73,113,130,151,187,199,239,259],"pose":[6,114,152,240,263],"estimation":[7,115,153,241,249,260],"are":[8,17,102,278],"open":[9],"topics":[10],"in":[11,35,104,204,210,227,266],"the":[12,36,64,75,119,131,135,178,182,235,247,252,262,271],"research":[13],"community.":[14],"These":[15],"tasks":[16],"required":[18,183],"for":[19,147],"a":[20,67,78,93,105,122,168,190,231,281],"wide":[21],"range":[22],"of":[23,66,77,84,95,121,134,138,144,177,222,234,254,261,264,286],"applications,":[24],"sometimes":[25,27],"separately,":[26,42],"concurrently.":[28],"Many":[29],"different":[30,82,220],"algorithms":[31],"have":[32,215,224],"been":[33,225],"presented":[34],"literature":[37],"to":[38,45,54,118,166,171,216,229,284],"solve":[39,46,55],"these":[40,100,172,275],"problems":[41],"some":[44],"them":[47,56],"jointly.":[48],"In":[49,273],"this":[50,145],"paper,":[51],"an":[52,139],"algorithm":[53,179],"simultaneously":[57],"is":[58,61,89,116,154,180,185,196],"introduced.":[59],"It":[60],"based":[62],"on":[63,163],"definition":[65],"four-dimensional":[68],"(4D)":[69],"tensor":[70,88],"that":[71,107,128,158,181],"gathers":[72],"organizes":[74],"projections":[76],"3D":[79,148],"from":[81,270],"points":[83],"view.":[85],"This":[86,194],"4D":[87,96],"then":[90],"represented":[91],"by":[92],"set":[94],"orthonormal":[97],"moments.":[98],"Once":[99],"moments":[101,133],"arranged":[103],"matrix":[106,129],"can":[108],"be":[109,217],"computed":[110],"off-line,":[111],"reduced":[117],"solution":[120],"linear":[123],"least":[124],"squares":[125],"problem,":[126],"involving":[127],"2D":[132],"observed":[136],"projection":[137,184],"unknown":[140],"object.":[141],"The":[142],"abilities":[143],"method":[146,195],"analytically":[155],"proved,":[156],"demonstrating":[157],"it":[159],"does":[160],"not":[161],"rely":[162],"experimental":[164],"work":[165],"apply":[167],"generic":[169],"technique":[170],"problems.":[173],"An":[174],"additional":[175],"strength":[176],"textureless":[186],"defined":[188],"at":[189,280],"very":[191,201],"low":[192],"resolution.":[193],"computationally":[197],"simple":[198],"shows":[200],"good":[202],"performance":[203],"both":[205],"tasks,":[206],"allowing":[207],"its":[208],"use":[209],"applications":[211],"where":[212],"real-time":[213],"constraints":[214],"fulfilled.":[218],"Three":[219],"kinds":[221],"experiments":[223],"conducted":[226],"order":[228],"perform":[230],"thorough":[232],"validation":[233],"proposed":[236],"approach:":[237],"under":[242],"z":[243],"axis":[244,256],"(yaw)":[245],"rotations,":[246],"same":[248],"but":[250],"with":[251],"addition":[253],"y":[255],"rotations":[257],"(pitch),":[258],"objects":[265],"real":[267],"images":[268],"downloaded":[269],"Internet.":[272],"all":[274],"cases,":[276],"results":[277],"encouraging,":[279],"similar":[282],"level":[283],"those":[285],"state-of-the":[287],"art":[288],"algorithms.":[289]},"counts_by_year":[{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2}],"updated_date":"2026-08-11T07:18:39.950985","created_date":"2025-10-10T00:00:00"}