{"id":"https://openalex.org/W4401809048","doi":"https://doi.org/10.3390/s24175474","title":"6DoF Object Pose and Focal Length Estimation from Single RGB Images in Uncontrolled Environments","display_name":"6DoF Object Pose and Focal Length Estimation from Single RGB Images in Uncontrolled Environments","publication_year":2024,"publication_date":"2024-08-23","ids":{"openalex":"https://openalex.org/W4401809048","doi":"https://doi.org/10.3390/s24175474","pmid":"https://pubmed.ncbi.nlm.nih.gov/39275384"},"language":"en","primary_location":{"id":"doi:10.3390/s24175474","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24175474","pdf_url":"https://www.mdpi.com/1424-8220/24/17/5474/pdf?version=1724420517","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/1424-8220/24/17/5474/pdf?version=1724420517","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5093767559","display_name":"Mayura Manawadu","orcid":"https://orcid.org/0009-0008-9366-1508"},"institutions":[{"id":"https://openalex.org/I31419693","display_name":"Kyungpook National University","ror":"https://ror.org/040c17130","country_code":"KR","type":"education","lineage":["https://openalex.org/I31419693"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Mayura Manawadu","raw_affiliation_strings":["Graduate School of Electronic and Electrical Engineering, Kyungpook National University, Daegu 41566, Republic of Korea"],"raw_orcid":"https://orcid.org/0009-0008-9366-1508","affiliations":[{"raw_affiliation_string":"Graduate School of Electronic and Electrical Engineering, Kyungpook National University, Daegu 41566, Republic of Korea","institution_ids":["https://openalex.org/I31419693"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043124347","display_name":"Soon-Yong Park","orcid":"https://orcid.org/0000-0001-5090-9667"},"institutions":[{"id":"https://openalex.org/I31419693","display_name":"Kyungpook National University","ror":"https://ror.org/040c17130","country_code":"KR","type":"education","lineage":["https://openalex.org/I31419693"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Soon-Yong Park","raw_affiliation_strings":["Graduate School of Electronic and Electrical Engineering, Kyungpook National University, Daegu 41566, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0001-5090-9667","affiliations":[{"raw_affiliation_string":"Graduate School of Electronic and Electrical Engineering, Kyungpook National University, Daegu 41566, Republic of Korea","institution_ids":["https://openalex.org/I31419693"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5043124347"],"corresponding_institution_ids":["https://openalex.org/I31419693"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":3.9001,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.93771243,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"24","issue":"17","first_page":"5474","last_page":"5474"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9966999888420105,"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":0.9966999888420105,"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/T11984","display_name":"Anatomy and Medical Technology","score":0.9929999709129333,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.992900013923645,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/focal-length","display_name":"Focal length","score":0.7619810104370117},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7186169624328613},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6741514205932617},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6463139057159424},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.6146047711372375},{"id":"https://openalex.org/keywords/translation","display_name":"Translation (biology)","score":0.5635419487953186},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.5614534020423889},{"id":"https://openalex.org/keywords/projection","display_name":"Projection (relational algebra)","score":0.5552797913551331},{"id":"https://openalex.org/keywords/ambiguity","display_name":"Ambiguity","score":0.44354063272476196},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.4313589036464691},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.25945496559143066},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.08874830603599548},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.0808836817741394}],"concepts":[{"id":"https://openalex.org/C82552819","wikidata":"https://www.wikidata.org/wiki/Q193540","display_name":"Focal length","level":3,"score":0.7619810104370117},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7186169624328613},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6741514205932617},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6463139057159424},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.6146047711372375},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.5635419487953186},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.5614534020423889},{"id":"https://openalex.org/C57493831","wikidata":"https://www.wikidata.org/wiki/Q3134666","display_name":"Projection (relational algebra)","level":2,"score":0.5552797913551331},{"id":"https://openalex.org/C2780522230","wikidata":"https://www.wikidata.org/wiki/Q1140419","display_name":"Ambiguity","level":2,"score":0.44354063272476196},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.4313589036464691},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.25945496559143066},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.08874830603599548},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0808836817741394},{"id":"https://openalex.org/C15336307","wikidata":"https://www.wikidata.org/wiki/Q1766051","display_name":"Lens (geology)","level":2,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C105580179","wikidata":"https://www.wikidata.org/wiki/Q188928","display_name":"Messenger RNA","level":3,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s24175474","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24175474","pdf_url":"https://www.mdpi.com/1424-8220/24/17/5474/pdf?version=1724420517","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:39275384","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/39275384","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:pubmedcentral.nih.gov:11398113","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/11398113","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":"Sensors (Basel)","raw_type":"Text"},{"id":"pmh:oai:doaj.org/article:62d64dc3095f4094955e60ffc9c53af2","is_oa":true,"landing_page_url":"https://doaj.org/article/62d64dc3095f4094955e60ffc9c53af2","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 24, Iss 17, p 5474 (2024)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/24/17/5474/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s24175474","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","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s24175474","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24175474","pdf_url":"https://www.mdpi.com/1424-8220/24/17/5474/pdf?version=1724420517","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":[{"id":"https://metadata.un.org/sdg/16","score":0.8100000023841858,"display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G2768159943","display_name":null,"funder_award_id":"2021-0-00320","funder_id":"https://openalex.org/F4320328359","funder_display_name":"Ministry of Science and ICT, South Korea"},{"id":"https://openalex.org/G3552633884","display_name":null,"funder_award_id":"2021-0-00320","funder_id":"https://openalex.org/F4320335489","funder_display_name":"Institute for Information and Communications Technology Promotion"},{"id":"https://openalex.org/G3852038028","display_name":null,"funder_award_id":"2021R1A6A1A03043144","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"},{"id":"https://openalex.org/G7300258305","display_name":null,"funder_award_id":"2021R1A6A1A03043144","funder_id":"https://openalex.org/F4320328359","funder_display_name":"Ministry of Science and ICT, South Korea"}],"funders":[{"id":"https://openalex.org/F4320320671","display_name":"National Research Foundation","ror":"https://ror.org/05s0g1g46"},{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"},{"id":"https://openalex.org/F4320328359","display_name":"Ministry of Science and ICT, South Korea","ror":"https://ror.org/01wpjm123"},{"id":"https://openalex.org/F4320335489","display_name":"Institute for Information and Communications Technology Promotion","ror":"https://ror.org/01g0hqq23"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4401809048.pdf","grobid_xml":"https://content.openalex.org/works/W4401809048.grobid-xml"},"referenced_works_count":43,"referenced_works":["https://openalex.org/W1521162839","https://openalex.org/W1972485825","https://openalex.org/W2023528863","https://openalex.org/W2037227137","https://openalex.org/W2049981393","https://openalex.org/W2056313539","https://openalex.org/W2077435939","https://openalex.org/W2078723668","https://openalex.org/W2098764590","https://openalex.org/W2099606917","https://openalex.org/W2129499001","https://openalex.org/W2148254172","https://openalex.org/W2148843387","https://openalex.org/W2158583445","https://openalex.org/W2160821342","https://openalex.org/W2171592532","https://openalex.org/W2194775991","https://openalex.org/W2472269674","https://openalex.org/W2567239141","https://openalex.org/W2777195424","https://openalex.org/W2910733693","https://openalex.org/W2961662534","https://openalex.org/W2962783853","https://openalex.org/W2962988048","https://openalex.org/W2963177347","https://openalex.org/W2981390381","https://openalex.org/W3024760004","https://openalex.org/W3090077593","https://openalex.org/W3092185070","https://openalex.org/W3092774272","https://openalex.org/W3110620523","https://openalex.org/W3114633325","https://openalex.org/W3122190729","https://openalex.org/W3217365746","https://openalex.org/W4214660522","https://openalex.org/W4226280394","https://openalex.org/W4308754543","https://openalex.org/W4313588235","https://openalex.org/W4315489308","https://openalex.org/W4399197937","https://openalex.org/W4399245323","https://openalex.org/W6631719396","https://openalex.org/W6662860747"],"related_works":["https://openalex.org/W2353179089","https://openalex.org/W2923538289","https://openalex.org/W2353125546","https://openalex.org/W2470643824","https://openalex.org/W4400595174","https://openalex.org/W2349635380","https://openalex.org/W4353089801","https://openalex.org/W2353819554","https://openalex.org/W2359488321","https://openalex.org/W3117538987"],"abstract_inverted_index":{"Accurate":[0],"6DoF":[1,33,46,215],"(degrees":[2],"of":[3,40,94,123,162,231,274],"freedom)":[4],"pose":[5,34,47,143,187,216],"and":[6,21,48,73,101,126,137,145,185,199,217,234,259,284,290],"focal":[7,49,104,127,146,167,218,285],"length":[8,50,147,168,219,286],"estimation":[9,35,122,188],"are":[10],"important":[11],"in":[12,78,120,182,206,213,229,278,282,293],"extended":[13],"reality":[14],"(XR)":[15],"applications,":[16],"enabling":[17],"precise":[18],"object":[19,96],"alignment":[20],"projection":[22,88,117,179,241,266],"scaling,":[23],"thereby":[24],"enhancing":[25],"user":[26],"experiences.":[27],"This":[28],"study":[29],"focuses":[30],"on":[31,170],"improving":[32],"using":[36,223],"single":[37],"RGB":[38,54,183],"images":[39,184],"unknown":[41],"camera":[42],"metadata.":[43,67],"Estimating":[44],"the":[45,58,87,92,98,102,116,121,130,141,150,154,159,166,171,196,207,211,245,253,261,272,296],"from":[51,57],"an":[52,95,250],"uncontrolled":[53],"image,":[55],"obtained":[56],"internet,":[59],"is":[60,134],"challenging":[61],"because":[62],"it":[63],"often":[64],"lacks":[65],"crucial":[66],"Existing":[68],"methods":[69],"such":[70],"as":[71,237,239],"FocalPose":[72],"Focalpose++":[74,297],"have":[75],"made":[76],"progress":[77],"this":[79],"domain":[80],"but":[81],"still":[82],"face":[83],"challenges":[84],"due":[85],"to":[86,149,195,244,295],"scale":[89,180],"ambiguity":[90,119,181],"between":[91],"translation":[93,125,235,283],"along":[97],"z-axis":[99,124],"(tz)":[100],"camera's":[103],"length.":[105,128],"To":[106],"overcome":[107],"this,":[108],"we":[109,138,157],"propose":[110],"a":[111,279],"two-stage":[112,176,263],"strategy":[113],"that":[114],"decouples":[115],"scaling":[118,165],"In":[129,153,249],"first":[131,197],"stage,":[132,156],"tz":[133,163,172],"set":[135],"arbitrarily,":[136],"predict":[139,158],"all":[140],"other":[142],"parameters":[144],"relative":[148],"fixed":[151],"tz.":[152],"second":[155,208],"true":[160],"value":[161],"while":[164],"based":[169],"update.":[173],"The":[174,190],"proposed":[175,262],"method":[177,264],"reduces":[178],"improves":[186,265],"accuracy.":[189],"iterative":[191],"update":[192],"rules":[193],"constrained":[194],"stage":[198,209],"tailored":[200],"loss":[201,205,276],"functions":[202],"including":[203],"Huber":[204,275],"enhance":[210],"accuracy":[212,242,267],"both":[214],"estimation.":[220],"Experimental":[221],"results":[222],"benchmark":[224],"datasets":[225,255],"show":[226],"significant":[227,280],"improvements":[228],"terms":[230],"median":[232],"rotation":[233],"errors,":[236],"well":[238],"better":[240],"compared":[243],"existing":[246],"state-of-the-art":[247],"methods.":[248],"evaluation":[251],"across":[252],"Pix3D":[254],"(chair,":[256],"sofa,":[257],"table,":[258],"bed),":[260],"by":[268,288],"approximately":[269],"7.19%.":[270],"Additionally,":[271],"incorporation":[273],"resulted":[277],"reduction":[281],"errors":[287],"20.27%":[289],"6.65%,":[291],"respectively,":[292],"comparison":[294],"method.":[298]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}