{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,10]],"date-time":"2026-07-10T19:18:09Z","timestamp":1783711089693,"version":"3.55.0"},"reference-count":46,"publisher":"IEEE","license":[{"start":{"date-parts":[[2021,5,30]],"date-time":"2021-05-30T00:00:00Z","timestamp":1622332800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2021,5,30]],"date-time":"2021-05-30T00:00:00Z","timestamp":1622332800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2021,5,30]]},"DOI":"10.1109\/icra48506.2021.9561483","type":"proceedings-article","created":{"date-parts":[[2021,10,19]],"date-time":"2021-10-19T20:28:35Z","timestamp":1634675315000},"page":"5200-5207","source":"Crossref","is-referenced-by-count":23,"title":["Fast Uncertainty Quantification for Deep Object Pose Estimation"],"prefix":"10.1109","author":[{"given":"Guanya","family":"Shi","sequence":"first","affiliation":[{"name":"NVIDIA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yifeng","family":"Zhu","sequence":"additional","affiliation":[{"name":"NVIDIA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jonathan","family":"Tremblay","sequence":"additional","affiliation":[{"name":"NVIDIA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Stan","family":"Birchfield","sequence":"additional","affiliation":[{"name":"NVIDIA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Fabio","family":"Ramos","sequence":"additional","affiliation":[{"name":"NVIDIA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Animashree","family":"Anandkumar","sequence":"additional","affiliation":[{"name":"NVIDIA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yuke","family":"Zhu","sequence":"additional","affiliation":[{"name":"NVIDIA"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref39","volume":"405","author":"bernardo","year":"2009","journal-title":"Bayesian Theory"},{"key":"ref38","article-title":"The fishyscapes benchmark: Measuring blind spots in semantic segmentation","author":"blum","year":"2019"},{"key":"ref33","article-title":"Rethinking on multi-stage networks for human pose estimation","author":"li","year":"2019"},{"key":"ref32","first-page":"466","article-title":"Simple baselines for human pose estimation and tracking","author":"xiao","year":"2018","journal-title":"European Conference on Computer Vision (ECCV)"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2017.143"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2016.511"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8793600"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2890449"},{"key":"ref35","article-title":"Robot safe interaction system for intelligent industrial co-robots","author":"liu","year":"2018"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2019.00584"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9197124"},{"key":"ref11","article-title":"Concrete problems in AI safety","author":"amodei","year":"2016"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1023\/A:1007665907178"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2974682"},{"key":"ref13","article-title":"Sim2real transfer learning for 3d human pose estimation: Motion to the rescue","author":"doersch","year":"2019","journal-title":"Advances in neural information processing systems"},{"key":"ref14","article-title":"Robust keypoint detection and pose estimation of robot manipulators with self-occlusions via sim-to-real transfer","author":"lu","year":"2020"},{"key":"ref15","doi-asserted-by":"crossref","first-page":"35","DOI":"10.1115\/1.3662552","article-title":"A new approach to linear filtering and prediction problems","volume":"82","author":"kalman","year":"1960","journal-title":"Transactions of the ASME–Journal of Basic Engineering"},{"key":"ref16","article-title":"PoseRBPF: A Rao-Blackwellized particle filter for 6d object pose tracking","author":"deng","year":"2019"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9197125"},{"key":"ref18","article-title":"Dropout as a bayesian approximation: Representing model uncertainty in deep learning","author":"gal","year":"2016","journal-title":"International Conference on Machine Learning"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1023\/A:1020281327116"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2019.00346"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1007\/s11263-008-0152-6"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2018.XIV.019"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2018.00038"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989165"},{"key":"ref5","article-title":"6d object pose estimation with depth images: A seamless approach for robotic interaction and augmented reality","author":"tan","year":"2017"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2019.8814089"},{"key":"ref8","doi-asserted-by":"crossref","DOI":"10.1109\/IROS45743.2020.9341004","article-title":"Human grasp classification for reactive human-to-robot handovers","author":"yang","year":"2020"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8967983"},{"key":"ref2","article-title":"Deep object pose estimation for semantic robotic grasping of household objects","author":"tremblay","year":"2018","journal-title":"CoRL"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9196596"},{"key":"ref1","article-title":"6-DoF pose estimation of household objects for robotic manipulation: An accessible dataset and benchmark","author":"tyree","year":"2019","journal-title":"ICCV Workshop on Recovering 6D Object Pose"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2003.1217599"},{"key":"ref20","author":"morrical","year":"2020","journal-title":"NVISII Nvidia scene imaging interface"},{"key":"ref45","author":"to","year":"2018","journal-title":"NDDS NVIDIA deep learning dataset synthesizer"},{"key":"ref22","article-title":"T-LESS: An RGB-D dataset for 6D pose estimation of texture-less objects","author":"hoda?","year":"2017","journal-title":"WACV"},{"key":"ref21","article-title":"Model based training, detection and pose estimation of texture-less 3D objects in heavily cluttered scenes","author":"hinterstoisser","year":"2012","journal-title":"ACCV"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.2478\/v10117-011-0021-1"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2019.00350"},{"key":"ref41","article-title":"Simple and scalable predictive uncertainty estimation using deep ensembles","author":"lakshminarayanan","year":"2017","journal-title":"Advances in neural information processing systems"},{"key":"ref23","article-title":"DPOD: Dense 6D pose object detector in RGB images","author":"zakharov","year":"2019"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8460642"},{"key":"ref26","article-title":"Implicit 3d orientation learning for 6d object detection from rgb images","author":"sundermeyer","year":"2018","journal-title":"ECCV"},{"key":"ref43","doi-asserted-by":"crossref","first-page":"241","DOI":"10.1016\/S0893-6080(05)80023-1","article-title":"Stacked generalization","volume":"5","author":"wolpert","year":"1992","journal-title":"Neural Networks"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2019.00469"}],"event":{"name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","location":"Xi'an, China","start":{"date-parts":[[2021,5,30]]},"end":{"date-parts":[[2021,6,5]]}},"container-title":["2021 IEEE International Conference on Robotics and Automation (ICRA)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/9560720\/9560666\/09561483.pdf?arnumber=9561483","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,1,12]],"date-time":"2023-01-12T17:50:33Z","timestamp":1673545833000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9561483\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,5,30]]},"references-count":46,"URL":"https:\/\/doi.org\/10.1109\/icra48506.2021.9561483","relation":{},"subject":[],"published":{"date-parts":[[2021,5,30]]}}}