{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T16:45:51Z","timestamp":1777653951056,"version":"3.51.4"},"reference-count":39,"publisher":"IEEE","license":[{"start":{"date-parts":[[2025,10,19]],"date-time":"2025-10-19T00:00:00Z","timestamp":1760832000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2025,10,19]],"date-time":"2025-10-19T00:00:00Z","timestamp":1760832000000},"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":[[2025,10,19]]},"DOI":"10.1109\/iros60139.2025.11247052","type":"proceedings-article","created":{"date-parts":[[2025,11,27]],"date-time":"2025-11-27T18:54:45Z","timestamp":1764269685000},"page":"9059-9066","source":"Crossref","is-referenced-by-count":1,"title":["SplatPose: Geometry-Aware 6-DoF Pose Estimation from Single RGB Image via 3D Gaussian Splatting"],"prefix":"10.1109","author":[{"given":"Linqi","family":"Yang","sequence":"first","affiliation":[{"name":"Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,China,150006"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xiongwei","family":"Zhao","sequence":"additional","affiliation":[{"name":"Harbin Institute of Technology (Shen Zhen),School of Information Science and Technology,Shenzhen,China,518071"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Qihao","family":"Sun","sequence":"additional","affiliation":[{"name":"Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,China,150006"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ke","family":"Wang","sequence":"additional","affiliation":[{"name":"Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,China,150006"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ao","family":"Chen","sequence":"additional","affiliation":[{"name":"Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,China,150006"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Peng","family":"Kang","sequence":"additional","affiliation":[{"name":"Jianghuai Advance Technology Center,Hefei,China,230000"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1609\/aaai.v38i7.28576"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR42600.2020.01165"},{"key":"ref3","article-title":"Deep object pose estimation for semantic robotic grasping of household objects","author":"Tremblay","year":"2018"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA46639.2022.9812299"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-01231-1_43"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2019.00469"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1145\/3503250"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/IROS51168.2021.9636708"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48891.2023.10161117"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52733.2024.01922"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52733.2024.01839"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/tvcg.2025.3549563\/mm1"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1115\/1.4069346"},{"key":"ref14","article-title":"6dgs: 6d pose estimation from a single image and a 3d gaussian splatting model","author":"Bortolon","year":"2024"},{"key":"ref15","article-title":"Nemo: Neural mesh models of contrastive features for robust 3d pose estimation","author":"Wang","year":"2021"},{"key":"ref16","article-title":"Voge: a differentiable volume renderer using gaussian ellipsoids for analysis-by-synthesis","author":"Wang","year":"2022"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV51070.2023.00030"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA57147.2024.10610425"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/icra55743.2025.11127431"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.1999.790410"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR42600.2020.00499"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52688.2022.00850"},{"key":"ref23","article-title":"Sinkhorn distances: Lightspeed computation of optimal transport","volume":"26","author":"Cuturi","year":"2013","journal-title":"Advances in neural information processing systems"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52688.2022.00480"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52729.2023.02096"},{"key":"ref26","first-page":"35 103","article-title":"Onepose++: Keypoint-free one-shot object pose estimation without cad models","volume":"35","author":"He","year":"2022","journal-title":"Advances in Neural Information Processing Systems"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2019.00296"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1145\/3592433"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/VISUAL.2001.964490"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/2945.468400"},{"key":"ref31","first-page":"7537","article-title":"Fourier features let networks learn high frequency functions in low dimensional domains","volume":"33","author":"Tancik","year":"2020","journal-title":"Advances in neural information processing systems"},{"key":"ref32","article-title":"Dinov2: Learning robust visual features without supervision","author":"Oquab","year":"2023"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR46437.2021.00881"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR42600.2020.01200"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52688.2022.00539"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1145\/3072959.3073599"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1109\/3DV.2016.41"},{"key":"ref38","first-page":"4596","article-title":"Adafactor: Adaptive learning rates with sublinear memory cost","volume-title":"International Conference on Machine Learning","author":"Shazeer"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-031-19824-3_20"}],"event":{"name":"2025 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","location":"Hangzhou, China","start":{"date-parts":[[2025,10,19]]},"end":{"date-parts":[[2025,10,25]]}},"container-title":["2025 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/11245651\/11245652\/11247052.pdf?arnumber=11247052","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,12,18]],"date-time":"2025-12-18T12:37:40Z","timestamp":1766061460000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/11247052\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,10,19]]},"references-count":39,"URL":"https:\/\/doi.org\/10.1109\/iros60139.2025.11247052","relation":{},"subject":[],"published":{"date-parts":[[2025,10,19]]}}}