{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T09:11:33Z","timestamp":1760173893957,"version":"build-2065373602"},"reference-count":25,"publisher":"MDPI AG","issue":"3","license":[{"start":{"date-parts":[[2020,2,7]],"date-time":"2020-02-07T00:00:00Z","timestamp":1581033600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61673136"],"award-info":[{"award-number":["61673136"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100012659","name":"Foundation for Innovative Research Groups of the National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["51521003"],"award-info":[{"award-number":["51521003"]}],"id":[{"id":"10.13039\/501100012659","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Local patch-based methods of object detection and pose estimation are promising. However, to the best of the authors\u2019 knowledge, traditional red-green-blue and depth (RGB-D) patches contain scene interference (foreground occlusion and background clutter) and have little rotation invariance. To solve these problems, a new edge patch is proposed and experimented with in this study. The edge patch is a local sampling RGB-D patch centered at the edge pixel of the depth image. According to the normal direction of the depth edge, the edge patch is sampled along a canonical orientation, making it rotation invariant. Through a process of depth detection, scene interference is eliminated from the edge patch, which improves the robustness. The framework of the edge patch-based method is described, and the method was evaluated on three public datasets. Compared with existing methods, the proposed method achieved a higher average F1-score (0.956) on the Tejani dataset and a better average detection rate (62%) on the Occlusion dataset, even in situations of serious scene interference. These results showed that the proposed method has higher detection accuracy and stronger robustness.<\/jats:p>","DOI":"10.3390\/s20030887","type":"journal-article","created":{"date-parts":[[2020,2,7]],"date-time":"2020-02-07T11:50:28Z","timestamp":1581076228000},"page":"887","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":5,"title":["A New Edge Patch with Rotation Invariance for Object Detection and Pose Estimation"],"prefix":"10.3390","volume":"20","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1947-0419","authenticated-orcid":false,"given":"Xunwei","family":"Tong","sequence":"first","affiliation":[{"name":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ruifeng","family":"Li","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Lianzheng","family":"Ge","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9108-8276","authenticated-orcid":false,"given":"Lijun","family":"Zhao","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5615-0847","authenticated-orcid":false,"given":"Ke","family":"Wang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2020,2,7]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Tjaden, H., Schwanecke, U., and Schomer, E. 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