{"id":"https://openalex.org/W4400309234","doi":"https://doi.org/10.1002/aisy.202400105","title":"Vision\u2010Based Online Key Point Estimation of Deformable Robots","display_name":"Vision\u2010Based Online Key Point Estimation of Deformable Robots","publication_year":2024,"publication_date":"2024-07-03","ids":{"openalex":"https://openalex.org/W4400309234","doi":"https://doi.org/10.1002/aisy.202400105"},"language":"en","primary_location":{"id":"doi:10.1002/aisy.202400105","is_oa":true,"landing_page_url":"https://doi.org/10.1002/aisy.202400105","pdf_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/aisy.202400105","source":{"id":"https://openalex.org/S4210212817","display_name":"Advanced Intelligent Systems","issn_l":"2640-4567","issn":["2640-4567"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Intelligent Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","datacite","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/aisy.202400105","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5006008705","display_name":"Hehui Zheng","orcid":"https://orcid.org/0000-0002-4977-0220"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Hehui Zheng","raw_affiliation_strings":["ETH AI Center ETH Zurich  Andreasstrasse 5 Z\u00fcrich 8092 Switzerland","Soft Robotics Lab ETH Zurich  Tannenstrasse 3 Z\u00fcrich 8092 Switzerland"],"affiliations":[{"raw_affiliation_string":"ETH AI Center ETH Zurich  Andreasstrasse 5 Z\u00fcrich 8092 Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Soft Robotics Lab ETH Zurich  Tannenstrasse 3 Z\u00fcrich 8092 Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081423873","display_name":"Sebastian Pinzello","orcid":"https://orcid.org/0000-0001-6419-6776"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Sebastian Pinzello","raw_affiliation_strings":["Soft Robotics Lab ETH Zurich  Tannenstrasse 3 Z\u00fcrich 8092 Switzerland"],"affiliations":[{"raw_affiliation_string":"Soft Robotics Lab ETH Zurich  Tannenstrasse 3 Z\u00fcrich 8092 Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089614030","display_name":"Barnabas Gavin Cangan","orcid":"https://orcid.org/0000-0001-7810-6620"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Barnabas Gavin Cangan","raw_affiliation_strings":["Soft Robotics Lab ETH Zurich  Tannenstrasse 3 Z\u00fcrich 8092 Switzerland"],"affiliations":[{"raw_affiliation_string":"Soft Robotics Lab ETH Zurich  Tannenstrasse 3 Z\u00fcrich 8092 Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071091625","display_name":"Thomas B\u00fcchner","orcid":"https://orcid.org/0000-0003-0254-811X"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Thomas J. K. Buchner","raw_affiliation_strings":["Soft Robotics Lab ETH Zurich  Tannenstrasse 3 Z\u00fcrich 8092 Switzerland"],"affiliations":[{"raw_affiliation_string":"Soft Robotics Lab ETH Zurich  Tannenstrasse 3 Z\u00fcrich 8092 Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050915314","display_name":"Robert K. Katzschmann","orcid":"https://orcid.org/0000-0001-7143-7259"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Robert K. Katzschmann","raw_affiliation_strings":["ETH AI Center ETH Zurich  Andreasstrasse 5 Z\u00fcrich 8092 Switzerland","Soft Robotics Lab ETH Zurich  Tannenstrasse 3 Z\u00fcrich 8092 Switzerland"],"affiliations":[{"raw_affiliation_string":"ETH AI Center ETH Zurich  Andreasstrasse 5 Z\u00fcrich 8092 Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Soft Robotics Lab ETH Zurich  Tannenstrasse 3 Z\u00fcrich 8092 Switzerland","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5006008705","https://openalex.org/A5050915314"],"corresponding_institution_ids":["https://openalex.org/I35440088"],"apc_list":{"value":2750,"currency":"USD","value_usd":2750},"apc_paid":{"value":2730,"currency":"EUR","value_usd":2944},"fwci":1.6609,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.8263963,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"6","issue":"10","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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":0.9997000098228455,"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"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9993000030517578,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.6989659667015076},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5718583464622498},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5679553151130676},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5662980079650879},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5442602038383484},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5359936952590942},{"id":"https://openalex.org/keywords/estimation","display_name":"Estimation","score":0.47510063648223877},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18564191460609436},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13517019152641296},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.051639288663864136},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.046233534812927246}],"concepts":[{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.6989659667015076},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5718583464622498},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5679553151130676},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5662980079650879},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5442602038383484},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5359936952590942},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.47510063648223877},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18564191460609436},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13517019152641296},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.051639288663864136},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.046233534812927246},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1002/aisy.202400105","is_oa":true,"landing_page_url":"https://doi.org/10.1002/aisy.202400105","pdf_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/aisy.202400105","source":{"id":"https://openalex.org/S4210212817","display_name":"Advanced Intelligent Systems","issn_l":"2640-4567","issn":["2640-4567"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Intelligent Systems","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:7c41b9340c4f4a728d106e8964b85404","is_oa":true,"landing_page_url":"https://doaj.org/article/7c41b9340c4f4a728d106e8964b85404","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Advanced Intelligent Systems, Vol 6, Iss 10, Pp n/a-n/a (2024)","raw_type":"article"},{"id":"pmh:oai:www.research-collection.ethz.ch:20.500.11850/682228","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/682228","pdf_url":null,"source":{"id":"https://openalex.org/S4306402302","display_name":"Repository for Publications and Research Data (ETH Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I35440088","host_organization_name":"ETH Zurich","host_organization_lineage":["https://openalex.org/I35440088"],"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":"Advanced Intelligent Systems, 6 (10)","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"doi:10.3929/ethz-b-000682228","is_oa":true,"landing_page_url":"https://doi.org/10.3929/ethz-b-000682228","pdf_url":null,"source":{"id":"https://openalex.org/S7407051236","display_name":"ETH Z\u00fcrich Research Collection","issn_l":null,"issn":[],"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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"doi:10.1002/aisy.202400105","is_oa":true,"landing_page_url":"https://doi.org/10.1002/aisy.202400105","pdf_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/aisy.202400105","source":{"id":"https://openalex.org/S4210212817","display_name":"Advanced Intelligent Systems","issn_l":"2640-4567","issn":["2640-4567"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Intelligent Systems","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.4699999988079071,"display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G3345351946","display_name":null,"funder_award_id":"SwissDataScienceCenterC22\u201008","funder_id":"https://openalex.org/F4320321652","funder_display_name":"Eidgen\u00f6ssische Technische Hochschule Z\u00fcrich"},{"id":"https://openalex.org/G3807378070","display_name":null,"funder_award_id":"AICenterDoctoralFellowshipforHehuiZheng","funder_id":"https://openalex.org/F4320321652","funder_display_name":"Eidgen\u00f6ssische Technische Hochschule Z\u00fcrich"}],"funders":[{"id":"https://openalex.org/F4320321652","display_name":"Eidgen\u00f6ssische Technische Hochschule Z\u00fcrich","ror":"https://ror.org/05a28rw58"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4400309234.pdf"},"referenced_works_count":27,"referenced_works":["https://openalex.org/W1609740902","https://openalex.org/W1965998437","https://openalex.org/W2009421387","https://openalex.org/W2037867075","https://openalex.org/W2101667962","https://openalex.org/W2125188427","https://openalex.org/W2129935047","https://openalex.org/W2138072388","https://openalex.org/W2146630054","https://openalex.org/W2605128650","https://openalex.org/W2607662405","https://openalex.org/W2883279767","https://openalex.org/W2887114371","https://openalex.org/W2947094677","https://openalex.org/W2947710364","https://openalex.org/W2985440010","https://openalex.org/W2999072533","https://openalex.org/W2999228329","https://openalex.org/W3008381991","https://openalex.org/W3036541334","https://openalex.org/W3089672928","https://openalex.org/W3134077214","https://openalex.org/W3138075616","https://openalex.org/W3157853607","https://openalex.org/W3205907272","https://openalex.org/W4308945982","https://openalex.org/W4400309234"],"related_works":["https://openalex.org/W2140798747","https://openalex.org/W2948169060","https://openalex.org/W2576994247","https://openalex.org/W2730112582","https://openalex.org/W2608353378","https://openalex.org/W2110696645","https://openalex.org/W2358580169","https://openalex.org/W4249206767","https://openalex.org/W2111347279","https://openalex.org/W8302103"],"abstract_inverted_index":{"The":[0,91,142],"precise":[1],"control":[2],"of":[3,10,23,101,109,152,166,174],"soft":[4,175,180],"and":[5,39,73,98,122,161,178,187],"continuum":[6],"robots":[7,64],"requires":[8],"knowledge":[9,165],"their":[11],"shape,":[12,29],"which":[13,59,127],"has,":[14],"in":[15,36,154],"contrast":[16],"to":[17,70,124],"classical":[18],"rigid":[19],"robots,":[20],"infinite":[21],"degrees":[22],"freedom.":[24],"To":[25],"partially":[26],"reconstruct":[27],"the":[28,67,125,132,167,184],"proprioceptive":[30],"techniques":[31],"use":[32],"built\u2010in":[33],"sensors,":[34],"resulting":[35],"inaccurate":[37],"results":[38],"increased":[40],"fabrication":[41],"complexity.":[42],"Exteroceptive":[43],"methods":[44,148],"so":[45],"far":[46],"rely":[47],"on":[48,56,171,189],"expensive":[49],"tracking":[50],"systems":[51],"with":[52,66],"reflective":[53],"markers":[54],"placed":[55],"all":[57],"components,":[58],"are":[60,113],"infeasible":[61],"for":[62,81,129],"deformable":[63,191],"interacting":[65],"environment":[68],"due":[69],"marker":[71],"occlusion":[72],"damage.":[74],"Here,":[75],"a":[76,87,110,150,179],"regression":[77],"approach":[78,93,144],"is":[79,99],"presented":[80],"three\u2010dimensional":[82],"key":[83,134],"point":[84,135],"estimation":[85,104,155],"using":[86],"convolutional":[88],"neural":[89],"network.":[90],"proposed":[92,143],"uses":[94],"data\u2010driven":[95],"supervised":[96],"learning":[97],"capable":[100],"online":[102],"markerless":[103,146],"during":[105],"inference.":[106],"Two":[107],"images":[108],"robotic":[111,176,181],"system":[112],"captured":[114],"simultaneously":[115],"at":[116],"25":[117],"Hz":[118],"from":[119],"different":[120],"perspectives":[121],"fed":[123],"network,":[126],"returns":[128],"each":[130],"pair":[131],"parameterized":[133],"or":[136],"piecewise":[137],"constant":[138],"curvature":[139],"shape":[140],"representations.":[141],"outperforms":[145],"state\u2010of\u2010the\u2010art":[147],"by":[149],"maximum":[151],"4.5%":[153],"accuracy":[156,186],"while":[157],"being":[158],"more":[159],"robust":[160],"requiring":[162],"no":[163],"prior":[164],"shape.":[168],"Online":[169],"evaluations":[170],"two":[172],"types":[173],"arms":[177],"fish":[182],"demonstrate":[183],"method's":[185],"versatility":[188],"highly":[190],"systems.":[192]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
