{"id":"https://openalex.org/W2545036165","doi":"https://doi.org/10.1109/icarm.2016.7606921","title":"Robust object localization based on error patterns learning for dexterous mobile manipulation","display_name":"Robust object localization based on error patterns learning for dexterous mobile manipulation","publication_year":2016,"publication_date":"2016-08-01","ids":{"openalex":"https://openalex.org/W2545036165","doi":"https://doi.org/10.1109/icarm.2016.7606921","mag":"2545036165"},"language":"en","primary_location":{"id":"doi:10.1109/icarm.2016.7606921","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm.2016.7606921","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 International Conference on Advanced Robotics and Mechatronics (ICARM)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5091343024","display_name":"Boyang Gao","orcid":"https://orcid.org/0000-0002-1907-841X"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Boyang Gao","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100405442","display_name":"Fei Chen","orcid":"https://orcid.org/0000-0003-4397-0931"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Fei Chen","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000573866","display_name":"Franceso Trapani","orcid":null},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Franceso Trapani","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020820901","display_name":"Mario Selvaggio","orcid":"https://orcid.org/0000-0002-2460-1914"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Mario Selvaggio","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044243940","display_name":"Darwin G. Caldwell","orcid":"https://orcid.org/0000-0002-6233-9961"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Darwin Caldwell","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5091343024"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":0.7631,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.83044449,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"180","issue":null,"first_page":"213","last_page":"218"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12549","display_name":"Image and Object Detection Techniques","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7495284080505371},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6883534789085388},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6441391706466675},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.588739275932312},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5411076545715332},{"id":"https://openalex.org/keywords/perspective","display_name":"Perspective (graphical)","score":0.530136227607727},{"id":"https://openalex.org/keywords/iterative-closest-point","display_name":"Iterative closest point","score":0.47044673562049866},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.4378425180912018},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.4179900586605072},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.4151718318462372},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4133976101875305},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3704720139503479},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14910957217216492}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7495284080505371},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6883534789085388},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6441391706466675},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.588739275932312},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5411076545715332},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.530136227607727},{"id":"https://openalex.org/C195958017","wikidata":"https://www.wikidata.org/wiki/Q1675268","display_name":"Iterative closest point","level":3,"score":0.47044673562049866},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.4378425180912018},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.4179900586605072},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.4151718318462372},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4133976101875305},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3704720139503479},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14910957217216492},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarm.2016.7606921","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm.2016.7606921","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 International Conference on Advanced Robotics and Mechatronics (ICARM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.47999998927116394}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1606232440","https://openalex.org/W1953793983","https://openalex.org/W2006943762","https://openalex.org/W2083624955","https://openalex.org/W2099940712","https://openalex.org/W2119851068","https://openalex.org/W2140711847","https://openalex.org/W2144491133","https://openalex.org/W2152864241","https://openalex.org/W2164638305","https://openalex.org/W2165114467","https://openalex.org/W2258136144","https://openalex.org/W2271206385","https://openalex.org/W2276325533","https://openalex.org/W2345333930","https://openalex.org/W4249866455","https://openalex.org/W6692368849"],"related_works":["https://openalex.org/W2813834476","https://openalex.org/W3016861202","https://openalex.org/W4391129294","https://openalex.org/W2807666361","https://openalex.org/W2196111060","https://openalex.org/W4213431252","https://openalex.org/W4306760020","https://openalex.org/W2120071540","https://openalex.org/W2528465333","https://openalex.org/W4200038092"],"abstract_inverted_index":{"In":[0],"this":[1],"article":[2],"we":[3,174],"describe":[4],"an":[5],"approach":[6],"for":[7,17,86,99,184],"object":[8],"detection":[9],"and":[10,38,51,57,88,114,141,149,169],"pose":[11],"estimation":[12],"from":[13],"stereo":[14],"RGB":[15],"frames":[16],"robot":[18],"manipulation":[19],"in":[20,27,180],"manufacturing":[21],"scenarios.":[22],"This":[23],"solution":[24],"was":[25],"developed":[26],"the":[28,31,35,40,48,54,60,110,119,124,128,138,143,155,159,163,172],"framework":[29],"of":[30,34,42,59,66,69,72,123,162,171],"second":[32],"challenge":[33],"EuRoC":[36],"project,":[37],"meets":[39],"need":[41],"a":[43,84,100,177],"registration":[44,73,77],"method":[45],"invariant":[46],"to":[47,53,108,127,136],"view":[49],"perspective":[50],"robust":[52],"structural":[55],"symmetries":[56],"ambiguities":[58],"target":[61,102],"objects.":[62],"Our":[63,95],"contribution":[64],"consists":[65],"automatic":[67],"correction":[68],"sub-optimal":[70,116],"results":[71],"algorithms.":[74],"As":[75],"most":[76],"algorithms":[78],"only":[79],"converge":[80],"on":[81,147],"local":[82],"optima,":[83],"tool":[85],"recognizing":[87],"correcting":[89],"wrong":[90,139,182],"alignments":[91],"is":[92,97,106],"highly":[93],"desirable.":[94],"insight":[96],"that,":[98],"given":[101],"point":[103],"cloud,":[104],"it":[105],"important":[107],"study":[109],"alignment":[111],"space":[112],"offline":[113],"identify":[115],"solutions":[117],"before":[118],"registration.":[120],"The":[121],"convergence":[122],"algorithm":[125],"leads":[126],"error":[129],"pattern":[130],"knowledge":[131],"that":[132,153],"can":[133,175],"be":[134],"used":[135],"discard":[137],"solutions,":[140],"recover":[142],"correct":[144],"alignment.":[145],"Experiments":[146],"synthesized":[148],"real":[150],"data":[151],"show":[152],"exploiting":[154],"known":[156],"information":[157],"about":[158],"spatial":[160],"properties":[161],"objects,":[164],"together":[165],"with":[166],"appropriate":[167],"pre-processing":[168],"refining":[170],"data,":[173],"have":[176],"substantial":[178],"improvement":[179],"discarding":[181],"hypothesis":[183],"geometrically":[185],"ambiguous":[186],"items.":[187]},"counts_by_year":[{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
