{"id":"https://openalex.org/W4386159896","doi":"https://doi.org/10.1109/icarm58088.2023.10218914","title":"Tactile-Based Object Pose Estimation Employing Extended Kalman Filter","display_name":"Tactile-Based Object Pose Estimation Employing Extended Kalman Filter","publication_year":2023,"publication_date":"2023-07-08","ids":{"openalex":"https://openalex.org/W4386159896","doi":"https://doi.org/10.1109/icarm58088.2023.10218914"},"language":"en","primary_location":{"id":"doi:10.1109/icarm58088.2023.10218914","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm58088.2023.10218914","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5103431069","display_name":"Qiguang Lin","orcid":null},"institutions":[{"id":"https://openalex.org/I163340411","display_name":"Hohai University","ror":"https://ror.org/01wd4xt90","country_code":"CN","type":"education","lineage":["https://openalex.org/I163340411"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiguang Lin","raw_affiliation_strings":["College of IoT Engineering, Hohai University,Jiangsu Key laboratory of Special Robotic Technology,Changzhou,Jiangsu,P.R. China,213022"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of IoT Engineering, Hohai University,Jiangsu Key laboratory of Special Robotic Technology,Changzhou,Jiangsu,P.R. China,213022","institution_ids":["https://openalex.org/I163340411"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065389424","display_name":"Chaojie Yan","orcid":null},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chaojie Yan","raw_affiliation_strings":["Zhejiang University, Institute of Cyber-System and Control,State Key Laboratory of Industrial Control and Technology,Hangzhou,P.R. China","State Key Laboratory of Industrial Control and Technology, Zhejiang University, Institute of Cyber-System and Control, Hangzhou, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University, Institute of Cyber-System and Control,State Key Laboratory of Industrial Control and Technology,Hangzhou,P.R. China","institution_ids":["https://openalex.org/I55712492"]},{"raw_affiliation_string":"State Key Laboratory of Industrial Control and Technology, Zhejiang University, Institute of Cyber-System and Control, Hangzhou, P.R. China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100429974","display_name":"Qiang Li","orcid":"https://orcid.org/0000-0002-4315-0864"},"institutions":[{"id":"https://openalex.org/I20121455","display_name":"Bielefeld University","ror":"https://ror.org/02hpadn98","country_code":"DE","type":"education","lineage":["https://openalex.org/I20121455"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Qiang Li","raw_affiliation_strings":["Bielefeld University,Neuroinformatics Group, Center for Cognitive Interaction Technology (CITEC),Bielefeld,Germany,33619"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Bielefeld University,Neuroinformatics Group, Center for Cognitive Interaction Technology (CITEC),Bielefeld,Germany,33619","institution_ids":["https://openalex.org/I20121455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088062859","display_name":"Yonggen Ling","orcid":"https://orcid.org/0000-0001-8294-6286"},"institutions":[{"id":"https://openalex.org/I2250653659","display_name":"Tencent (China)","ror":"https://ror.org/00hhjss72","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250653659"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yonggen Ling","raw_affiliation_strings":["Tencent Robotics X,Shenzhen,China","Tencent Robotics X, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tencent Robotics X,Shenzhen,China","institution_ids":["https://openalex.org/I2250653659"]},{"raw_affiliation_string":"Tencent Robotics X, Shenzhen, China","institution_ids":["https://openalex.org/I2250653659"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103176848","display_name":"Y. Zheng","orcid":"https://orcid.org/0000-0002-4617-3252"},"institutions":[{"id":"https://openalex.org/I2250653659","display_name":"Tencent (China)","ror":"https://ror.org/00hhjss72","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250653659"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Zheng","raw_affiliation_strings":["Tencent Robotics X,Shenzhen,China","Tencent Robotics X, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tencent Robotics X,Shenzhen,China","institution_ids":["https://openalex.org/I2250653659"]},{"raw_affiliation_string":"Tencent Robotics X, Shenzhen, China","institution_ids":["https://openalex.org/I2250653659"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090282702","display_name":"Wangwei Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I2250653659","display_name":"Tencent (China)","ror":"https://ror.org/00hhjss72","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250653659"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wangwei Lee","raw_affiliation_strings":["Tencent Robotics X,Shenzhen,China","Tencent Robotics X, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tencent Robotics X,Shenzhen,China","institution_ids":["https://openalex.org/I2250653659"]},{"raw_affiliation_string":"Tencent Robotics X, Shenzhen, China","institution_ids":["https://openalex.org/I2250653659"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048376875","display_name":"Zhaoliang Wan","orcid":null},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhaoliang Wan","raw_affiliation_strings":["School of Computer Science and Engineering, Sun Yat-sen University,Guangzhou,P.R.China","School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, P.R.China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Sun Yat-sen University,Guangzhou,P.R.China","institution_ids":["https://openalex.org/I157773358"]},{"raw_affiliation_string":"School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, P.R.China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074243843","display_name":"Bidan Huang","orcid":"https://orcid.org/0000-0001-6812-055X"},"institutions":[{"id":"https://openalex.org/I2250653659","display_name":"Tencent (China)","ror":"https://ror.org/00hhjss72","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250653659"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bidan Huang","raw_affiliation_strings":["Tencent Robotics X,Shenzhen,China","Tencent Robotics X, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tencent Robotics X,Shenzhen,China","institution_ids":["https://openalex.org/I2250653659"]},{"raw_affiliation_string":"Tencent Robotics X, Shenzhen, China","institution_ids":["https://openalex.org/I2250653659"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100359300","display_name":"Xiaofeng Liu","orcid":"https://orcid.org/0000-0003-1310-6739"},"institutions":[{"id":"https://openalex.org/I163340411","display_name":"Hohai University","ror":"https://ror.org/01wd4xt90","country_code":"CN","type":"education","lineage":["https://openalex.org/I163340411"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaofeng Liu","raw_affiliation_strings":["College of IoT Engineering, Hohai University,Jiangsu Key laboratory of Special Robotic Technology,Changzhou,Jiangsu,P.R. China,213022"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of IoT Engineering, Hohai University,Jiangsu Key laboratory of Special Robotic Technology,Changzhou,Jiangsu,P.R. China,213022","institution_ids":["https://openalex.org/I163340411"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":9,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.1704,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.45830992,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"118","last_page":"123"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9993000030517578,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9993000030517578,"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.9980000257492065,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9921000003814697,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.7543007731437683},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7316216230392456},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6944117546081543},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.6765629053115845},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6658136248588562},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6533016562461853},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5845115780830383},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.5158349871635437},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.5088567733764648},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5017237663269043},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.4668463170528412},{"id":"https://openalex.org/keywords/3d-pose-estimation","display_name":"3D pose estimation","score":0.44982898235321045},{"id":"https://openalex.org/keywords/displacement","display_name":"Displacement (psychology)","score":0.43888431787490845},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.4279181957244873},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.41139280796051025},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3440793752670288},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14819255471229553}],"concepts":[{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.7543007731437683},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7316216230392456},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6944117546081543},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.6765629053115845},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6658136248588562},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6533016562461853},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5845115780830383},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.5158349871635437},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.5088567733764648},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5017237663269043},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.4668463170528412},{"id":"https://openalex.org/C36613465","wikidata":"https://www.wikidata.org/wiki/Q4636322","display_name":"3D pose estimation","level":3,"score":0.44982898235321045},{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.43888431787490845},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.4279181957244873},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.41139280796051025},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3440793752670288},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14819255471229553},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarm58088.2023.10218914","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm58088.2023.10218914","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 International Conference on Advanced Robotics and Mechatronics (ICARM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3466844949","display_name":null,"funder_award_id":"2018AAA0100800","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G4052040719","display_name":"DEXMAN: Verbesserte Manipulationsf\u00e4higkeiten von Robotern durch Lernen steifigkeitsbasierter Handsteuerung nach dem Vorbild des Menschen und visuotaktile Exploration","funder_award_id":"410916101","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"},{"id":"https://openalex.org/G8082807541","display_name":null,"funder_award_id":"BK20192004","funder_id":"https://openalex.org/F4320327777","funder_display_name":"Jiangsu Provincial Key Research and Development Program"}],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"},{"id":"https://openalex.org/F4320327777","display_name":"Jiangsu Provincial Key Research and Development Program","ror":null},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W102778925","https://openalex.org/W1489316592","https://openalex.org/W1504074027","https://openalex.org/W1564897360","https://openalex.org/W1979814594","https://openalex.org/W2035557456","https://openalex.org/W2077358689","https://openalex.org/W2102393714","https://openalex.org/W2105544320","https://openalex.org/W2109618870","https://openalex.org/W2150488798","https://openalex.org/W2155455222","https://openalex.org/W2472910955","https://openalex.org/W2771515333","https://openalex.org/W2773740919","https://openalex.org/W2775635818","https://openalex.org/W2783347051","https://openalex.org/W2811690862","https://openalex.org/W2963188159","https://openalex.org/W3089733074","https://openalex.org/W3090445473","https://openalex.org/W3101594387","https://openalex.org/W6629218652","https://openalex.org/W6669890541"],"related_works":["https://openalex.org/W4253893311","https://openalex.org/W3089306886","https://openalex.org/W2113785214","https://openalex.org/W2798721181","https://openalex.org/W3201205132","https://openalex.org/W4387967917","https://openalex.org/W4312694060","https://openalex.org/W4386075737","https://openalex.org/W4393563475","https://openalex.org/W4294967731"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"present":[4],"a":[5,18,125],"new":[6,141],"approach":[7,68],"to":[8,32,71,89,146],"estimate":[9],"the":[10,34,37,52,61,75,83,86,90,99,116,121,144,148],"pose":[11,39,76,88],"of":[12,36,129,152],"an":[13,41],"object":[14],"being":[15],"manipulated":[16],"by":[17,79,98],"multi-fingered":[19],"robotic":[20,153],"hand.":[21],"The":[22,67,102],"method":[23,103,142],"utilizes":[24],"advanced":[25],"tactile":[26,80,100],"sensors":[27],"with":[28,131],"high":[29],"spatial":[30],"resolution":[31],"optimize":[33],"estimation":[35,62,117],"object's":[38,87],"using":[40],"Extended":[42],"Kalman":[43],"Filter":[44],"(EKF)":[45],"based":[46],"approach.":[47],"We":[48],"defined":[49],"and":[50,54,82,93,133,150,155],"derived":[51],"state":[53],"measurement":[55],"equations,":[56],"as":[57,59,96],"well":[58],"evaluated":[60,105],"accuracy":[63,149],"in":[64,106,110,124],"grasping":[65,108,154],"tasks.":[66,157],"is":[69],"able":[70],"effectively":[72],"account":[73],"for":[74],"transition":[77],"caused":[78],"pushing,":[81],"mapping":[84],"from":[85],"contact":[91],"position":[92],"normal":[94],"direction":[95],"measured":[97],"sensor.":[101],"was":[104],"multiple":[107],"experiments":[109],"simulation":[111],"scenarios.":[112],"Results":[113],"show":[114],"that":[115],"can":[118],"converge":[119],"towards":[120],"ground":[122],"truth":[123],"relatively":[126],"short":[127],"period":[128],"time,":[130],"displacement":[132],"rotation":[134],"errors":[135],"remaining":[136],"within":[137],"acceptable":[138],"levels.":[139],"This":[140],"has":[143],"potential":[145],"improve":[147],"reliability":[151],"manipulation":[156]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-22T08:00:12.763002","created_date":"2025-10-10T00:00:00"}