{"id":"https://openalex.org/W4312284978","doi":"https://doi.org/10.1109/icdl53763.2022.9962226","title":"Benchmarking shape completion methods for robotic grasping","display_name":"Benchmarking shape completion methods for robotic grasping","publication_year":2022,"publication_date":"2022-09-12","ids":{"openalex":"https://openalex.org/W4312284978","doi":"https://doi.org/10.1109/icdl53763.2022.9962226"},"language":"en","primary_location":{"id":"doi:10.1109/icdl53763.2022.9962226","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icdl53763.2022.9962226","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Conference on Development and Learning (ICDL)","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/A5060307814","display_name":"Joao Balao","orcid":null},"institutions":[{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]},{"id":"https://openalex.org/I141596103","display_name":"University of Lisbon","ror":"https://ror.org/01c27hj86","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103"]}],"countries":["PT"],"is_corresponding":true,"raw_author_name":"Joao Balao","raw_affiliation_strings":["Institute for Systems and Robotics, Instituto Superior Tećnico, Universidade de Lisboa,Lisbon,Portugal"],"affiliations":[{"raw_affiliation_string":"Institute for Systems and Robotics, Instituto Superior Tećnico, Universidade de Lisboa,Lisbon,Portugal","institution_ids":["https://openalex.org/I4210166615","https://openalex.org/I141596103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086561212","display_name":"Atabak Dehban","orcid":"https://orcid.org/0000-0002-4220-2247"},"institutions":[{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]},{"id":"https://openalex.org/I141596103","display_name":"University of Lisbon","ror":"https://ror.org/01c27hj86","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Atabak Dehban","raw_affiliation_strings":["Institute for Systems and Robotics, Instituto Superior Tećnico, Universidade de Lisboa,Lisbon,Portugal"],"affiliations":[{"raw_affiliation_string":"Institute for Systems and Robotics, Instituto Superior Tećnico, Universidade de Lisboa,Lisbon,Portugal","institution_ids":["https://openalex.org/I4210166615","https://openalex.org/I141596103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102952170","display_name":"Pl\u00ednio Moreno","orcid":"https://orcid.org/0000-0002-0496-2050"},"institutions":[{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]},{"id":"https://openalex.org/I141596103","display_name":"University of Lisbon","ror":"https://ror.org/01c27hj86","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Plinio Moreno","raw_affiliation_strings":["Institute for Systems and Robotics, Instituto Superior Tećnico, Universidade de Lisboa,Lisbon,Portugal"],"affiliations":[{"raw_affiliation_string":"Institute for Systems and Robotics, Instituto Superior Tećnico, Universidade de Lisboa,Lisbon,Portugal","institution_ids":["https://openalex.org/I4210166615","https://openalex.org/I141596103"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037378255","display_name":"Jos\u00e9 Santos-Victor","orcid":"https://orcid.org/0000-0002-9036-1728"},"institutions":[{"id":"https://openalex.org/I141596103","display_name":"University of Lisbon","ror":"https://ror.org/01c27hj86","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103"]},{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Jose Santos-Victor","raw_affiliation_strings":["Institute for Systems and Robotics, Instituto Superior Tećnico, Universidade de Lisboa,Lisbon,Portugal"],"affiliations":[{"raw_affiliation_string":"Institute for Systems and Robotics, Instituto Superior Tećnico, Universidade de Lisboa,Lisbon,Portugal","institution_ids":["https://openalex.org/I4210166615","https://openalex.org/I141596103"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5060307814"],"corresponding_institution_ids":["https://openalex.org/I141596103","https://openalex.org/I4210166615"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.1488537,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"20","issue":null,"first_page":"223","last_page":"230"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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":0.9973999857902527,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9902999997138977,"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/grasp","display_name":"GRASP","score":0.878362774848938},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7326198816299438},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.717534601688385},{"id":"https://openalex.org/keywords/usability","display_name":"Usability","score":0.7171200513839722},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.6828371286392212},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.6618601083755493},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6513407826423645},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.5867342352867126},{"id":"https://openalex.org/keywords/3d-reconstruction","display_name":"3D reconstruction","score":0.5080552101135254},{"id":"https://openalex.org/keywords/benchmarking","display_name":"Benchmarking","score":0.4651404917240143},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.46428051590919495},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.45228147506713867},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.1901341676712036},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13099390268325806}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.878362774848938},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7326198816299438},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.717534601688385},{"id":"https://openalex.org/C170130773","wikidata":"https://www.wikidata.org/wiki/Q216378","display_name":"Usability","level":2,"score":0.7171200513839722},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.6828371286392212},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.6618601083755493},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6513407826423645},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.5867342352867126},{"id":"https://openalex.org/C109950114","wikidata":"https://www.wikidata.org/wiki/Q4464732","display_name":"3D reconstruction","level":2,"score":0.5080552101135254},{"id":"https://openalex.org/C86251818","wikidata":"https://www.wikidata.org/wiki/Q816754","display_name":"Benchmarking","level":2,"score":0.4651404917240143},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.46428051590919495},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.45228147506713867},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.1901341676712036},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13099390268325806},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.0},{"id":"https://openalex.org/C162853370","wikidata":"https://www.wikidata.org/wiki/Q39809","display_name":"Marketing","level":1,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icdl53763.2022.9962226","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icdl53763.2022.9962226","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Conference on Development and Learning (ICDL)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7400000095367432,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1510186039","https://openalex.org/W1657431527","https://openalex.org/W1794703952","https://openalex.org/W1999375810","https://openalex.org/W2109163007","https://openalex.org/W2116341502","https://openalex.org/W2167788274","https://openalex.org/W2524140598","https://openalex.org/W2560722161","https://openalex.org/W2592453093","https://openalex.org/W2902435637","https://openalex.org/W2962778872","https://openalex.org/W2962988048","https://openalex.org/W3004167188","https://openalex.org/W3105259478","https://openalex.org/W4214627646","https://openalex.org/W6750179221","https://openalex.org/W6756498474"],"related_works":["https://openalex.org/W4238897586","https://openalex.org/W435179959","https://openalex.org/W2619091065","https://openalex.org/W2059640416","https://openalex.org/W1490753184","https://openalex.org/W3102673927","https://openalex.org/W2327954668","https://openalex.org/W4386065843","https://openalex.org/W4387713683","https://openalex.org/W4323323175"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,68,94,108,192],"novel":[4],"benchmark":[5],"for":[6,15,52,123,154,187,196],"3D":[7,60,127,193],"shape":[8,24,174],"completion":[9,25,175],"methods":[10,26,49,64],"based":[11,129],"on":[12,130],"their":[13],"adaptability":[14],"the":[16,55,58,78,89,101,112,117,120,125,131,142,147,155,159,166,189],"task":[17],"of":[18,40,62,119,144,146,191],"robotic":[19,69,197],"grasping.Firstly,":[20],"state-of-the-art":[21],"single":[22],"image":[23],"are":[27,50,65,98,104,184],"used":[28,105,171],"to":[29,43,74,76,93,106],"reconstruct":[30],"object":[31],"shapes":[32],"from":[33,80,134],"RGB":[34],"images.":[35],"These":[36],"images":[37],"contain":[38],"views":[39],"objects":[41,79],"belonging":[42],"different":[44,81,85],"categories.":[45],"Two":[46],"specific":[47],"shape-reconstruction":[48],"selected":[51],"this":[53],"study.On":[54],"next":[56],"step,":[57],"resulting":[59],"reconstructions":[61],"these":[63],"loaded":[66],"into":[67],"grasp":[70,77,95,109],"simulator":[71],"in":[72],"order":[73],"attempt":[75],"approaches":[82],"and":[83,100,165],"using":[84],"hand":[86],"configurations.":[87],"Then,":[88],"unsuccessful":[90],"grasps":[91],"(according":[92],"quality":[96,169],"metric)":[97],"excluded":[99],"remaining":[102],"ones":[103],"compute":[107],"related":[110],"metric,":[111],"Joint":[113,162],"Error,":[114],"which":[115],"evaluates":[116],"usability":[118,190],"reconstructed":[121],"mesh":[122],"grasping":[124],"ground-truth":[126],"model.Finally,":[128],"results":[132,178],"obtained":[133],"our":[135],"experiments,":[136],"we":[137],"draw":[138],"several":[139],"conclusions":[140],"about":[141],"performance":[143],"each":[145],"methods.":[148,176],"Furthermore,":[149],"an":[150],"analysis":[151],"is":[152],"made":[153],"possible":[156],"correlation":[157],"between":[158],"newly":[160],"proposed":[161],"Error":[163],"metric":[164],"popular":[167],"reconstruction":[168,182,194],"metrics":[170,183],"by":[172],"most":[173],"Our":[177],"indicate":[179],"that":[180],"geometry-based":[181],"mostly":[185],"inadequate":[186],"assessing":[188],"algorithm":[195],"grasping.":[198]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}