{"id":"https://openalex.org/W2138351865","doi":"https://doi.org/10.1109/icra.2011.5980185","title":"Fusion of stereo vision, force-torque, and joint sensors for estimation of in-hand object location","display_name":"Fusion of stereo vision, force-torque, and joint sensors for estimation of in-hand object location","publication_year":2011,"publication_date":"2011-05-01","ids":{"openalex":"https://openalex.org/W2138351865","doi":"https://doi.org/10.1109/icra.2011.5980185","mag":"2138351865"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2011.5980185","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980185","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"conference-paper","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/A5083044232","display_name":"Paul D. N. Hebert","orcid":"https://orcid.org/0000-0002-3081-6700"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Paul Hebert","raw_affiliation_strings":["California Institute of Technology, Pasadena, CA, USA","California Institute of Technology. Pasadena USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I122411786"]},{"raw_affiliation_string":"California Institute of Technology. Pasadena USA","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080204664","display_name":"Nicolas Hudson","orcid":"https://orcid.org/0000-0002-4931-9659"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nicolas Hudson","raw_affiliation_strings":["Jet Propulsion Laboratory, Pasadena, CA, USA","Jet Propulsion laboratory, Pasadena, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"Jet Propulsion laboratory, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101807671","display_name":"Jeremy Ma","orcid":"https://orcid.org/0000-0002-5625-4152"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jeremy Ma","raw_affiliation_strings":["Jet Propulsion Laboratory, Pasadena, CA, USA","Jet Propulsion laboratory, Pasadena, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"Jet Propulsion laboratory, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002930599","display_name":"Joel W. Burdick","orcid":"https://orcid.org/0000-0002-3091-540X"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joel Burdick","raw_affiliation_strings":["California Institute of Technology, Pasadena, CA, USA","California Institute of Technology. Pasadena USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I122411786"]},{"raw_affiliation_string":"California Institute of Technology. Pasadena USA","institution_ids":["https://openalex.org/I122411786"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":71,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5935","last_page":"5941"},"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9915000200271606,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10868","display_name":"Soft Robotics and Applications","score":0.9842000007629395,"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/computer-vision","display_name":"Computer vision","score":0.8043493032455444},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7611111402511597},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5960644483566284},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.5506767630577087},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5434790253639221},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5349100232124329},{"id":"https://openalex.org/keywords/stereo-camera","display_name":"Stereo camera","score":0.5057592391967773},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.5028931498527527},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4576396942138672},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.43341559171676636},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13158056139945984}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.8043493032455444},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7611111402511597},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5960644483566284},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.5506767630577087},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5434790253639221},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5349100232124329},{"id":"https://openalex.org/C185078393","wikidata":"https://www.wikidata.org/wiki/Q313783","display_name":"Stereo camera","level":2,"score":0.5057592391967773},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.5028931498527527},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4576396942138672},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.43341559171676636},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13158056139945984},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra.2011.5980185","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980185","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:authors.library.caltech.edu:74879","is_oa":false,"landing_page_url":"https://authors.library.caltech.edu/74879/","pdf_url":null,"source":{"id":"https://openalex.org/S4306402161","display_name":"CaltechAUTHORS (California Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122411786","host_organization_name":"California Institute of Technology","host_organization_lineage":["https://openalex.org/I122411786"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Book Section"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.708.7113","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.708.7113","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://paulhebert.ca/papers/icra_2011.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1520004098","https://openalex.org/W1531532259","https://openalex.org/W1556122624","https://openalex.org/W1861289733","https://openalex.org/W2001611058","https://openalex.org/W2029977228","https://openalex.org/W2035557456","https://openalex.org/W2041376653","https://openalex.org/W2068485731","https://openalex.org/W2096077837","https://openalex.org/W2109618870","https://openalex.org/W2112725185","https://openalex.org/W2113321380","https://openalex.org/W2115536129","https://openalex.org/W2119344328","https://openalex.org/W2124386111","https://openalex.org/W2128671915","https://openalex.org/W2135919567","https://openalex.org/W2150488798","https://openalex.org/W2524610172","https://openalex.org/W6631246648","https://openalex.org/W6667607406","https://openalex.org/W6676241130"],"related_works":["https://openalex.org/W2123263858","https://openalex.org/W3127959533","https://openalex.org/W4390516098","https://openalex.org/W2181948922","https://openalex.org/W2384362569","https://openalex.org/W2894986065","https://openalex.org/W4387967917","https://openalex.org/W4287600488","https://openalex.org/W4386925306","https://openalex.org/W4205302943"],"abstract_inverted_index":{"This":[0,65],"paper":[1,66],"develops":[2,67],"a":[3,23,34,79],"method":[4],"to":[5,16],"fuse":[6],"stereo":[7,84],"vision,":[8],"force-torque":[9,90],"sensor,":[10],"and":[11,18,53,86,93],"joint":[12],"angle":[13],"encoder":[14],"measurements":[15],"estimate":[17],"track":[19],"the":[20,27,31,40,44,54,58,63,68,74,95],"location":[21],"of":[22],"grasped":[24],"object":[25,45],"within":[26],"hand.":[28],"We":[29],"pose":[30],"problem":[32],"as":[33],"hybrid":[35],"systems":[36],"estimation":[37],"problem,":[38],"where":[39],"continuous":[41],"states":[42,56],"are":[43,57],"6D":[46],"pose,":[47],"finger":[48,59],"contact":[49,60],"location,":[50],"wrist-to-camera":[51],"transform":[52],"discrete":[55],"modes":[61],"with":[62,78],"object.":[64],"key":[69],"measurement":[70],"equations":[71],"that":[72],"govern":[73],"fusion":[75],"process.":[76],"Experiments":[77],"Barrett":[80],"Hand,":[81],"Bumblebee":[82],"2":[83],"camera,":[85],"an":[87],"ATI":[88],"omega":[89],"sensor":[91],"validate":[92],"demonstrate":[94],"method.":[96]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":8},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":8},{"year":2014,"cited_by_count":10},{"year":2013,"cited_by_count":10},{"year":2012,"cited_by_count":7}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
