{"id":"https://openalex.org/W2287201237","doi":"https://doi.org/10.1109/icra.2016.7487788","title":"Multi-sensor surface analysis for robotic ironing","display_name":"Multi-sensor surface analysis for robotic ironing","publication_year":2016,"publication_date":"2016-05-01","ids":{"openalex":"https://openalex.org/W2287201237","doi":"https://doi.org/10.1109/icra.2016.7487788","mag":"2287201237"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2016.7487788","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487788","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","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/A5035946597","display_name":"Yinxiao Li","orcid":"https://orcid.org/0000-0001-9895-4977"},"institutions":[{"id":"https://openalex.org/I78577930","display_name":"Columbia University","ror":"https://ror.org/00hj8s172","country_code":"US","type":"education","lineage":["https://openalex.org/I78577930"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yinxiao Li","raw_affiliation_strings":["Department Computer Science, Columbia University, New York, NY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department Computer Science, Columbia University, New York, NY, USA","institution_ids":["https://openalex.org/I78577930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108952562","display_name":"Xiuhan Hu","orcid":null},"institutions":[{"id":"https://openalex.org/I78577930","display_name":"Columbia University","ror":"https://ror.org/00hj8s172","country_code":"US","type":"education","lineage":["https://openalex.org/I78577930"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xiuhan Hu","raw_affiliation_strings":["Department Computer Science, Columbia University, New York, NY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department Computer Science, Columbia University, New York, NY, USA","institution_ids":["https://openalex.org/I78577930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028834865","display_name":"Danfei Xu","orcid":"https://orcid.org/0000-0002-8744-3861"},"institutions":[{"id":"https://openalex.org/I78577930","display_name":"Columbia University","ror":"https://ror.org/00hj8s172","country_code":"US","type":"education","lineage":["https://openalex.org/I78577930"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Danfei Xu","raw_affiliation_strings":["Department Computer Science, Columbia University, New York, NY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department Computer Science, Columbia University, New York, NY, USA","institution_ids":["https://openalex.org/I78577930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022365722","display_name":"Yonghao Yue","orcid":"https://orcid.org/0000-0002-8252-0522"},"institutions":[{"id":"https://openalex.org/I78577930","display_name":"Columbia University","ror":"https://ror.org/00hj8s172","country_code":"US","type":"education","lineage":["https://openalex.org/I78577930"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yonghao Yue","raw_affiliation_strings":["Department Computer Science, Columbia University, New York, NY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department Computer Science, Columbia University, New York, NY, USA","institution_ids":["https://openalex.org/I78577930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049319779","display_name":"Eitan Grinspun","orcid":"https://orcid.org/0000-0003-4460-7747"},"institutions":[{"id":"https://openalex.org/I78577930","display_name":"Columbia University","ror":"https://ror.org/00hj8s172","country_code":"US","type":"education","lineage":["https://openalex.org/I78577930"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Eitan Grinspun","raw_affiliation_strings":["Department Computer Science, Columbia University, New York, NY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department Computer Science, Columbia University, New York, NY, USA","institution_ids":["https://openalex.org/I78577930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112627047","display_name":"Peter K. Allen","orcid":null},"institutions":[{"id":"https://openalex.org/I78577930","display_name":"Columbia University","ror":"https://ror.org/00hj8s172","country_code":"US","type":"education","lineage":["https://openalex.org/I78577930"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Peter K. Allen","raw_affiliation_strings":["Department Computer Science, Columbia University, New York, NY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department Computer Science, Columbia University, New York, NY, USA","institution_ids":["https://openalex.org/I78577930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I78577930"],"apc_list":null,"apc_paid":null,"fwci":2.8282,"has_fulltext":false,"cited_by_count":36,"citation_normalized_percentile":{"value":0.9153269,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"5670","last_page":"5676"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10789","display_name":"Interactive and Immersive Displays","score":0.9962999820709229,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10789","display_name":"Interactive and Immersive Displays","score":0.9962999820709229,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.995199978351593,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9923999905586243,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/discontinuity","display_name":"Discontinuity (linguistics)","score":0.7197871208190918},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7027480602264404},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6224387288093567},{"id":"https://openalex.org/keywords/surface","display_name":"Surface (topology)","score":0.6195852160453796},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5825490355491638},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5645390748977661},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.5630267262458801},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17308157682418823},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.11729052662849426}],"concepts":[{"id":"https://openalex.org/C2777042112","wikidata":"https://www.wikidata.org/wiki/Q5281658","display_name":"Discontinuity (linguistics)","level":2,"score":0.7197871208190918},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7027480602264404},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6224387288093567},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.6195852160453796},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5825490355491638},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5645390748977661},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.5630267262458801},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17308157682418823},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.11729052662849426},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2016.7487788","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487788","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.4399999976158142}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W566166310","https://openalex.org/W1581896395","https://openalex.org/W1808898315","https://openalex.org/W1982920857","https://openalex.org/W1987648924","https://openalex.org/W2003067321","https://openalex.org/W2032200462","https://openalex.org/W2047444538","https://openalex.org/W2052461980","https://openalex.org/W2055885908","https://openalex.org/W2056898157","https://openalex.org/W2066303290","https://openalex.org/W2066941820","https://openalex.org/W2085100591","https://openalex.org/W2086139208","https://openalex.org/W2086635207","https://openalex.org/W2089630413","https://openalex.org/W2105537999","https://openalex.org/W2118304946","https://openalex.org/W2133353747","https://openalex.org/W2158292574","https://openalex.org/W2221845390","https://openalex.org/W6615939323"],"related_works":["https://openalex.org/W1702821","https://openalex.org/W1484056900","https://openalex.org/W2127980043","https://openalex.org/W1989965977","https://openalex.org/W2372950632","https://openalex.org/W2136634899","https://openalex.org/W2585996307","https://openalex.org/W2372272697","https://openalex.org/W4244584856","https://openalex.org/W2392657709"],"abstract_inverted_index":{"Robotic":[0],"manipulation":[1],"of":[2,17,80],"deformable":[3],"objects":[4],"remains":[5],"a":[6,15,21,37,47,51,65,69,154],"challenging":[7],"task.":[8],"One":[9],"such":[10,94],"task":[11],"is":[12,27,138,173],"to":[13,28,40,54,101,107,121,127,140,156,175],"iron":[14,39,157,176],"piece":[16],"cloth":[18,57,82,178],"autonomously.":[19],"Given":[20,149],"roughly":[22],"flattened":[23],"cloth,":[24],"the":[25,43,56,77,81,85,103,115,129,146,177,183],"goal":[26],"have":[29],"an":[30],"ironing":[31,126],"plan":[32],"that":[33,105,133,165],"can":[34,75,88],"iteratively":[35],"apply":[36,125],"regular":[38],"remove":[41,128,182],"all":[42],"major":[44],"wrinkles":[45,123,144],"by":[46,59],"robot.":[48],"We":[49,97,131],"present":[50],"novel":[52],"solution":[53],"analyze":[55],"surface":[58,62,92,147,179],"fusing":[60],"two":[61],"scan":[63,67,74,87,136],"techniques:":[64],"curvature":[66,73],"and":[68,110,114,124,142,180],"discontinuity":[70,86],"scan.":[71],"The":[72],"estimate":[76],"height":[78],"deviation":[79],"surface,":[83],"while":[84],"effectively":[89,181],"detect":[90,102,122],"sharp":[91],"features,":[93],"as":[95],"wrinkles.":[96,130,184],"use":[98],"this":[99],"information":[100],"regions":[104,117],"need":[106],"be":[108],"pulled":[109],"extended":[111],"before":[112],"ironing,":[113],"other":[116],"where":[118],"we":[119,152],"want":[120],"demonstrate":[132],"our":[134,167,171],"hybrid":[135],"technique":[137],"able":[139,174],"capture":[141],"classify":[143],"over":[145],"robustly.":[148],"detected":[150],"wrinkles,":[151],"enable":[153],"robot":[155,172],"them":[158],"using":[159,166],"shape":[160],"features.":[161],"Experimental":[162],"results":[163],"show":[164],"wrinkle":[168],"analysis":[169],"algorithm,":[170]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":4}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
