{"id":"https://openalex.org/W4285102268","doi":"https://doi.org/10.1109/icra46639.2022.9812040","title":"ShapeMap 3-D: Efficient shape mapping through dense touch and vision","display_name":"ShapeMap 3-D: Efficient shape mapping through dense touch and vision","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W4285102268","doi":"https://doi.org/10.1109/icra46639.2022.9812040"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9812040","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812040","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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/A5026970635","display_name":"Sudharshan Suresh","orcid":"https://orcid.org/0000-0001-9030-2800"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sudharshan Suresh","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025075748","display_name":"Zilin Si","orcid":"https://orcid.org/0000-0002-1111-4279"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zilin Si","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083936584","display_name":"Joshua G. Mangelson","orcid":"https://orcid.org/0000-0002-0550-0368"},"institutions":[{"id":"https://openalex.org/I100005738","display_name":"Brigham Young University","ror":"https://ror.org/047rhhm47","country_code":"US","type":"education","lineage":["https://openalex.org/I100005738"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joshua G. Mangelson","raw_affiliation_strings":["Brigham Young University,Electrical and Computer Engineering Department","Electrical and Computer Engineering Department, Brigham Young University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Brigham Young University,Electrical and Computer Engineering Department","institution_ids":["https://openalex.org/I100005738"]},{"raw_affiliation_string":"Electrical and Computer Engineering Department, Brigham Young University","institution_ids":["https://openalex.org/I100005738"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055947140","display_name":"Wenzhen Yuan","orcid":"https://orcid.org/0000-0001-8014-356X"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wenzhen Yuan","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011189440","display_name":"Michael Kaess","orcid":"https://orcid.org/0000-0003-0031-7764"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael Kaess","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]}],"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":50,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"7073","last_page":"7080"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9987000226974487,"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":0.9987000226974487,"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":0.9984999895095825,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.998199999332428,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7972861528396606},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.755699872970581},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7174081802368164},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.6646612882614136},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5545983910560608},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5201985239982605},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5187428593635559},{"id":"https://openalex.org/keywords/perspective","display_name":"Perspective (graphical)","score":0.4618372917175293},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.44413623213768005},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.43784299492836},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.41148218512535095}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7972861528396606},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.755699872970581},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7174081802368164},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.6646612882614136},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5545983910560608},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5201985239982605},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5187428593635559},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.4618372917175293},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.44413623213768005},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.43784299492836},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.41148218512535095},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra46639.2022.9812040","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812040","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.6399999856948853,"id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G3681883611","display_name":null,"funder_award_id":"IIS-2008279","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":59,"referenced_works":["https://openalex.org/W31424620","https://openalex.org/W1502922572","https://openalex.org/W1594957066","https://openalex.org/W1959198277","https://openalex.org/W1968315983","https://openalex.org/W1987648924","https://openalex.org/W2018535183","https://openalex.org/W2050595634","https://openalex.org/W2076776712","https://openalex.org/W2107153006","https://openalex.org/W2119833203","https://openalex.org/W2143013621","https://openalex.org/W2155770057","https://openalex.org/W2165192967","https://openalex.org/W2169364846","https://openalex.org/W2182229738","https://openalex.org/W2524140598","https://openalex.org/W2566638765","https://openalex.org/W2567813906","https://openalex.org/W2567969112","https://openalex.org/W2569244399","https://openalex.org/W2603737562","https://openalex.org/W2736887377","https://openalex.org/W2746349752","https://openalex.org/W2772341554","https://openalex.org/W2775635818","https://openalex.org/W2781493652","https://openalex.org/W2886316146","https://openalex.org/W2951234442","https://openalex.org/W2962688712","https://openalex.org/W2963591054","https://openalex.org/W2963765355","https://openalex.org/W2966943864","https://openalex.org/W2967509406","https://openalex.org/W2968672950","https://openalex.org/W3000711072","https://openalex.org/W3008303301","https://openalex.org/W3041764167","https://openalex.org/W3089374988","https://openalex.org/W3091703258","https://openalex.org/W3100818121","https://openalex.org/W3102334304","https://openalex.org/W3112669067","https://openalex.org/W3179888033","https://openalex.org/W3198417399","https://openalex.org/W3205115400","https://openalex.org/W3206949798","https://openalex.org/W3207896823","https://openalex.org/W3208675475","https://openalex.org/W3214095120","https://openalex.org/W4233857083","https://openalex.org/W4253075444","https://openalex.org/W4287071748","https://openalex.org/W6601271567","https://openalex.org/W6629804754","https://openalex.org/W6685261749","https://openalex.org/W6780860281","https://openalex.org/W6787154759","https://openalex.org/W6798796899"],"related_works":["https://openalex.org/W2033256001","https://openalex.org/W2057088859","https://openalex.org/W2055243143","https://openalex.org/W1895481218","https://openalex.org/W3163518500","https://openalex.org/W2150609833","https://openalex.org/W2025677844","https://openalex.org/W2955383310","https://openalex.org/W2529143673","https://openalex.org/W2354786567"],"abstract_inverted_index":{"Knowledge":[0],"of":[1,6,39,127,145],"3-D":[2,72,143],"object":[3],"shape":[4,51,82,95],"is":[5,24,63,96],"great":[7],"importance":[8],"to":[9,140],"robot":[10],"manipulation":[11],"tasks,":[12],"but":[13],"may":[14],"not":[15],"be":[16],"readily":[17],"available":[18],"in":[19,106,134],"unstructured":[20],"environments.":[21],"While":[22],"vision":[23],"often":[25],"occluded":[26],"during":[27],"robot-object":[28],"interaction,":[29],"high-resolution":[30],"tactile":[31,43,68,88,99],"sensors":[32,44],"can":[33],"give":[34],"a":[35,60,71,86,91,102,112,118],"dense":[36,67],"local":[37],"perspective":[38],"the":[40,50,128],"object.":[41,129],"However,":[42],"have":[45],"limited":[46],"sensing":[47],"area":[48],"and":[49,90,137],"representation":[52,126],"must":[53],"faithfully":[54],"approximate":[55],"non-contact":[56],"areas.":[57],"In":[58,75],"addition,":[59],"key":[61],"challenge":[62],"efficiently":[64],"incorporating":[65],"these":[66],"measurements":[69],"into":[70],"mapping":[73,83,133],"framework.":[74],"this":[76],"work,":[77],"we":[78,121],"propose":[79],"an":[80,123],"incremental":[81],"method":[84],"using":[85],"GelSight":[87],"sensor":[89],"depth":[92],"camera.":[93],"Local":[94],"recovered":[97],"from":[98],"images":[100],"via":[101],"learned":[103],"model":[104],"trained":[105],"simulation.":[107],"Through":[108],"efficient":[109],"inference":[110],"on":[111],"spatial":[113],"factor":[114],"graph":[115],"informed":[116],"by":[117],"Gaussian":[119],"process,":[120],"build":[122,142],"implicit":[124],"surface":[125],"We":[130],"demonstrate":[131],"visuo-tactile":[132],"both":[135],"simulated":[136],"real-world":[138],"experiments,":[139],"incrementally":[141],"reconstructions":[144],"household":[146],"objects.":[147]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":21},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":17},{"year":2022,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}