{"id":"https://openalex.org/W4285102355","doi":"https://doi.org/10.1109/icra46639.2022.9812200","title":"Improving Haptic Exploration of Object Shape by Discovering Symmetries","display_name":"Improving Haptic Exploration of Object Shape by Discovering Symmetries","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W4285102355","doi":"https://doi.org/10.1109/icra46639.2022.9812200"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9812200","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812200","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/A5066202288","display_name":"Aramis Augusto Bonzini","orcid":null},"institutions":[{"id":"https://openalex.org/I166337079","display_name":"Queen Mary University of London","ror":"https://ror.org/026zzn846","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I166337079"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Aramis Augusto Bonzini","raw_affiliation_strings":["School of Electronic Engineering and Computer Science, Queen Mary University of London,ARQ (Advanced Robotics at Queen Mary),London,UK,E14NS"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronic Engineering and Computer Science, Queen Mary University of London,ARQ (Advanced Robotics at Queen Mary),London,UK,E14NS","institution_ids":["https://openalex.org/I166337079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013520344","display_name":"Lucia Seminara","orcid":"https://orcid.org/0000-0002-3411-5565"},"institutions":[{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Lucia Seminara","raw_affiliation_strings":["University of Genoa,Department of Naval, Electrical, Electronic, and Telecommunications Engineering (DITEN),Genova,Italy,16145"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Genoa,Department of Naval, Electrical, Electronic, and Telecommunications Engineering (DITEN),Genova,Italy,16145","institution_ids":["https://openalex.org/I83816512"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064713691","display_name":"Lorenzo Jamone","orcid":"https://orcid.org/0000-0002-1521-6168"},"institutions":[{"id":"https://openalex.org/I166337079","display_name":"Queen Mary University of London","ror":"https://ror.org/026zzn846","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I166337079"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Lorenzo Jamone","raw_affiliation_strings":["School of Electronic Engineering and Computer Science, Queen Mary University of London,ARQ (Advanced Robotics at Queen Mary),London,UK,E14NS"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronic Engineering and Computer Science, Queen Mary University of London,ARQ (Advanced Robotics at Queen Mary),London,UK,E14NS","institution_ids":["https://openalex.org/I166337079"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5821","last_page":"5827"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9959999918937683,"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":0.9959999918937683,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9684000015258789,"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"}},{"id":"https://openalex.org/T12549","display_name":"Image and Object Detection Techniques","score":0.9679999947547913,"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/haptic-technology","display_name":"Haptic technology","score":0.790022611618042},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.7882294654846191},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7115201950073242},{"id":"https://openalex.org/keywords/symmetry","display_name":"Symmetry (geometry)","score":0.7089872360229492},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6996391415596008},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6493163108825684},{"id":"https://openalex.org/keywords/homogeneous-space","display_name":"Homogeneous space","score":0.6042873859405518},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5803355574607849},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.5570406913757324},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.49686840176582336},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.48486456274986267},{"id":"https://openalex.org/keywords/plane","display_name":"Plane (geometry)","score":0.4536416828632355},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.2488207221031189},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2420617640018463}],"concepts":[{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.790022611618042},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.7882294654846191},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7115201950073242},{"id":"https://openalex.org/C2779886137","wikidata":"https://www.wikidata.org/wiki/Q21030012","display_name":"Symmetry (geometry)","level":2,"score":0.7089872360229492},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6996391415596008},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6493163108825684},{"id":"https://openalex.org/C96469262","wikidata":"https://www.wikidata.org/wiki/Q1324364","display_name":"Homogeneous space","level":2,"score":0.6042873859405518},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5803355574607849},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.5570406913757324},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.49686840176582336},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.48486456274986267},{"id":"https://openalex.org/C17825722","wikidata":"https://www.wikidata.org/wiki/Q17285","display_name":"Plane (geometry)","level":2,"score":0.4536416828632355},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.2488207221031189},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2420617640018463},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra46639.2022.9812200","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812200","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"},{"id":"pmh:oai:iris.unige.it:11567/1103018","is_oa":false,"landing_page_url":"https://hdl.handle.net/11567/1103018","pdf_url":null,"source":{"id":"https://openalex.org/S4377196291","display_name":"CINECA IRIS Institutial Research Information System (University of Genoa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I83816512","host_organization_name":"University of Genoa","host_organization_lineage":["https://openalex.org/I83816512"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G180752727","display_name":null,"funder_award_id":"EP/S00453X/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G6683673406","display_name":null,"funder_award_id":"EP/R02572X/1,EP/S00453X/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W31424620","https://openalex.org/W824892955","https://openalex.org/W1984974392","https://openalex.org/W2034939775","https://openalex.org/W2097307110","https://openalex.org/W2107153006","https://openalex.org/W2116404897","https://openalex.org/W2117392667","https://openalex.org/W2144473577","https://openalex.org/W2156583822","https://openalex.org/W2366389387","https://openalex.org/W2538203485","https://openalex.org/W2561622639","https://openalex.org/W2565078525","https://openalex.org/W2566638765","https://openalex.org/W2567813906","https://openalex.org/W2576345622","https://openalex.org/W2587878520","https://openalex.org/W2763391026","https://openalex.org/W2955691601","https://openalex.org/W2963263790","https://openalex.org/W2967364851","https://openalex.org/W3004240582","https://openalex.org/W3101139490","https://openalex.org/W3190014640","https://openalex.org/W4211049957"],"related_works":["https://openalex.org/W156716224","https://openalex.org/W2111871955","https://openalex.org/W3175380930","https://openalex.org/W1989694608","https://openalex.org/W2139876914","https://openalex.org/W1986738380","https://openalex.org/W1566328901","https://openalex.org/W2392521623","https://openalex.org/W34357983","https://openalex.org/W2770089535"],"abstract_inverted_index":{"The":[0,111],"shapes":[1],"of":[2,15,31,36,72,99,117,134,137,179],"most":[3],"real-world":[4],"objects":[5],"are":[6,52],"symmetric":[7],"with":[8],"respect":[9],"to":[10,27,83,128],"at":[11],"least":[12],"one":[13,144],"plane":[14,136],"symmetry.":[16,138],"This":[17,90],"information":[18],"is":[19,46,126,166,171,183],"unconsciously":[20],"used":[21,67],"by":[22,56],"humans":[23],"when":[24],"they":[25,51],"attempt":[26,77],"estimate":[28],"the":[29,44,54,69,96,104,130,149,161,168,176,180],"shape":[30,101,151,181],"an":[32],"object":[33,45,55,73,100,150],"in":[34,160],"presence":[35],"uncertainty":[37],"or":[38,49,145],"missing":[39],"evidence,":[40],"for":[41,68,95],"example":[42],"if":[43,50,143],"partially":[47],"occluded":[48],"exploring":[53],"touch":[57],"(i.e.":[58],"haptic":[59,97],"exploration).":[60],"In":[61],"robotics,":[62],"this":[63,85],"concept":[64],"has":[65,78],"been":[66,79],"visual":[70],"estimation":[71,182],"shape.":[74],"However,":[75],"no":[76,164],"made":[80],"so":[81],"far":[82],"incorporate":[84],"idea":[86],"into":[87],"haptic-based":[88],"estimation.":[89],"work":[91],"presents":[92],"a":[93,107,114,121],"method":[94],"exploration":[98,169],"that":[102,106,125,163],"includes":[103],"assumption":[105],"symmetry":[108,165],"could":[109],"exist.":[110],"approach":[112],"combines":[113],"tailored":[115],"version":[116],"Gaussian":[118],"Processes":[119],"and":[120,132,156,175],"novel":[122],"exploratory":[123],"procedure":[124],"able":[127],"detect":[129],"position":[131],"orientation":[133],"any":[135],"Our":[139],"results":[140],"show":[141],"that,":[142],"more":[146,157],"symmetries":[147],"exist,":[148],"can":[152],"be":[153],"estimated":[154],"faster":[155],"accurately.":[158],"Interestingly,":[159],"case":[162],"present,":[167],"process":[170],"only":[172],"slightly":[173],"slower,":[174],"final":[177],"accuracy":[178],"not":[184],"compromised.":[185]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}