{"id":"https://openalex.org/W4401413867","doi":"https://doi.org/10.1109/icra57147.2024.10610590","title":"Online Estimation of Articulated Objects with Factor Graphs using Vision and Proprioceptive Sensing","display_name":"Online Estimation of Articulated Objects with Factor Graphs using Vision and Proprioceptive Sensing","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401413867","doi":"https://doi.org/10.1109/icra57147.2024.10610590"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610590","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610590","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","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/A5065670640","display_name":"Russell Buchanan","orcid":"https://orcid.org/0000-0001-9172-5856"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Russell Buchanan","raw_affiliation_strings":["University of Edinburgh,School of Informatics,UK"],"affiliations":[{"raw_affiliation_string":"University of Edinburgh,School of Informatics,UK","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007336076","display_name":"Adrian R\u00f6fer","orcid":"https://orcid.org/0000-0001-6132-0989"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Adrian R\u00f6fer","raw_affiliation_strings":["University of Freiburg,Department of Computer Science,Germany"],"affiliations":[{"raw_affiliation_string":"University of Freiburg,Department of Computer Science,Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090546247","display_name":"Jo\u00e3o Moura","orcid":"https://orcid.org/0000-0002-1812-7857"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Jo\u00e3o Moura","raw_affiliation_strings":["University of Edinburgh,School of Informatics,UK"],"affiliations":[{"raw_affiliation_string":"University of Edinburgh,School of Informatics,UK","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039639553","display_name":"Abhinav Valada","orcid":"https://orcid.org/0000-0003-4710-3114"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Abhinav Valada","raw_affiliation_strings":["University of Freiburg,Department of Computer Science,Germany"],"affiliations":[{"raw_affiliation_string":"University of Freiburg,Department of Computer Science,Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109248341","display_name":"Sethu Vijayakumar","orcid":"https://orcid.org/0000-0003-0649-7241"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Sethu Vijayakumar","raw_affiliation_strings":["University of Edinburgh,School of Informatics,UK"],"affiliations":[{"raw_affiliation_string":"University of Edinburgh,School of Informatics,UK","institution_ids":["https://openalex.org/I98677209"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5065670640"],"corresponding_institution_ids":["https://openalex.org/I98677209"],"apc_list":null,"apc_paid":null,"fwci":8.2033,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.9676471,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"16111","last_page":"16117"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9986000061035156,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9983999729156494,"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/computer-science","display_name":"Computer science","score":0.6667228937149048},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6566258072853088},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6048656105995178},{"id":"https://openalex.org/keywords/factor","display_name":"Factor (programming language)","score":0.5739076733589172},{"id":"https://openalex.org/keywords/factor-graph","display_name":"Factor graph","score":0.5529088973999023},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.534457802772522},{"id":"https://openalex.org/keywords/estimation","display_name":"Estimation","score":0.5136467814445496},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12280979752540588},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.12167087197303772}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6667228937149048},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6566258072853088},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6048656105995178},{"id":"https://openalex.org/C2781039887","wikidata":"https://www.wikidata.org/wiki/Q1391724","display_name":"Factor (programming language)","level":2,"score":0.5739076733589172},{"id":"https://openalex.org/C159246509","wikidata":"https://www.wikidata.org/wiki/Q5428725","display_name":"Factor graph","level":3,"score":0.5529088973999023},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.534457802772522},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.5136467814445496},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12280979752540588},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.12167087197303772},{"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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C57273362","wikidata":"https://www.wikidata.org/wiki/Q576722","display_name":"Decoding methods","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610590","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610590","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320313467","display_name":"Alan Turing Institute","ror":"https://ror.org/035dkdb55"},{"id":"https://openalex.org/F4320336677","display_name":"BrainLinks-BrainTools","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W65877445","https://openalex.org/W1517508454","https://openalex.org/W1564897360","https://openalex.org/W2082069298","https://openalex.org/W2132013885","https://openalex.org/W2337977475","https://openalex.org/W2842089854","https://openalex.org/W2945878573","https://openalex.org/W2961368225","https://openalex.org/W3035131925","https://openalex.org/W3105287169","https://openalex.org/W3120441392","https://openalex.org/W3138392552","https://openalex.org/W3167705651","https://openalex.org/W3199611723","https://openalex.org/W3199614037","https://openalex.org/W3207081724","https://openalex.org/W4206386832","https://openalex.org/W4283785166","https://openalex.org/W4313033364","https://openalex.org/W4313160783","https://openalex.org/W4313173247","https://openalex.org/W4377009957","https://openalex.org/W4383109189","https://openalex.org/W4386065350","https://openalex.org/W4389665788","https://openalex.org/W4390874575","https://openalex.org/W6852597418","https://openalex.org/W6912333589"],"related_works":["https://openalex.org/W162456724","https://openalex.org/W2123263858","https://openalex.org/W2354832544","https://openalex.org/W3127959533","https://openalex.org/W4252544247","https://openalex.org/W2736638679","https://openalex.org/W4313046826","https://openalex.org/W1968716783","https://openalex.org/W1557056212","https://openalex.org/W2757251458"],"abstract_inverted_index":{"From":[0],"dishwashers":[1],"to":[2,15,64,76,114,127,187],"cabinets,":[3],"humans":[4],"interact":[5],"with":[6,68,98,191],"articulated":[7,41,153,211],"objects":[8,42,157],"every":[9],"day,":[10],"and":[11,176],"for":[12,149,206],"a":[13,24,95,143,173,189],"robot":[14,63,175,185],"assist":[16],"in":[17,59,102,155,158,182],"common":[18],"manipulation":[19],"tasks,":[20],"it":[21],"must":[22],"learn":[23],"representation":[25],"of":[26,40,80,111,152,209],"articulation.":[27],"Recent":[28],"deep":[29],"learning":[30],"methods":[31],"can":[32],"provide":[33],"powerful":[34],"vision-based":[35,91],"priors":[36],"on":[37,172],"the":[38,57,62,69,78,109,121,129,136,160,184,196],"affordance":[39,92],"from":[43,94,132,165],"previous,":[44],"possibly":[45],"simulated,":[46],"experiences.":[47],"In":[48,71,138],"contrast,":[49],"many":[50],"other":[51],"works":[52],"estimate":[53],"articulation":[54,117,161,197],"by":[55,83],"observing":[56],"object":[58],"motion,":[60],"requiring":[61],"already":[65],"be":[66],"interacting":[67],"object.":[70],"this":[72,139],"work,":[73],"we":[74,141],"propose":[75],"use":[77],"best":[79],"both":[81],"worlds":[82],"introducing":[84],"an":[85,103,116,202],"online":[86],"estimation":[87],"method":[88],"that":[89],"merges":[90],"predictions":[93],"neural":[96],"network":[97],"interactive":[99],"kinematic":[100,133],"sensing":[101,134],"analytical":[104],"model.":[105],"Our":[106,199],"work":[107],"has":[108],"benefit":[110],"using":[112,146],"vision":[113,166],"predict":[115],"model":[118,130],"before":[119],"touching":[120],"object,":[122],"while":[123,194],"also":[124],"being":[125],"able":[126],"update":[128],"quickly":[131],"during":[135],"interaction.":[137],"paper,":[140],"implement":[142],"full":[144],"system":[145,171,200],"shared":[147],"autonomy":[148],"robotic":[150],"opening":[151,208],"objects,":[154],"particular":[156],"which":[159,183],"is":[162],"not":[163],"apparent":[164],"alone.":[167],"We":[168],"implemented":[169],"our":[170],"real":[174],"performed":[177],"several":[178],"autonomous":[179,207],"closed-loop":[180],"experiments":[181],"had":[186],"open":[188],"door":[190],"unknown":[192,210],"joint":[193],"estimating":[195],"online.":[198],"achieved":[201],"80%":[203],"success":[204],"rate":[205],"objects.":[212]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2}],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-10-10T00:00:00"}