{"id":"https://openalex.org/W4401413901","doi":"https://doi.org/10.1109/icra57147.2024.10611717","title":"Efficient and Accurate Transformer-Based 3D Shape Completion and Reconstruction of Fruits for Agricultural Robots","display_name":"Efficient and Accurate Transformer-Based 3D Shape Completion and Reconstruction of Fruits for Agricultural Robots","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401413901","doi":"https://doi.org/10.1109/icra57147.2024.10611717"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10611717","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611717","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":"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/A5042093536","display_name":"Federico Magistri","orcid":"https://orcid.org/0000-0003-2815-5760"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Federico Magistri","raw_affiliation_strings":["University of Bonn,Center for Robotics,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Bonn,Center for Robotics,Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040103218","display_name":"Rodrigo Marcuzzi","orcid":"https://orcid.org/0000-0001-8076-0293"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Rodrigo Marcuzzi","raw_affiliation_strings":["University of Bonn,Center for Robotics,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Bonn,Center for Robotics,Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004673510","display_name":"Elias Marks","orcid":"https://orcid.org/0000-0003-1322-9317"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Elias Marks","raw_affiliation_strings":["University of Bonn,Center for Robotics,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Bonn,Center for Robotics,Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011967892","display_name":"Matteo Sodano","orcid":"https://orcid.org/0000-0003-3358-6979"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Matteo Sodano","raw_affiliation_strings":["University of Bonn,Center for Robotics,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Bonn,Center for Robotics,Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068364473","display_name":"Jens Behley","orcid":"https://orcid.org/0000-0001-6483-0319"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jens Behley","raw_affiliation_strings":["University of Bonn,Center for Robotics,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Bonn,Center for Robotics,Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011166267","display_name":"Cyrill Stachniss","orcid":"https://orcid.org/0000-0003-1173-6972"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Cyrill Stachniss","raw_affiliation_strings":["University of Bonn,Center for Robotics,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Bonn,Center for Robotics,Germany","institution_ids":["https://openalex.org/I135140700"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I135140700"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"8657","last_page":"8663"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10616","display_name":"Smart Agriculture and AI","score":0.9980000257492065,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T10616","display_name":"Smart Agriculture and AI","score":0.9980000257492065,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9872999787330627,"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/T12111","display_name":"Industrial Vision Systems and Defect Detection","score":0.9868999719619751,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/transformer","display_name":"Transformer","score":0.6811947226524353},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6464540958404541},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5820962190628052},{"id":"https://openalex.org/keywords/agriculture","display_name":"Agriculture","score":0.4651276767253876},{"id":"https://openalex.org/keywords/agricultural-engineering","display_name":"Agricultural engineering","score":0.3966417908668518},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38457533717155457},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.34443849325180054},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20399215817451477},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.13807961344718933},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.08577728271484375},{"id":"https://openalex.org/keywords/voltage","display_name":"Voltage","score":0.06662866473197937},{"id":"https://openalex.org/keywords/archaeology","display_name":"Archaeology","score":0.06341439485549927}],"concepts":[{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.6811947226524353},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6464540958404541},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5820962190628052},{"id":"https://openalex.org/C118518473","wikidata":"https://www.wikidata.org/wiki/Q11451","display_name":"Agriculture","level":2,"score":0.4651276767253876},{"id":"https://openalex.org/C88463610","wikidata":"https://www.wikidata.org/wiki/Q194118","display_name":"Agricultural engineering","level":1,"score":0.3966417908668518},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38457533717155457},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.34443849325180054},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20399215817451477},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.13807961344718933},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.08577728271484375},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.06662866473197937},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.06341439485549927}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10611717","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611717","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":[{"score":0.8299999833106995,"display_name":"Zero hunger","id":"https://metadata.un.org/sdg/2"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W2134236847","https://openalex.org/W2168227788","https://openalex.org/W2194775991","https://openalex.org/W2412479917","https://openalex.org/W2738551266","https://openalex.org/W2770963510","https://openalex.org/W2798314605","https://openalex.org/W2889668339","https://openalex.org/W2898362484","https://openalex.org/W2942018315","https://openalex.org/W2948594986","https://openalex.org/W2963125977","https://openalex.org/W2963627347","https://openalex.org/W2989421653","https://openalex.org/W3004299129","https://openalex.org/W3096609285","https://openalex.org/W3132005273","https://openalex.org/W3164040222","https://openalex.org/W3175851321","https://openalex.org/W3195047309","https://openalex.org/W3199549495","https://openalex.org/W3203898101","https://openalex.org/W3205597468","https://openalex.org/W3205636718","https://openalex.org/W3211114069","https://openalex.org/W4285102202","https://openalex.org/W4286579600","https://openalex.org/W4293363567","https://openalex.org/W4312815172","https://openalex.org/W4312953973","https://openalex.org/W4315783786","https://openalex.org/W4389665493","https://openalex.org/W4389666248","https://openalex.org/W4389666779","https://openalex.org/W6682441149","https://openalex.org/W6739901393","https://openalex.org/W6754916722"],"related_works":["https://openalex.org/W2355956201","https://openalex.org/W2327874825","https://openalex.org/W2386195957","https://openalex.org/W2351852648","https://openalex.org/W2613051533","https://openalex.org/W2349774843","https://openalex.org/W2775541961","https://openalex.org/W2267286817","https://openalex.org/W4294170338","https://openalex.org/W2372580072"],"abstract_inverted_index":{"Robots":[0],"that":[1,11,137],"operate":[2],"in":[3,20,149],"agricultural":[4,21],"environments":[5],"need":[6],"a":[7,45,86,111,123,131,144],"robust":[8],"perception":[9],"system":[10],"can":[12,48],"deal":[13],"with":[14,118],"occlusions,":[15],"which":[16,72],"are":[17,40,73],"naturally":[18],"present":[19],"scenarios.":[22],"In":[23],"this":[24],"paper,":[25],"we":[26],"address":[27],"the":[28,56,59,83,100,107,119],"problem":[29],"of":[30,34,58,85,102,109,116,121],"estimating":[31],"3D":[32],"shapes":[33],"fruits":[35],"when":[36],"only":[37],"partial":[38],"observations":[39],"available.":[41],"Generally":[42],"speaking,":[43],"such":[44,80],"shape":[46],"completion":[47],"be":[49],"realized":[50],"by":[51,65,78],"exploiting":[52],"prior":[53],"knowledge":[54,81],"about":[55],"geometry":[57],"fruit.":[60],"This":[61],"is":[62],"typically":[63],"done":[64],"template":[66,112],"matching":[67],"using":[68,122],"traditional":[69],"optimization":[70],"algorithms,":[71],"slow":[74],"but":[75,92],"accurate,":[76],"or":[77],"encoding":[79],"into":[82],"weights":[84],"neural":[87,124],"network,":[88],"leading":[89],"to":[90,126,129],"faster":[91],"often":[93],"less":[94],"accurate":[95,141],"estimates.":[96],"Our":[97,133],"approach":[98,139],"combines":[99],"best":[101],"both":[103],"worlds.":[104],"It":[105],"exploits":[106],"benefit":[108],"having":[110],"representing":[113],"our":[114,138],"object":[115],"interest":[117],"advantages":[120],"network":[125],"learn":[127],"how":[128],"deform":[130],"template.":[132],"experimental":[134],"evaluation":[135],"demonstrates":[136],"yields":[140],"estimation":[142],"at":[143],"competitively":[145],"low":[146],"inference":[147],"time":[148],"challenging":[150],"greenhouse":[151],"environments.":[152]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}