{"id":"https://openalex.org/W2119833203","doi":"https://doi.org/10.1109/iros.2008.4650982","title":"Robust shape recovery for sparse contact location and normal data from haptic exploration","display_name":"Robust shape recovery for sparse contact location and normal data from haptic exploration","publication_year":2008,"publication_date":"2008-09-01","ids":{"openalex":"https://openalex.org/W2119833203","doi":"https://doi.org/10.1109/iros.2008.4650982","mag":"2119833203"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2008.4650982","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2008.4650982","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5030743308","display_name":"Alexander Bierbaum","orcid":null},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"A. Bierbaum","raw_affiliation_strings":["Institute of Computer Science and Engineering, University of Karlsruhe, Karlsruhe, Germany","Inst. of Comput. Sci. & Eng., Univ. of Karlsruhe (TH), Karlsruhe"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Computer Science and Engineering, University of Karlsruhe, Karlsruhe, Germany","institution_ids":[]},{"raw_affiliation_string":"Inst. of Comput. Sci. & Eng., Univ. of Karlsruhe (TH), Karlsruhe","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049095898","display_name":"I. Gubarev","orcid":null},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"I. Gubarev","raw_affiliation_strings":["Institute of Computer Science and Engineering, University of Karlsruhe, Karlsruhe, Germany","Inst. of Comput. Sci. & Eng., Univ. of Karlsruhe (TH), Karlsruhe"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Computer Science and Engineering, University of Karlsruhe, Karlsruhe, Germany","institution_ids":[]},{"raw_affiliation_string":"Inst. of Comput. Sci. & Eng., Univ. of Karlsruhe (TH), Karlsruhe","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112552331","display_name":"R\u00fcdiger Dillmann","orcid":null},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"R. Dillmann","raw_affiliation_strings":["Institute of Computer Science and Engineering, University of Karlsruhe, Karlsruhe, Germany","Inst. of Comput. Sci. & Eng., Univ. of Karlsruhe (TH), Karlsruhe"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Computer Science and Engineering, University of Karlsruhe, Karlsruhe, Germany","institution_ids":[]},{"raw_affiliation_string":"Inst. of Comput. Sci. & Eng., Univ. of Karlsruhe (TH), Karlsruhe","institution_ids":["https://openalex.org/I102335020"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I102335020"],"apc_list":null,"apc_paid":null,"fwci":2.9193,"has_fulltext":false,"cited_by_count":30,"citation_normalized_percentile":{"value":0.90364055,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"3200","last_page":"3205"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9995999932289124,"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":0.9995999932289124,"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":0.996999979019165,"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/T12111","display_name":"Industrial Vision Systems and Defect Detection","score":0.986299991607666,"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/computer-science","display_name":"Computer science","score":0.7340307235717773},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.7308117151260376},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6886765956878662},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6322060823440552},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5704323053359985},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.5445232391357422},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.42448049783706665}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7340307235717773},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7308117151260376},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6886765956878662},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6322060823440552},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5704323053359985},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.5445232391357422},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.42448049783706665}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2008.4650982","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2008.4650982","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1563047112","https://openalex.org/W2023751161","https://openalex.org/W2058371413","https://openalex.org/W2087070363","https://openalex.org/W2100313657","https://openalex.org/W2114002892","https://openalex.org/W2123564600","https://openalex.org/W2135323728","https://openalex.org/W2135424447","https://openalex.org/W2138013109","https://openalex.org/W2149722410","https://openalex.org/W2156219259","https://openalex.org/W2157847074","https://openalex.org/W2163467186","https://openalex.org/W2165143346","https://openalex.org/W2171103720","https://openalex.org/W2540104143","https://openalex.org/W2541666556","https://openalex.org/W4249581542","https://openalex.org/W6677023648","https://openalex.org/W6680143432","https://openalex.org/W6684119989"],"related_works":["https://openalex.org/W156716224","https://openalex.org/W2745063183","https://openalex.org/W2111871955","https://openalex.org/W3175380930","https://openalex.org/W1989694608","https://openalex.org/W2139876914","https://openalex.org/W1986738380","https://openalex.org/W2642061445","https://openalex.org/W4233260495","https://openalex.org/W3094485622"],"abstract_inverted_index":{"3D":[0,55],"shape":[1,40,56],"reconstruction":[2],"of":[3,64],"objects":[4],"from":[5],"tactile":[6],"exploration":[7,25],"data":[8,26],"acquired":[9],"by":[10],"a":[11,20,38,51],"multi-fingered":[12],"robot":[13,22,30],"hand":[14],"is":[15,32,42],"an":[16],"important":[17],"skill":[18],"for":[19,54],"humanoid":[21],"system.":[23],"Tactile":[24],"captured":[27],"using":[28,58,83],"current":[29],"technology":[31],"naturally":[33],"sparse":[34],"and":[35,68,76],"noisy,":[36],"therefore":[37],"satisfying":[39],"estimate":[41],"difficult":[43],"to":[44,78],"achieve.":[45],"In":[46],"this":[47],"paper":[48],"we":[49],"describe":[50],"robust":[52],"approach":[53],"recovery":[57],"superquadric":[59],"functions,":[60],"which":[61],"makes":[62],"use":[63],"both":[65],"contact":[66,86],"location":[67],"normal":[69],"information.":[70],"We":[71],"present":[72],"two":[73],"quality":[74],"measures":[75],"compare":[77],"other":[79],"relevant":[80],"estimation":[81],"techniques":[82],"representative":[84],"synthetic":[85],"data.":[87]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":3}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}