{"id":"https://openalex.org/W2206421543","doi":"https://doi.org/10.1109/iros.2015.7353475","title":"Leveraging appearance priors in non-rigid registration, with application to manipulation of deformable objects","display_name":"Leveraging appearance priors in non-rigid registration, with application to manipulation of deformable objects","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W2206421543","doi":"https://doi.org/10.1109/iros.2015.7353475","mag":"2206421543"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2015.7353475","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353475","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5082738872","display_name":"Sandy H. Huang","orcid":"https://orcid.org/0000-0001-8920-2247"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Sandy H. Huang","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California at Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California at Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076812698","display_name":"Jia Pan","orcid":"https://orcid.org/0000-0001-9003-2054"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jia Pan","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California at Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California at Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071629800","display_name":"George Mulcaire","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"George Mulcaire","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California at Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California at Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049349154","display_name":"Pieter Abbeel","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Pieter Abbeel","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California at Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California at Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5082738872"],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":9.7295,"has_fulltext":false,"cited_by_count":38,"citation_normalized_percentile":{"value":0.97511135,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"878","last_page":"885"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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/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/T10531","display_name":"Advanced Vision and Imaging","score":0.9994000196456909,"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/computer-science","display_name":"Computer science","score":0.758133053779602},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7566735744476318},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7205785512924194},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6660877466201782},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.502532958984375},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.49063125252723694},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.48014017939567566},{"id":"https://openalex.org/keywords/image-registration","display_name":"Image registration","score":0.45106321573257446},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2950255572795868},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.22177574038505554},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16395306587219238}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.758133053779602},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7566735744476318},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7205785512924194},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6660877466201782},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.502532958984375},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.49063125252723694},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.48014017939567566},{"id":"https://openalex.org/C166704113","wikidata":"https://www.wikidata.org/wiki/Q861092","display_name":"Image registration","level":3,"score":0.45106321573257446},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2950255572795868},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.22177574038505554},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16395306587219238},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2015.7353475","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353475","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":48,"referenced_works":["https://openalex.org/W1515999713","https://openalex.org/W1527127121","https://openalex.org/W1532325895","https://openalex.org/W1536141504","https://openalex.org/W1684361744","https://openalex.org/W1960289438","https://openalex.org/W1969865247","https://openalex.org/W1977758817","https://openalex.org/W2001709653","https://openalex.org/W2018346149","https://openalex.org/W2025468671","https://openalex.org/W2040709641","https://openalex.org/W2057175746","https://openalex.org/W2089630413","https://openalex.org/W2090518410","https://openalex.org/W2102605133","https://openalex.org/W2102935817","https://openalex.org/W2104853049","https://openalex.org/W2109998105","https://openalex.org/W2117539524","https://openalex.org/W2118356379","https://openalex.org/W2124267516","https://openalex.org/W2124386111","https://openalex.org/W2124457362","https://openalex.org/W2125113735","https://openalex.org/W2131296063","https://openalex.org/W2137549137","https://openalex.org/W2141097672","https://openalex.org/W2146766088","https://openalex.org/W2155893237","https://openalex.org/W2156547346","https://openalex.org/W2161969291","https://openalex.org/W2163605009","https://openalex.org/W2171490473","https://openalex.org/W2186094539","https://openalex.org/W2405643909","https://openalex.org/W2472053385","https://openalex.org/W2556171905","https://openalex.org/W2949883907","https://openalex.org/W4211008118","https://openalex.org/W4213009331","https://openalex.org/W4298876635","https://openalex.org/W6641163955","https://openalex.org/W6675026286","https://openalex.org/W6677651945","https://openalex.org/W6684191040","https://openalex.org/W6686583229","https://openalex.org/W6730096132"],"related_works":["https://openalex.org/W1941703695","https://openalex.org/W3131574667","https://openalex.org/W4323768008","https://openalex.org/W1508899372","https://openalex.org/W4248382324","https://openalex.org/W4360995134","https://openalex.org/W2039473718","https://openalex.org/W2387529410","https://openalex.org/W3023605104","https://openalex.org/W2383578611"],"abstract_inverted_index":{"Manipulation":[0],"of":[1,34,155,168,205],"deformable":[2,141,171],"objects":[3,142,172],"is":[4,20,28,45,63,119],"a":[5,25,49,74,210,222,228],"widely":[6],"applicable":[7],"but":[8,107],"challenging":[9],"task":[10],"in":[11,23,79,111,192,196,213],"robotics.":[12],"One":[13],"promising":[14],"nonparametric":[15],"approach":[16,103,134,191],"for":[17,121,176,221],"this":[18,99,129,148],"problem":[19],"trajectory":[21,71,76],"transfer,":[22],"which":[24,62,112],"non-rigid":[26,125,156,231],"registration":[27,44,157,232],"computed":[29],"between":[30,158,233],"the":[31,35,38,68,80,92,153,197,203,216],"starting":[32],"scene":[33,39,220],"demonstration":[36,159,219],"and":[37,116,146,160,182,185,195,200,226],"at":[40],"test":[41,81,161,224],"time.":[42],"This":[43,102],"extrapolated":[46],"to":[47,56,66,72,77,97,135,151,209],"find":[48],"function":[50],"from":[51,91],"\u211d":[52,57],"<sup":[53,58],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[54,59],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">3</sup>":[55,60],",":[61],"then":[64],"used":[65,96],"warp":[67,100,126],"demonstrated":[69],"robot":[70],"generate":[73],"proposed":[75],"execute":[78],"scene.":[82],"In":[83,128],"prior":[84],"work":[85],"[1]":[86],"[2],":[87],"only":[88],"depth":[89],"information":[90,118,139,150,207],"scenes":[93],"has":[94],"been":[95],"compute":[98],"function.":[101],"ignores":[104],"appearance":[105,117,138,206],"information,":[106],"there":[108],"are":[109,174],"situations":[110],"using":[113,143],"both":[114,193,214],"shape":[115],"necessary":[120],"finding":[122,227],"high":[123,229],"quality":[124,154,230],"functions.":[127],"paper,":[130],"we":[131],"describe":[132],"an":[133],"learn":[136],"relevant":[137],"about":[140],"deep":[144],"learning,":[145],"use":[147],"additional":[149],"improve":[152],"scenes.":[162,236],"Our":[163],"method":[164],"better":[165],"registers":[166],"areas":[167],"interest":[169],"on":[170],"that":[173,202],"crucial":[175],"manipulation,":[177],"such":[178],"as":[179],"rope":[180],"crossings":[181],"towel":[183],"corners":[184],"edges.":[186],"We":[187],"experimentally":[188],"validate":[189],"our":[190],"simulation":[194],"real":[198],"world,":[199],"show":[201],"utilization":[204],"leads":[208],"significant":[211],"improvement":[212],"selecting":[215],"best":[217],"matching":[218],"given":[223],"scene,":[225],"those":[234],"two":[235]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":3}],"updated_date":"2026-01-13T01:12:25.745995","created_date":"2025-10-10T00:00:00"}
