{"id":"https://openalex.org/W2774715003","doi":"https://doi.org/10.1109/iros.2017.8206489","title":"Estimating deformability of objects using meshless shape matching","display_name":"Estimating deformability of objects using meshless shape matching","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2774715003","doi":"https://doi.org/10.1109/iros.2017.8206489","mag":"2774715003"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8206489","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206489","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 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/A5035345013","display_name":"P\u00fcren G\u00fcler","orcid":null},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Puren Guler","raw_affiliation_strings":["Robotics, Perception and Learning Lab, KTH Royal Institute of Technology, Stockholm, Sweden"],"affiliations":[{"raw_affiliation_string":"Robotics, Perception and Learning Lab, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067538897","display_name":"Alessandro Pieropan","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]},{"id":"https://openalex.org/I4210138602","display_name":"Sakurabashi Watanabe Hospital","ror":"https://ror.org/03rx00z90","country_code":"JP","type":"healthcare","lineage":["https://openalex.org/I4210138602"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Alessandro Pieropan","raw_affiliation_strings":["Univrses, Stockholm, Sweden","Watanabe Laboratory, University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Univrses, Stockholm, Sweden","institution_ids":[]},{"raw_affiliation_string":"Watanabe Laboratory, University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I4210138602","https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010897098","display_name":"Masatoshi Ishikawa","orcid":"https://orcid.org/0000-0002-6096-830X"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]},{"id":"https://openalex.org/I4210138602","display_name":"Sakurabashi Watanabe Hospital","ror":"https://ror.org/03rx00z90","country_code":"JP","type":"healthcare","lineage":["https://openalex.org/I4210138602"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masatoshi Ishikawa","raw_affiliation_strings":["Watanabe Laboratory, University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Watanabe Laboratory, University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I4210138602","https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023792180","display_name":"Danica Kragi\u0107","orcid":"https://orcid.org/0000-0003-2965-2953"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Danica Kragic","raw_affiliation_strings":["Robotics, Perception and Learning Lab, KTH Royal Institute of Technology, Stockholm, Sweden"],"affiliations":[{"raw_affiliation_string":"Robotics, Perception and Learning Lab, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5035345013"],"corresponding_institution_ids":["https://openalex.org/I86987016"],"apc_list":null,"apc_paid":null,"fwci":0.6035,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.71060678,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"5941","last_page":"5948"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9979000091552734,"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":0.9979000091552734,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9901999831199646,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9836999773979187,"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":0.6704729795455933},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.6351605653762817},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.5827721357345581},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5791138410568237},{"id":"https://openalex.org/keywords/finite-element-method","display_name":"Finite element method","score":0.5544356107711792},{"id":"https://openalex.org/keywords/controllability","display_name":"Controllability","score":0.5209459066390991},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5191956758499146},{"id":"https://openalex.org/keywords/meshfree-methods","display_name":"Meshfree methods","score":0.49347126483917236},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics","score":0.46261364221572876},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4450847804546356},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4438386559486389},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4000641107559204},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12868663668632507},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12721455097198486},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09777924418449402}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6704729795455933},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.6351605653762817},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.5827721357345581},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5791138410568237},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.5544356107711792},{"id":"https://openalex.org/C48209547","wikidata":"https://www.wikidata.org/wiki/Q1331104","display_name":"Controllability","level":2,"score":0.5209459066390991},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5191956758499146},{"id":"https://openalex.org/C162835735","wikidata":"https://www.wikidata.org/wiki/Q14866890","display_name":"Meshfree methods","level":3,"score":0.49347126483917236},{"id":"https://openalex.org/C77660652","wikidata":"https://www.wikidata.org/wiki/Q150971","display_name":"Computer graphics","level":2,"score":0.46261364221572876},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4450847804546356},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4438386559486389},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4000641107559204},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12868663668632507},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12721455097198486},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09777924418449402},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2017.8206489","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206489","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":43,"referenced_works":["https://openalex.org/W131980810","https://openalex.org/W1487560374","https://openalex.org/W1497307255","https://openalex.org/W1823791555","https://openalex.org/W1893283233","https://openalex.org/W1897905128","https://openalex.org/W1974305624","https://openalex.org/W1983301869","https://openalex.org/W1997944176","https://openalex.org/W2000795044","https://openalex.org/W2017801178","https://openalex.org/W2034759594","https://openalex.org/W2051166244","https://openalex.org/W2061490590","https://openalex.org/W2067691029","https://openalex.org/W2075673359","https://openalex.org/W2082254676","https://openalex.org/W2091213556","https://openalex.org/W2096404799","https://openalex.org/W2097666154","https://openalex.org/W2107947143","https://openalex.org/W2112961542","https://openalex.org/W2120429435","https://openalex.org/W2136567909","https://openalex.org/W2141654056","https://openalex.org/W2141731969","https://openalex.org/W2149606722","https://openalex.org/W2163073397","https://openalex.org/W2163471386","https://openalex.org/W2169018650","https://openalex.org/W2171186721","https://openalex.org/W2322971354","https://openalex.org/W2418577529","https://openalex.org/W2464375869","https://openalex.org/W2537312564","https://openalex.org/W2574608463","https://openalex.org/W2586505530","https://openalex.org/W3212116782","https://openalex.org/W4211129611","https://openalex.org/W4254612939","https://openalex.org/W6630007488","https://openalex.org/W6638668618","https://openalex.org/W6732396613"],"related_works":["https://openalex.org/W2036697162","https://openalex.org/W2332386680","https://openalex.org/W2561315646","https://openalex.org/W2248621902","https://openalex.org/W2003779889","https://openalex.org/W4205698120","https://openalex.org/W4239246781","https://openalex.org/W2164760767","https://openalex.org/W2542825942","https://openalex.org/W3201620972"],"abstract_inverted_index":{"Humans":[0],"interact":[1],"with":[2,23],"deformable":[3,24,57],"objects":[4,38,58,123],"on":[5,172],"a":[6,13,84,129,155,166],"daily":[7],"basis":[8],"but":[9],"this":[10,77,162],"still":[11],"represents":[12],"challenge":[14],"for":[15,93,191,220],"robots.":[16],"To":[17],"enable":[18],"manipulation":[19],"of":[20,37,56,83,97,102,121,132,146,212,218],"and":[21,33,42,59,107],"interaction":[22],"objects,":[25,214],"robots":[26],"need":[27,73],"to":[28,31,41,51,117,143,154,168,194,207],"be":[29,144,152],"able":[30,206],"extract":[32],"learn":[34],"the":[35,44,53,81,95,125,133,180,187,210,216],"deformability":[36,96,170,190,211],"both":[39],"prior":[40],"during":[43],"interaction.":[45],"Physics-based":[46],"models":[47,71],"are":[48,69,104],"commonly":[49],"used":[50],"predict":[52],"physical":[54],"properties":[55],"simulate":[60,118],"their":[61],"deformation":[62],"accurately.":[63],"The":[64,99,198],"most":[65],"popular":[66,113],"simulation":[67,86,141],"techniques":[68],"force-based":[70],"that":[72,110,135,149,202],"force":[74,147],"measurements.":[75],"In":[76,161],"paper,":[78],"we":[79,164,185],"explore":[80],"applicability":[82],"geometry-based":[85],"method":[87,167,183],"called":[88],"meshless":[89],"shape":[90],"matching":[91],"(MSM)":[92],"estimating":[94],"objects.":[98],"main":[100],"advantages":[101],"MSM":[103,134,219],"its":[105],"controllability":[106],"computational":[108],"efficiency":[109],"make":[111],"it":[112,137],"in":[114],"computer":[115],"graphics":[116],"complex":[119],"interactions":[120],"multiple":[122],"at":[124],"same":[126],"time.":[127],"Additionally,":[128],"useful":[130],"feature":[131],"differentiates":[136],"from":[138],"other":[139],"physics-based":[140],"is":[142,205],"independent":[145],"measurements":[148],"may":[150],"not":[151],"available":[153],"robotic":[156,221],"framework":[157],"lacking":[158],"force/torque":[159],"sensors.":[160],"work,":[163],"design":[165],"estimate":[169],"based":[171],"certain":[173],"properties,":[174],"such":[175],"as":[176],"volume":[177],"conservation.":[178],"Using":[179],"finite":[181],"element":[182],"(FEM)":[184],"create":[186],"ground":[188],"truth":[189],"various":[192],"settings":[193],"evaluate":[195],"our":[196,203],"method.":[197],"experimental":[199],"evaluation":[200],"shows":[201],"approach":[204],"accurately":[208],"identify":[209],"test":[213],"supporting":[215],"value":[217],"applications.":[222]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}