{"id":"https://openalex.org/W2909690645","doi":"https://doi.org/10.1109/iros.2018.8593776","title":"Depth Estimation of Optically Transparent Microrobots Using Convolutional and Recurrent Neural Networks","display_name":"Depth Estimation of Optically Transparent Microrobots Using Convolutional and Recurrent Neural Networks","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2909690645","doi":"https://doi.org/10.1109/iros.2018.8593776","mag":"2909690645"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8593776","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593776","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 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/A5102858268","display_name":"Maria Grammatikopoulou","orcid":"https://orcid.org/0000-0001-8843-8944"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Maria Grammatikopoulou","raw_affiliation_strings":["Hamlyn Centre for Robotic Surgery, Imperial College London, London, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Hamlyn Centre for Robotic Surgery, Imperial College London, London, United Kingdom","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013925708","display_name":"Lin Zhang","orcid":"https://orcid.org/0000-0001-9544-0399"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Lin Zhang","raw_affiliation_strings":["Hamlyn Centre for Robotic Surgery, Imperial College London, London, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Hamlyn Centre for Robotic Surgery, Imperial College London, London, United Kingdom","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085036036","display_name":"Guang\u2010Zhong Yang","orcid":"https://orcid.org/0000-0003-4060-4020"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Guang-Zhong Yang","raw_affiliation_strings":["Hamlyn Centre for Robotic Surgery, Imperial College London, London, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Hamlyn Centre for Robotic Surgery, Imperial College London, London, United Kingdom","institution_ids":["https://openalex.org/I47508984"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5102858268"],"corresponding_institution_ids":["https://openalex.org/I47508984"],"apc_list":null,"apc_paid":null,"fwci":0.5469,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.69397534,"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":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.998199999332428,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.998199999332428,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9955999851226807,"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/T13114","display_name":"Image Processing Techniques and Applications","score":0.9940999746322632,"subfield":{"id":"https://openalex.org/subfields/2214","display_name":"Media Technology"},"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.7195327877998352},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7151216268539429},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.7028748989105225},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.6391353607177734},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5650723576545715},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.5555894374847412},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4874556064605713},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.46928155422210693},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.467457115650177},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.4217655658721924},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.19735047221183777},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16699671745300293}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7195327877998352},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7151216268539429},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.7028748989105225},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.6391353607177734},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5650723576545715},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.5555894374847412},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4874556064605713},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.46928155422210693},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.467457115650177},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.4217655658721924},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.19735047221183777},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16699671745300293},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2018.8593776","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593776","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6222495186","display_name":null,"funder_award_id":"EP/J021199/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1803059841","https://openalex.org/W1909903157","https://openalex.org/W2022592226","https://openalex.org/W2075031870","https://openalex.org/W2108808732","https://openalex.org/W2146447720","https://openalex.org/W2157400276","https://openalex.org/W2162440713","https://openalex.org/W2466504897","https://openalex.org/W2511192822","https://openalex.org/W2605089300","https://openalex.org/W2738333784","https://openalex.org/W2774144538","https://openalex.org/W2774177482","https://openalex.org/W3103919331"],"related_works":["https://openalex.org/W4295532600","https://openalex.org/W2063823869","https://openalex.org/W2047973478","https://openalex.org/W4293226380","https://openalex.org/W2123263858","https://openalex.org/W2067569035","https://openalex.org/W2950785639","https://openalex.org/W4294967731","https://openalex.org/W2536898772","https://openalex.org/W2022566595"],"abstract_inverted_index":{"Estimating":[0],"the":[1,19,24,76,80,124,130,133,144],"three-dimensional":[2],"(3D)":[3],"position":[4],"of":[5,41,75,79,132,136],"microrobots":[6,40,111],"is":[7,73,83,97],"necessary":[8],"in":[9,23,57,113],"order":[10],"to":[11,17,85],"develop":[12],"closed-loop":[13],"control":[14],"techniques":[15],"and":[16,82,99,104],"improve":[18],"user's":[20],"3D":[21,77,138],"perception":[22],"micro-scale.":[25],"This":[26],"paper":[27],"describes":[28],"a":[29,54,59],"depth":[30,66,70,131],"estimation":[31],"method":[32],"based":[33],"on":[34],"supervised":[35],"learning":[36],"for":[37,65,143],"optically":[38],"transparent":[39],"known":[42],"geometry.":[43],"The":[44,68,95,119],"proposed":[45,69,125],"methodology":[46],"uses":[47,91],"Convolutional":[48],"Neural":[49],"Networks":[50],"(CNNs)":[51],"combined":[52],"with":[53,140],"Recurrent":[55],"Network,":[56],"particular":[58],"Long":[60],"Short-Term":[61],"Memory":[62],"(LSTM)":[63],"cell":[64],"regression.":[67],"regression":[71],"model":[72,96,127],"independent":[74],"orientation":[78,139],"microrobot":[81,134],"robust":[84],"varying":[86],"illumination":[87],"levels":[88],"while":[89],"it":[90],"learned":[92],"data-specific":[93],"features.":[94],"trained":[98,126],"validated":[100],"using":[101],"microscope":[102],"images":[103],"ground":[105],"truth":[106],"data":[107],"generated":[108],"from":[109],"3D-printed":[110],"imaged":[112],"an":[114],"Optical":[115],"Tweezers":[116],"(OT)":[117],"setup.":[118],"validation":[120],"results":[121],"demonstrate":[122],"that":[123],"can":[128],"reconstruct":[129],"independently":[135],"its":[137],"submicron":[141],"accuracy":[142],"test":[145],"set.":[146]},"counts_by_year":[{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}