{"id":"https://openalex.org/W4312242724","doi":"https://doi.org/10.1109/iros47612.2022.9981955","title":"Simultaneous Object Reconstruction and Grasp Prediction using a Camera-centric Object Shell Representation","display_name":"Simultaneous Object Reconstruction and Grasp Prediction using a Camera-centric Object Shell Representation","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312242724","doi":"https://doi.org/10.1109/iros47612.2022.9981955"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981955","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981955","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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/A5058244281","display_name":"Nikhil Chavan-Dafle","orcid":"https://orcid.org/0000-0002-9284-503X"},"institutions":[{"id":"https://openalex.org/I4210101778","display_name":"Samsung (United States)","ror":"https://ror.org/01bfbvm65","country_code":"US","type":"company","lineage":["https://openalex.org/I2250650973","https://openalex.org/I4210101778"]},{"id":"https://openalex.org/I2250650973","display_name":"Samsung (South Korea)","ror":"https://ror.org/04w3jy968","country_code":"KR","type":"company","lineage":["https://openalex.org/I2250650973"]}],"countries":["KR","US"],"is_corresponding":true,"raw_author_name":"Nikhil Chavan-Dafle","raw_affiliation_strings":["Samsung AI Center,New York,NY","Samsung AI Center, New York, NY"],"affiliations":[{"raw_affiliation_string":"Samsung AI Center,New York,NY","institution_ids":["https://openalex.org/I2250650973"]},{"raw_affiliation_string":"Samsung AI Center, New York, NY","institution_ids":["https://openalex.org/I4210101778"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011749657","display_name":"Sergiy Popovych","orcid":"https://orcid.org/0000-0002-6158-9782"},"institutions":[{"id":"https://openalex.org/I20089843","display_name":"Princeton University","ror":"https://ror.org/00hx57361","country_code":"US","type":"education","lineage":["https://openalex.org/I20089843"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sergiy Popovych","raw_affiliation_strings":["Princeton University,Princeton,NJ","Princeton University, Princeton, NJ"],"affiliations":[{"raw_affiliation_string":"Princeton University,Princeton,NJ","institution_ids":["https://openalex.org/I20089843"]},{"raw_affiliation_string":"Princeton University, Princeton, NJ","institution_ids":["https://openalex.org/I20089843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027938306","display_name":"Shubham Agrawal","orcid":"https://orcid.org/0000-0002-0990-9785"},"institutions":[{"id":"https://openalex.org/I4210101778","display_name":"Samsung (United States)","ror":"https://ror.org/01bfbvm65","country_code":"US","type":"company","lineage":["https://openalex.org/I2250650973","https://openalex.org/I4210101778"]},{"id":"https://openalex.org/I2250650973","display_name":"Samsung (South Korea)","ror":"https://ror.org/04w3jy968","country_code":"KR","type":"company","lineage":["https://openalex.org/I2250650973"]}],"countries":["KR","US"],"is_corresponding":false,"raw_author_name":"Shubham Agrawal","raw_affiliation_strings":["Samsung AI Center,New York,NY","Samsung AI Center, New York, NY"],"affiliations":[{"raw_affiliation_string":"Samsung AI Center,New York,NY","institution_ids":["https://openalex.org/I2250650973"]},{"raw_affiliation_string":"Samsung AI Center, New York, NY","institution_ids":["https://openalex.org/I4210101778"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007905483","display_name":"Daniel D. Lee","orcid":"https://orcid.org/0000-0002-2163-2686"},"institutions":[{"id":"https://openalex.org/I4210101778","display_name":"Samsung (United States)","ror":"https://ror.org/01bfbvm65","country_code":"US","type":"company","lineage":["https://openalex.org/I2250650973","https://openalex.org/I4210101778"]},{"id":"https://openalex.org/I2250650973","display_name":"Samsung (South Korea)","ror":"https://ror.org/04w3jy968","country_code":"KR","type":"company","lineage":["https://openalex.org/I2250650973"]}],"countries":["KR","US"],"is_corresponding":false,"raw_author_name":"Daniel D. Lee","raw_affiliation_strings":["Samsung AI Center,New York,NY","Samsung AI Center, New York, NY"],"affiliations":[{"raw_affiliation_string":"Samsung AI Center,New York,NY","institution_ids":["https://openalex.org/I2250650973"]},{"raw_affiliation_string":"Samsung AI Center, New York, NY","institution_ids":["https://openalex.org/I4210101778"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033839227","display_name":"Volkan Isler","orcid":"https://orcid.org/0000-0002-0868-5441"},"institutions":[{"id":"https://openalex.org/I4210101778","display_name":"Samsung (United States)","ror":"https://ror.org/01bfbvm65","country_code":"US","type":"company","lineage":["https://openalex.org/I2250650973","https://openalex.org/I4210101778"]},{"id":"https://openalex.org/I2250650973","display_name":"Samsung (South Korea)","ror":"https://ror.org/04w3jy968","country_code":"KR","type":"company","lineage":["https://openalex.org/I2250650973"]}],"countries":["KR","US"],"is_corresponding":false,"raw_author_name":"Volkan Isler","raw_affiliation_strings":["Samsung AI Center,New York,NY","Samsung AI Center, New York, NY"],"affiliations":[{"raw_affiliation_string":"Samsung AI Center,New York,NY","institution_ids":["https://openalex.org/I2250650973"]},{"raw_affiliation_string":"Samsung AI Center, New York, NY","institution_ids":["https://openalex.org/I4210101778"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5058244281"],"corresponding_institution_ids":["https://openalex.org/I2250650973","https://openalex.org/I4210101778"],"apc_list":null,"apc_paid":null,"fwci":2.83,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.9314459,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1396","last_page":"1403"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.996399998664856,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9857000112533569,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/grasp","display_name":"GRASP","score":0.897722601890564},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7783311009407043},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7345996499061584},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6864131689071655},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6565367579460144},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.6340572834014893},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.5285441279411316},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5058881640434265},{"id":"https://openalex.org/keywords/pixel","display_name":"Pixel","score":0.43599745631217957},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13307884335517883}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.897722601890564},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7783311009407043},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7345996499061584},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6864131689071655},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6565367579460144},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.6340572834014893},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.5285441279411316},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5058881640434265},{"id":"https://openalex.org/C160633673","wikidata":"https://www.wikidata.org/wiki/Q355198","display_name":"Pixel","level":2,"score":0.43599745631217957},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13307884335517883},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9981955","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981955","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W398859631","https://openalex.org/W569478347","https://openalex.org/W1505952289","https://openalex.org/W1510186039","https://openalex.org/W1794703952","https://openalex.org/W1901129140","https://openalex.org/W1920022804","https://openalex.org/W1988874269","https://openalex.org/W2002827932","https://openalex.org/W2109163007","https://openalex.org/W2125188427","https://openalex.org/W2134236847","https://openalex.org/W2158782408","https://openalex.org/W2201912979","https://openalex.org/W2342277278","https://openalex.org/W2524140598","https://openalex.org/W2546066744","https://openalex.org/W2560722161","https://openalex.org/W2600030077","https://openalex.org/W2798670728","https://openalex.org/W2962722175","https://openalex.org/W2962737955","https://openalex.org/W2962778872","https://openalex.org/W2963150697","https://openalex.org/W2963627347","https://openalex.org/W2963926543","https://openalex.org/W2964239644","https://openalex.org/W2981829592","https://openalex.org/W2986303149","https://openalex.org/W2990578762","https://openalex.org/W3034899291","https://openalex.org/W3089966216","https://openalex.org/W3199737029","https://openalex.org/W3205186076","https://openalex.org/W3207187156","https://openalex.org/W4394671432","https://openalex.org/W6719936175","https://openalex.org/W6729001083","https://openalex.org/W6748208425","https://openalex.org/W6766377360"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W2743859443","https://openalex.org/W2326995835","https://openalex.org/W165915117","https://openalex.org/W2059402478","https://openalex.org/W2657478029","https://openalex.org/W2626503888","https://openalex.org/W2080808138","https://openalex.org/W4387962997","https://openalex.org/W2129483190"],"abstract_inverted_index":{"Being":[0],"able":[1],"to":[2,22,198,220],"grasp":[3,30,135,149,205],"objects":[4],"is":[5,46,57,105],"a":[6,19,25,28,37,47,65,82,158,170,186],"fundamental":[7],"component":[8],"of":[9,33,43,59,94,163,173],"most":[10],"robotic":[11,174],"manipulation":[12,175],"systems.":[13],"In":[14],"this":[15,124],"paper,":[16],"we":[17,189],"present":[18,70],"new":[20],"approach":[21,45,144],"simultaneously":[23],"reconstruct":[24],"mesh":[26],"and":[27,64,81,98,133,152,184,202,222],"dense":[29,148],"quality":[31,136,150,206],"map":[32,84,151],"an":[34,60,71,146,153],"object":[35,50,79,131,141,154],"from":[36],"depth":[38],"image.":[39],"At":[40],"the":[41,53,78,95,99,107,112,119,140,203,218],"core":[42],"our":[44,192],"novel":[48],"camera-centric":[49],"representation":[51,97,114],"called":[52],"\u201cobject":[54],"shell\u201d":[55],"which":[56,77],"composed":[58],"observed":[61],"\u201centry":[62],"image\u201d":[63],"predicted":[66,86],"\u201cexit":[67],"image\u201d.":[68],"We":[69,121],"image-to-image":[72],"residual":[73],"ConvNet":[74],"architecture":[75],"in":[76,111,118,157,169,182,225],"shell":[80,96,113,215],"grasp-quality":[83],"are":[85,115],"as":[87],"separate":[88],"output":[89],"channels.":[90],"The":[91],"main":[92],"advantage":[93],"corresponding":[100],"neural":[101],"network":[102],"architecture,":[103],"ShellGrasp-Net,":[104],"that":[106,123,191],"input-output":[108],"pixel":[109],"correspondences":[110],"explicitly":[116],"represented":[117],"architecture.":[120],"show":[122,190],"coupling":[125],"yields":[126,145],"superior":[127],"generalization":[128],"capabilities":[129],"for":[130],"reconstruction":[132],"accurate":[134],"estimation":[137],"implicitly":[138],"considering":[139],"geometry.":[142],"Our":[143],"efficient":[147],"geometry":[155],"estimate":[156],"single":[159],"forward":[160],"pass.":[161],"Both":[162],"these":[164],"outputs":[165],"can":[166,195],"be":[167,196],"used":[168,197],"wide":[171],"range":[172],"applications.":[176],"With":[177],"rigorous":[178],"experimental":[179],"validation,":[180],"both":[181],"simulation":[183],"on":[185,214],"real":[187],"setup,":[188],"shell-based":[193],"method":[194],"generate":[199],"precise":[200],"grasps":[201,212,224],"associated":[204],"with":[207,228],"over":[208],"90%":[209],"accuracy.":[210],"Diverse":[211],"computed":[213],"reconstructions":[216],"allow":[217],"robot":[219],"select":[221],"execute":[223],"cluttered":[226],"scenes":[227],"more":[229],"than":[230],"93%":[231],"success":[232],"rate.":[233]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3}],"updated_date":"2025-12-21T01:58:51.020947","created_date":"2025-10-10T00:00:00"}