{"id":"https://openalex.org/W4405787497","doi":"https://doi.org/10.1109/iros58592.2024.10802276","title":"3D Localization of Objects Buried within Granular Material Using a Distributed 3-Axis Tactile Sensor","display_name":"3D Localization of Objects Buried within Granular Material Using a Distributed 3-Axis Tactile Sensor","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405787497","doi":"https://doi.org/10.1109/iros58592.2024.10802276"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802276","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802276","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5079289646","display_name":"Zhengqi Chen","orcid":"https://orcid.org/0000-0001-6649-2333"},"institutions":[{"id":"https://openalex.org/I166337079","display_name":"Queen Mary University of London","ror":"https://ror.org/026zzn846","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I166337079"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Zhengqi Chen","raw_affiliation_strings":["Queen Mary University of London,ARQ (Advanced Robotics at Queen Mary), School of Engineering and Materials Science,UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Queen Mary University of London,ARQ (Advanced Robotics at Queen Mary), School of Engineering and Materials Science,UK","institution_ids":["https://openalex.org/I166337079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048646553","display_name":"Elisabetta Versace","orcid":"https://orcid.org/0000-0003-4578-1851"},"institutions":[{"id":"https://openalex.org/I166337079","display_name":"Queen Mary University of London","ror":"https://ror.org/026zzn846","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I166337079"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Elisabetta Versace","raw_affiliation_strings":["Queen Mary University of London,Department of Biological and Experimental Psychology,UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Queen Mary University of London,Department of Biological and Experimental Psychology,UK","institution_ids":["https://openalex.org/I166337079"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064713691","display_name":"Lorenzo Jamone","orcid":"https://orcid.org/0000-0002-1521-6168"},"institutions":[{"id":"https://openalex.org/I166337079","display_name":"Queen Mary University of London","ror":"https://ror.org/026zzn846","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I166337079"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Lorenzo Jamone","raw_affiliation_strings":["Queen Mary University of London,ARQ (Advanced Robotics at Queen Mary), School of Engineering and Materials Science,UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Queen Mary University of London,ARQ (Advanced Robotics at Queen Mary), School of Engineering and Materials Science,UK","institution_ids":["https://openalex.org/I166337079"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I166337079"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5621","last_page":"5626"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9000999927520752,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9000999927520752,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/tactile-sensor","display_name":"Tactile sensor","score":0.6030687689781189},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4776919186115265},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3631097078323364},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2742101550102234},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.14220881462097168}],"concepts":[{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.6030687689781189},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4776919186115265},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3631097078323364},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2742101550102234},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.14220881462097168}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10802276","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802276","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/F4320322725","display_name":"China Scholarship Council","ror":"https://ror.org/04atp4p48"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1978921818","https://openalex.org/W2005470433","https://openalex.org/W2011689989","https://openalex.org/W2033446774","https://openalex.org/W2043761765","https://openalex.org/W2075386084","https://openalex.org/W2087019643","https://openalex.org/W2136454393","https://openalex.org/W2168955392","https://openalex.org/W2213302710","https://openalex.org/W2744653421","https://openalex.org/W2790961751","https://openalex.org/W2963263790","https://openalex.org/W3032108278","https://openalex.org/W3041148233","https://openalex.org/W3047900364","https://openalex.org/W3107498347","https://openalex.org/W3180906240","https://openalex.org/W3190924824","https://openalex.org/W4200211622","https://openalex.org/W4285818079","https://openalex.org/W4312414693","https://openalex.org/W4327630646","https://openalex.org/W6682763093","https://openalex.org/W6854464411"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"While":[0],"visual":[1],"sensing":[2,20],"is":[3,132],"often":[4],"the":[5,15,49,135],"predominant":[6],"modality":[7],"for":[8,134],"a":[9,44,64,105],"robot":[10,50],"to":[11,90],"localize":[12],"objects":[13,24,37],"in":[14],"environment,":[16],"tactile":[17,65],"and":[18,71,98,116],"force":[19,41],"become":[21],"crucial":[22],"when":[23],"are":[25,85],"occluded,":[26],"poorly":[27],"visible,":[28],"or":[29],"buried.":[30],"However,":[31],"existing":[32],"works":[33],"on":[34,40,48,76,123],"locating":[35],"buried":[36,103,140],"rely":[38],"solely":[39],"measurements":[42],"at":[43],"single":[45],"contact":[46,125],"point":[47],"end-effector,":[51],"making":[52],"3D":[53,93,137],"localization":[54,94,138],"very":[55],"challenging.":[56],"This":[57],"paper":[58],"presents":[59],"an":[60,101],"alternative":[61],"approach":[62],"using":[63],"sensor":[66],"that":[67,112],"measures":[68],"both":[69,114],"normal":[70,115],"shear":[72,117],"forces":[73,118],"(i.e.":[74,95],"3-axis)":[75],"distributed":[77,124],"points;":[78],"three":[79],"Long":[80],"Short-Term":[81],"Memory":[82],"(LSTM)":[83],"models":[84],"trained":[86],"with":[87],"real-world":[88],"data":[89],"perform":[91],"real-time":[92],"distance,":[96],"direction":[97],"depth)":[99],"of":[100,120,128,139],"object":[102],"within":[104],"granular":[106],"material.":[107],"Our":[108],"experimental":[109],"results":[110],"suggest":[111],"measuring":[113],"(instead":[119,127],"just":[121],"normal)":[122],"points":[126],"only":[129],"one":[130],"point)":[131],"essential":[133],"accurate":[136],"objects.":[141]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
