{"id":"https://openalex.org/W4416749925","doi":"https://doi.org/10.1109/iros60139.2025.11247192","title":"Omni-Scan: Creating Visually-Accurate Digital Twin Object Models Using a Bimanual Robot with Handover and Gaussian Splat Merging","display_name":"Omni-Scan: Creating Visually-Accurate Digital Twin Object Models Using a Bimanual Robot with Handover and Gaussian Splat Merging","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416749925","doi":"https://doi.org/10.1109/iros60139.2025.11247192"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247192","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247192","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5101769467","display_name":"Tianshuang Qiu","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":true,"raw_author_name":"Tianshuang Qiu","raw_affiliation_strings":["University of California,Berkeley"],"affiliations":[{"raw_affiliation_string":"University of California,Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100578281","display_name":"Zehan Ma","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":"Zehan Ma","raw_affiliation_strings":["University of California,Berkeley"],"affiliations":[{"raw_affiliation_string":"University of California,Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091877215","display_name":"Karim El-Refai","orcid":"https://orcid.org/0000-0001-9538-143X"},"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":"Karim El-Refai","raw_affiliation_strings":["University of California,Berkeley"],"affiliations":[{"raw_affiliation_string":"University of California,Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Hiya Shah","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":"Hiya Shah","raw_affiliation_strings":["University of California,Berkeley"],"affiliations":[{"raw_affiliation_string":"University of California,Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074509165","display_name":"Chung Min Kim","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":"Chung Min Kim","raw_affiliation_strings":["University of California,Berkeley"],"affiliations":[{"raw_affiliation_string":"University of California,Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022467361","display_name":"Justin Kerr","orcid":"https://orcid.org/0000-0002-0536-4853"},"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":"Justin Kerr","raw_affiliation_strings":["University of California,Berkeley"],"affiliations":[{"raw_affiliation_string":"University of California,Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010019244","display_name":"Ken Goldberg","orcid":"https://orcid.org/0000-0001-6747-9499"},"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":"Ken Goldberg","raw_affiliation_strings":["University of California,Berkeley"],"affiliations":[{"raw_affiliation_string":"University of California,Berkeley","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5101769467"],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":4.8743,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.95943991,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"18782","last_page":"18789"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.34139999747276306,"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":0.34139999747276306,"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/T10763","display_name":"Digital Transformation in Industry","score":0.10130000114440918,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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":0.06710000336170197,"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/robot","display_name":"Robot","score":0.788100004196167},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.7315999865531921},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.7167999744415283},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.5454999804496765},{"id":"https://openalex.org/keywords/handover","display_name":"Handover","score":0.49559998512268066},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.47450000047683716},{"id":"https://openalex.org/keywords/industrial-robot","display_name":"Industrial robot","score":0.383899986743927},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.32679998874664307}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.788100004196167},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.7315999865531921},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.7167999744415283},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7128999829292297},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.654699981212616},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6000999808311462},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.5454999804496765},{"id":"https://openalex.org/C111852164","wikidata":"https://www.wikidata.org/wiki/Q1414679","display_name":"Handover","level":2,"score":0.49559998512268066},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.47450000047683716},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.383899986743927},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.32679998874664307},{"id":"https://openalex.org/C20894473","wikidata":"https://www.wikidata.org/wiki/Q1116105","display_name":"Object model","level":3,"score":0.3125999867916107},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.29660001397132874},{"id":"https://openalex.org/C153715457","wikidata":"https://www.wikidata.org/wiki/Q254183","display_name":"Augmented reality","level":2,"score":0.2919999957084656},{"id":"https://openalex.org/C108882727","wikidata":"https://www.wikidata.org/wiki/Q2991685","display_name":"Solid modeling","level":2,"score":0.2775999903678894},{"id":"https://openalex.org/C61224824","wikidata":"https://www.wikidata.org/wiki/Q2260434","display_name":"Mixture model","level":2,"score":0.27320000529289246},{"id":"https://openalex.org/C38349280","wikidata":"https://www.wikidata.org/wiki/Q1434290","display_name":"Flow (mathematics)","level":2,"score":0.272599995136261},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.27059999108314514},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.2694999873638153},{"id":"https://openalex.org/C51970089","wikidata":"https://www.wikidata.org/wiki/Q44415","display_name":"Virtual image","level":2,"score":0.26669999957084656},{"id":"https://openalex.org/C3019007443","wikidata":"https://www.wikidata.org/wiki/Q568742","display_name":"3d model","level":2,"score":0.26339998841285706},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.25540000200271606},{"id":"https://openalex.org/C166550679","wikidata":"https://www.wikidata.org/wiki/Q263400","display_name":"Gaussian network model","level":3,"score":0.2535000145435333}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247192","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247192","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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":35,"referenced_works":["https://openalex.org/W2160821342","https://openalex.org/W2338968644","https://openalex.org/W2937857175","https://openalex.org/W3046033366","https://openalex.org/W3092226864","https://openalex.org/W3109585842","https://openalex.org/W3111598592","https://openalex.org/W3153220274","https://openalex.org/W3203570626","https://openalex.org/W3207187156","https://openalex.org/W3215769467","https://openalex.org/W4200382072","https://openalex.org/W4210985923","https://openalex.org/W4214768561","https://openalex.org/W4221151978","https://openalex.org/W4225759270","https://openalex.org/W4285102264","https://openalex.org/W4312234520","https://openalex.org/W4312325284","https://openalex.org/W4312746348","https://openalex.org/W4312878643","https://openalex.org/W4378450585","https://openalex.org/W4383097455","https://openalex.org/W4385318467","https://openalex.org/W4386065885","https://openalex.org/W4386066287","https://openalex.org/W4386075614","https://openalex.org/W4386075660","https://openalex.org/W4386075959","https://openalex.org/W4389665446","https://openalex.org/W4390872696","https://openalex.org/W4390874575","https://openalex.org/W4399563593","https://openalex.org/W4415798746","https://openalex.org/W4416749000"],"related_works":[],"abstract_inverted_index":{"3D":[0,5,28,54],"Gaussian":[1,55],"Splats":[2],"(3DGSs)":[3],"are":[4,15],"object":[6,29,65,72,80],"models":[7,57,114,191],"derived":[8],"from":[9],"multi-view":[10],"images.":[11],"Such":[12],"\u201cdigital":[13],"twins\u201d":[14],"useful":[16],"for":[17,51],"simulations,":[18],"virtual":[19],"reality,":[20],"E-commerce,":[21],"robot":[22,39,61,102,123],"policy":[23],"fine-tuning,":[24],"and":[25,69,117,129,174,185],"part":[26,158],"inspection.":[27],"scanning":[30],"usually":[31],"requires":[32],"multi-camera":[33],"arrays,":[34],"precise":[35],"laser":[36],"scanners,":[37],"or":[38,167],"wrist-mounted":[40],"cameras,":[41],"which":[42],"have":[43],"restricted":[44],"workspaces.":[45],"We":[46,98,132,154],"propose":[47],"Omni-Scan,":[48],"a":[49,59,85,122],"pipeline":[50,103,138],"producing":[52,146],"high-quality":[53],"Splat":[56],"using":[58,104],"bi-manual":[60],"that":[62,91,162],"grasps":[63],"an":[64,147,178],"with":[66,73,143,177],"one":[67,76],"gripper":[68,87,124,128,144],"rotates":[70],"the":[71,95,100,127,130,135,152],"respect":[74],"to":[75,88,115,139,157],"stationary":[77],"camera.":[78],"The":[79],"is":[81],"then":[82,133],"re-grasped":[83],"by":[84,94,121],"second":[86],"expose":[89],"surfaces":[90],"were":[92],"occluded":[93],"first":[96],"gripper.":[97],"present":[99],"Omni-Scan":[101,156,189],"DepthAnything,":[105],"Segment":[106],"Anything,":[107],"as":[108,110],"well":[109],"RAFT":[111],"optical":[112],"flow":[113],"identify":[116,165],"isolate":[118],"objects":[119,176],"held":[120],"while":[125],"removing":[126],"background.":[131],"modify":[134],"3DGS":[136,190],"training":[137],"support":[140],"concatenated":[141],"datasets":[142],"occlusion,":[145],"omni-directional":[148],"(360\u00b0)":[149],"model":[150],"of":[151,181,188],"object.":[153],"apply":[155],"defect":[159],"inspection,":[160],"finding":[161],"it":[163],"can":[164,192],"visual":[166],"geometric":[168],"defects":[169],"in":[170],"12":[171],"different":[172],"industrial":[173],"household":[175],"average":[179],"accuracy":[180],"83.3%.":[182],"More":[183],"details":[184],"interactive":[186],"videos":[187],"be":[193],"found":[194],"at":[195],"https://berkeleyautomation.github.io/omni-scan/.":[196]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2025-11-28T00:00:00"}
