{"id":"https://openalex.org/W4416749233","doi":"https://doi.org/10.1109/iros60139.2025.11247370","title":"SR3D: Unleashing Single-view 3D Reconstruction for Transparent and Specular Object Grasping","display_name":"SR3D: Unleashing Single-view 3D Reconstruction for Transparent and Specular Object Grasping","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416749233","doi":"https://doi.org/10.1109/iros60139.2025.11247370"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247370","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247370","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/A5101810713","display_name":"Mingxu Zhang","orcid":"https://orcid.org/0000-0002-2509-8812"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Mingxu Zhang","raw_affiliation_strings":["Beijing University of Posts and Telecommunications"],"affiliations":[{"raw_affiliation_string":"Beijing University of Posts and Telecommunications","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012981856","display_name":"Xiaoqi Li","orcid":"https://orcid.org/0000-0001-8855-7759"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoqi Li","raw_affiliation_strings":["Peking University,Center on Frontiers of Computing Studies"],"affiliations":[{"raw_affiliation_string":"Peking University,Center on Frontiers of Computing Studies","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110703995","display_name":"Jiahui Xu","orcid":"https://orcid.org/0009-0005-7696-8709"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiahui Xu","raw_affiliation_strings":["Beijing University of Posts and Telecommunications"],"affiliations":[{"raw_affiliation_string":"Beijing University of Posts and Telecommunications","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078078782","display_name":"Kaichen Zhou","orcid":null},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kaichen Zhou","raw_affiliation_strings":["Peking University,Center on Frontiers of Computing Studies"],"affiliations":[{"raw_affiliation_string":"Peking University,Center on Frontiers of Computing Studies","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Hojin Bae","orcid":null},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hojin Bae","raw_affiliation_strings":["Peking University,Center on Frontiers of Computing Studies"],"affiliations":[{"raw_affiliation_string":"Peking University,Center on Frontiers of Computing Studies","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003395657","display_name":"Yan Shen","orcid":"https://orcid.org/0000-0002-8045-6926"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yan Shen","raw_affiliation_strings":["Peking University,Center on Frontiers of Computing Studies"],"affiliations":[{"raw_affiliation_string":"Peking University,Center on Frontiers of Computing Studies","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102690988","display_name":"Chuyan Xiong","orcid":null},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210090176","display_name":"Institute of Computing Technology","ror":"https://ror.org/0090r4d87","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210090176"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chuyan Xiong","raw_affiliation_strings":["Institute of Computing Technology,Chinese Academy of Sciences"],"affiliations":[{"raw_affiliation_string":"Institute of Computing Technology,Chinese Academy of Sciences","institution_ids":["https://openalex.org/I4210090176","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100389347","display_name":"Hao Dong","orcid":"https://orcid.org/0000-0002-0132-0239"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Dong","raw_affiliation_strings":["Peking University,Center on Frontiers of Computing Studies"],"affiliations":[{"raw_affiliation_string":"Peking University,Center on Frontiers of Computing Studies","institution_ids":["https://openalex.org/I20231570"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5101810713"],"corresponding_institution_ids":["https://openalex.org/I139759216"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.44193753,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"15816","last_page":"15823"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9210000038146973,"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":0.9210000038146973,"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":0.01360000018030405,"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/T11398","display_name":"Hand Gesture Recognition Systems","score":0.011900000274181366,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/3d-reconstruction","display_name":"3D reconstruction","score":0.6965000033378601},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.6259999871253967},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.5102999806404114},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.48539999127388},{"id":"https://openalex.org/keywords/specular-reflection","display_name":"Specular reflection","score":0.4587000012397766},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.4514000117778778},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.4343000054359436},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.42890000343322754},{"id":"https://openalex.org/keywords/iterative-reconstruction","display_name":"Iterative reconstruction","score":0.4226999878883362},{"id":"https://openalex.org/keywords/visual-hull","display_name":"Visual hull","score":0.37630000710487366}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.8418999910354614},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8058000206947327},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7135999798774719},{"id":"https://openalex.org/C109950114","wikidata":"https://www.wikidata.org/wiki/Q4464732","display_name":"3D reconstruction","level":2,"score":0.6965000033378601},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.6259999871253967},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.5102999806404114},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.48539999127388},{"id":"https://openalex.org/C118381688","wikidata":"https://www.wikidata.org/wiki/Q1079524","display_name":"Specular reflection","level":2,"score":0.4587000012397766},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.4514000117778778},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.4343000054359436},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.42890000343322754},{"id":"https://openalex.org/C141379421","wikidata":"https://www.wikidata.org/wiki/Q6094427","display_name":"Iterative reconstruction","level":2,"score":0.4226999878883362},{"id":"https://openalex.org/C2776863239","wikidata":"https://www.wikidata.org/wiki/Q7936601","display_name":"Visual hull","level":3,"score":0.37630000710487366},{"id":"https://openalex.org/C3019007443","wikidata":"https://www.wikidata.org/wiki/Q568742","display_name":"3d model","level":2,"score":0.3614000082015991},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.3594000041484833},{"id":"https://openalex.org/C108882727","wikidata":"https://www.wikidata.org/wiki/Q2991685","display_name":"Solid modeling","level":2,"score":0.3379000127315521},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.33489999175071716},{"id":"https://openalex.org/C146159030","wikidata":"https://www.wikidata.org/wiki/Q7625099","display_name":"Structure from motion","level":3,"score":0.326200008392334},{"id":"https://openalex.org/C20885615","wikidata":"https://www.wikidata.org/wiki/Q825595","display_name":"Surface reconstruction","level":3,"score":0.32280001044273376},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.3192000091075897},{"id":"https://openalex.org/C50045419","wikidata":"https://www.wikidata.org/wiki/Q7575328","display_name":"Specular highlight","level":3,"score":0.31380000710487366},{"id":"https://openalex.org/C141268832","wikidata":"https://www.wikidata.org/wiki/Q2940499","display_name":"Depth map","level":3,"score":0.3012999892234802},{"id":"https://openalex.org/C64876066","wikidata":"https://www.wikidata.org/wiki/Q5141226","display_name":"Cognitive neuroscience of visual object recognition","level":3,"score":0.2915000021457672},{"id":"https://openalex.org/C97931131","wikidata":"https://www.wikidata.org/wiki/Q5282087","display_name":"Discriminative model","level":2,"score":0.29010000824928284},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.28299999237060547},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.28110000491142273},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.2791999876499176},{"id":"https://openalex.org/C113346285","wikidata":"https://www.wikidata.org/wiki/Q6804193","display_name":"Measured depth","level":2,"score":0.2791999876499176},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.27649998664855957},{"id":"https://openalex.org/C2777897806","wikidata":"https://www.wikidata.org/wiki/Q568742","display_name":"3D modeling","level":2,"score":0.2630999982357025},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.2615000009536743},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.25929999351501465},{"id":"https://openalex.org/C52672216","wikidata":"https://www.wikidata.org/wiki/Q1749840","display_name":"Depth perception","level":3,"score":0.2549999952316284}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247370","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247370","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":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W2099474155","https://openalex.org/W2132947399","https://openalex.org/W2155487652","https://openalex.org/W2745471877","https://openalex.org/W2794663059","https://openalex.org/W3035198432","https://openalex.org/W3089874271","https://openalex.org/W3174458495","https://openalex.org/W3204876017","https://openalex.org/W3207187156","https://openalex.org/W4224598146","https://openalex.org/W4281557677","https://openalex.org/W4285190019","https://openalex.org/W4297505407","https://openalex.org/W4312601209","https://openalex.org/W4382366145","https://openalex.org/W4383109008","https://openalex.org/W4389667112","https://openalex.org/W4390872953","https://openalex.org/W4395481595","https://openalex.org/W4401414162","https://openalex.org/W4401414450","https://openalex.org/W4402354045","https://openalex.org/W4402354093","https://openalex.org/W4402354127","https://openalex.org/W4402727445","https://openalex.org/W4402727730","https://openalex.org/W4402733576","https://openalex.org/W4402753761","https://openalex.org/W4402754209","https://openalex.org/W4404612908","https://openalex.org/W4405785737"],"related_works":[],"abstract_inverted_index":{"Recent":[0],"advancements":[1],"in":[2,148,172],"3D":[3,26,53,92,108,125,155,164],"robotic":[4,65],"manipulation":[5],"have":[6],"improved":[7],"grasping":[8,66],"of":[9,51,67,181],"everyday":[10],"objects,":[11],"but":[12],"transparent":[13,68],"and":[14,28,69,80,111,132,141,145,175],"specular":[15,70],"materials":[16],"remain":[17],"challenging":[18],"due":[19],"to":[20,90,105,113,151],"depth":[21,29,81,123,165],"sensing":[22],"limitations.":[23],"While":[24],"several":[25],"reconstruction":[27,55,179],"completion":[30],"approaches":[31],"address":[32,46],"these":[33],"challenges,":[34],"they":[35],"suffer":[36],"from":[37,72],"setup":[38],"complexity":[39],"or":[40],"limited":[41],"observation":[42,150],"information":[43,147],"utilization.":[44],"To":[45],"this,":[47],"leveraging":[48],"the":[49,86,101,107,116,139,149,153,158,178],"power":[50],"single-view":[52,74,78],"object":[54,94,118],"approaches,":[56],"we":[57,128],"propose":[58,129],"a":[59,73],"training-free":[60],"framework":[61],"SR3D":[62,83],"that":[63],"enables":[64],"objects":[71],"observation.":[75],"Specifically,":[76],"given":[77],"RGB":[79,98],"images,":[82],"first":[84],"uses":[85],"external":[87],"visual":[88],"models":[89],"generate":[91],"reconstructed":[93,117],"mesh":[95],"based":[96],"on":[97],"image.":[99],"Then,":[100],"key":[102],"idea":[103],"is":[104],"determine":[106,152],"object\u2019s":[109,154],"pose":[110],"scale":[112],"accurately":[114],"localize":[115],"back":[119],"into":[120],"its":[121],"original":[122],"corrupted":[124],"scene.":[126],"Therefore,":[127],"view":[130],"matching":[131,134],"keypoint":[133],"mechanisms,":[135],"which":[136],"leverage":[137],"both":[138,173],"2D":[140],"3D\u2019s":[142],"inherent":[143],"semantic":[144],"geometric":[146],"state":[156],"within":[157],"scene,":[159],"thereby":[160],"reconstructing":[161],"an":[162],"accurate":[163],"map":[166],"for":[167],"effective":[168],"grasp":[169],"detection.":[170],"Experiments":[171],"simulation":[174],"real-world":[176],"show":[177],"effectiveness":[180],"SR3D.":[182],"More":[183],"demonstrations":[184],"can":[185],"be":[186],"found":[187],"at:":[188],"https://sites.google.com/view/sr3dtech/":[189]},"counts_by_year":[],"updated_date":"2026-04-17T18:11:37.981687","created_date":"2025-11-28T00:00:00"}
