{"id":"https://openalex.org/W4416750561","doi":"https://doi.org/10.1109/iros60139.2025.11247448","title":"Object Extrinsic Contact Surface Reconstruction through Extrinsic Contact Sensing from Visuo-tactile Measurements","display_name":"Object Extrinsic Contact Surface Reconstruction through Extrinsic Contact Sensing from Visuo-tactile Measurements","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416750561","doi":"https://doi.org/10.1109/iros60139.2025.11247448"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247448","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247448","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/A5049299279","display_name":"Yoonjin Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Yoonjin Kim","raw_affiliation_strings":["Korea Advanced Institute of Science and Technology (KAIST),Department of Mechanical Engineering,Daejeon,Republic of Korea,34141"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Korea Advanced Institute of Science and Technology (KAIST),Department of Mechanical Engineering,Daejeon,Republic of Korea,34141","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084343905","display_name":"Won Dong Kim","orcid":"https://orcid.org/0000-0002-8649-1511"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]},{"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"],"is_corresponding":false,"raw_author_name":"Won Dong Kim","raw_affiliation_strings":["Samsung Research, Samsung Electronics Co., Ltd.,Seoul, Republic of Korea","Korea Advanced Institute of Science and Technology (KAIST),Department of Mechanical Engineering,Daejeon,Republic of Korea,34141"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Samsung Research, Samsung Electronics Co., Ltd.,Seoul, Republic of Korea","institution_ids":["https://openalex.org/I2250650973"]},{"raw_affiliation_string":"Korea Advanced Institute of Science and Technology (KAIST),Department of Mechanical Engineering,Daejeon,Republic of Korea,34141","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100426073","display_name":"Jung Ho Kim","orcid":"https://orcid.org/0000-0003-4931-3553"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]},{"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"],"is_corresponding":false,"raw_author_name":"Jung Kim","raw_affiliation_strings":["Department of Mechanical Engineering,Korea Advanced Institute of Science and Technology (KAIST), Daejeon,34141, Republic of Korea","Samsung Research, Samsung Electronics Co., Ltd.,Seoul,Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering,Korea Advanced Institute of Science and Technology (KAIST), Daejeon,34141, Republic of Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"Samsung Research, Samsung Electronics Co., Ltd.,Seoul,Republic of Korea","institution_ids":["https://openalex.org/I2250650973"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.40337952,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"20968","last_page":"20973"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9021000266075134,"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":0.9021000266075134,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.054999999701976776,"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"}},{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.007699999958276749,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6974999904632568},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4925999939441681},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4596000015735626},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4348999857902527},{"id":"https://openalex.org/keywords/surface","display_name":"Surface (topology)","score":0.3952000141143799},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.37540000677108765},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.37369999289512634},{"id":"https://openalex.org/keywords/surface-reconstruction","display_name":"Surface reconstruction","score":0.3366999924182892}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7235000133514404},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6974999904632568},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6777999997138977},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5105000138282776},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4925999939441681},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4596000015735626},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4348999857902527},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.3952000141143799},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.37540000677108765},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.37369999289512634},{"id":"https://openalex.org/C20885615","wikidata":"https://www.wikidata.org/wiki/Q825595","display_name":"Surface reconstruction","level":3,"score":0.3366999924182892},{"id":"https://openalex.org/C118732077","wikidata":"https://www.wikidata.org/wiki/Q273176","display_name":"Normal","level":3,"score":0.33329999446868896},{"id":"https://openalex.org/C64876066","wikidata":"https://www.wikidata.org/wiki/Q5141226","display_name":"Cognitive neuroscience of visual object recognition","level":3,"score":0.3296000063419342},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.32659998536109924},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.30559998750686646},{"id":"https://openalex.org/C22679943","wikidata":"https://www.wikidata.org/wiki/Q159375","display_name":"Standard deviation","level":2,"score":0.3003000020980835},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2973000109195709},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.2955000102519989},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.2766999900341034},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.2750000059604645}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247448","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247448","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/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1969299770","https://openalex.org/W1978464142","https://openalex.org/W2024400951","https://openalex.org/W2085261163","https://openalex.org/W2171130677","https://openalex.org/W2558899534","https://openalex.org/W2570268714","https://openalex.org/W2963263790","https://openalex.org/W2967244466","https://openalex.org/W2967378496","https://openalex.org/W2967509406","https://openalex.org/W3138117074","https://openalex.org/W3203302482","https://openalex.org/W3205981435","https://openalex.org/W3208501915","https://openalex.org/W4239129607","https://openalex.org/W4383109180","https://openalex.org/W4386071541","https://openalex.org/W4388820037","https://openalex.org/W4396542177","https://openalex.org/W4401415233"],"related_works":[],"abstract_inverted_index":{"When":[0],"manipulating":[1],"an":[2,149,157],"object,":[3],"a":[4,56,180],"robot":[5],"must":[6],"recognize":[7],"not":[8],"only":[9],"the":[10,17,22,37,82,92,121,142,145],"parts":[11],"it":[12],"directly":[13,34],"grasps":[14],"but":[15],"also":[16],"surfaces":[18,33],"in":[19,124],"contact":[20,30,61,78,94,130,169],"with":[21,40],"environment,":[23,42],"which":[24],"we":[25,76,96],"refer":[26],"to":[27],"as":[28],"extrinsic":[29,60,93,168],"surfaces.":[31],"These":[32],"affect":[35],"how":[36],"object":[38,139,176],"interacts":[39],"its":[41],"and":[43,72,80,87,110,156,174],"accurate":[44],"surface":[45,62],"estimation":[46],"is":[47],"critical":[48],"for":[49,59,183],"precise":[50,175],"robotic":[51,184],"manipulation.":[52,185],"This":[53],"study":[54],"presents":[55],"novel":[57],"framework":[58],"reconstruction":[63],"using":[64],"vision-based":[65],"tactile":[66],"sensing.":[67],"By":[68],"leveraging":[69],"marker-based":[70],"tracking":[71],"analyzing":[73],"kinematic":[74],"constraints,":[75],"classify":[77],"types":[79],"estimate":[81],"locations":[83],"of":[84,144,153,160],"both":[85],"point":[86],"line":[88],"contacts.":[89],"To":[90],"reconstruct":[91],"surface,":[95],"compare":[97],"three":[98],"data":[99,131],"integration":[100],"methods:":[101],"Mixed":[102],"Vector":[103],"Approach":[104],"(MVA),":[105],"Orthogonal":[106],"Distance":[107],"Regression":[108],"(ODR),":[109],"Random":[111],"Sample":[112],"Consensus":[113],"(RANSAC).":[114],"Experimental":[115],"results":[116,165],"demonstrate":[117],"that":[118,167],"MVA":[119],"achieves":[120],"highest":[122],"accuracy":[123],"most":[125],"cases":[126],"by":[127],"effectively":[128],"integrating":[129],"while":[132],"minimizing":[133],"randomness.":[134],"Experiments":[135],"conducted":[136],"on":[137],"various":[138],"geometries":[140],"validated":[141],"robustness":[143],"proposed":[146],"method,":[147],"achieving":[148],"average":[150],"positional":[151],"error":[152],"4.15":[154],"mm":[155],"angular":[158],"deviation":[159],"4.58<sup":[161],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[162],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">\u00b0</sup>.":[163],"The":[164],"confirm":[166],"sensing":[170],"enables":[171],"more":[172],"efficient":[173],"shape":[177],"estimation,":[178],"providing":[179],"promising":[181],"approach":[182]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-11-28T00:00:00"}
