{"id":"https://openalex.org/W2537677623","doi":"https://doi.org/10.1109/lra.2016.2645124","title":"Probabilistic Articulated Real-Time Tracking for Robot Manipulation","display_name":"Probabilistic Articulated Real-Time Tracking for Robot Manipulation","publication_year":2016,"publication_date":"2016-12-24","ids":{"openalex":"https://openalex.org/W2537677623","doi":"https://doi.org/10.1109/lra.2016.2645124","mag":"2537677623"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2016.2645124","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2016.2645124","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5091634416","display_name":"Cristina Garcia Cifuentes","orcid":null},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Cristina Garcia Cifuentes","raw_affiliation_strings":["Autonomous Motion Department, Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Motion Department, Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021247251","display_name":"Jan Issac","orcid":null},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jan Issac","raw_affiliation_strings":["Autonomous Motion Department, Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Motion Department, Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028976996","display_name":"Manuel W\u00fcthrich","orcid":null},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Manuel Wuthrich","raw_affiliation_strings":["Autonomous Motion Department, Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Motion Department, Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107392143","display_name":"Stefan Schaal","orcid":null},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]},{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"Stefan Schaal","raw_affiliation_strings":["Autonomous Motion Department, Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany","Computational Learning and Motor Control Laboratory, University of Southern California, Los Angeles, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Motion Department, Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany","institution_ids":["https://openalex.org/I4210135521"]},{"raw_affiliation_string":"Computational Learning and Motor Control Laboratory, University of Southern California, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021676288","display_name":"Jeannette Bohg","orcid":"https://orcid.org/0000-0002-4921-7193"},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jeannette Bohg","raw_affiliation_strings":["Autonomous Motion Department, Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Motion Department, Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany","institution_ids":["https://openalex.org/I4210135521"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.6893,"has_fulltext":false,"cited_by_count":69,"citation_normalized_percentile":{"value":0.96601502,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"2","issue":"2","first_page":"577","last_page":"584"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9998000264167786,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9984999895095825,"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/T10638","display_name":"Optical measurement and interference techniques","score":0.9980999827384949,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7698371410369873},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7682069540023804},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7564386129379272},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.5630307197570801},{"id":"https://openalex.org/keywords/particle-filter","display_name":"Particle filter","score":0.5541087985038757},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.516855776309967},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.5015254020690918},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4367344379425049},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.4257057309150696},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4169691503047943}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7698371410369873},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7682069540023804},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7564386129379272},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5630307197570801},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.5541087985038757},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.516855776309967},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.5015254020690918},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4367344379425049},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.4257057309150696},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4169691503047943},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2016.2645124","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2016.2645124","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/1","display_name":"No poverty","score":0.5600000023841858}],"awards":[{"id":"https://openalex.org/G1512921589","display_name":null,"funder_award_id":"IIS-1205249","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G4227778692","display_name":null,"funder_award_id":"EECS-0926052","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G6115495753","display_name":null,"funder_award_id":"IIS-1017134","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320322617","display_name":"Okawa Foundation for Information and Telecommunications","ror":"https://ror.org/01enbtr31"},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W92914038","https://openalex.org/W1506806321","https://openalex.org/W1985382409","https://openalex.org/W2012804028","https://openalex.org/W2017161545","https://openalex.org/W2049981393","https://openalex.org/W2076593519","https://openalex.org/W2079716332","https://openalex.org/W2084313563","https://openalex.org/W2101199297","https://openalex.org/W2102393714","https://openalex.org/W2105934661","https://openalex.org/W2112725185","https://openalex.org/W2143320034","https://openalex.org/W2149020252","https://openalex.org/W2166654914","https://openalex.org/W2346963205","https://openalex.org/W2416872609","https://openalex.org/W3101293508","https://openalex.org/W6654340940","https://openalex.org/W6705240198"],"related_works":["https://openalex.org/W2047973478","https://openalex.org/W4295532600","https://openalex.org/W2063823869","https://openalex.org/W2067569035","https://openalex.org/W2090985514","https://openalex.org/W2015530857","https://openalex.org/W2556064263","https://openalex.org/W1991846142","https://openalex.org/W4252024964","https://openalex.org/W4253883008"],"abstract_inverted_index":{"We":[0,70,97,120,144],"propose":[1],"a":[2,15,77,103,107,116],"probabilistic":[3],"filtering":[4,82],"method":[5,73,124,154],"which":[6],"fuses":[7],"joint":[8,54,85],"measurements":[9,55,86],"with":[10,39,112,149,159],"depth":[11],"images":[12],"to":[13,155],"yield":[14],"precise,":[16],"real-time":[17],"estimate":[18],"of":[19,80,83,152],"the":[20,24,29,53,61,84,93,146],"end-effector":[21],"pose":[22],"in":[23,37,52,60],"camera":[25,68],"frame.":[26],"This":[27],"avoids":[28],"need":[30],"for":[31],"frame":[32],"transformations":[33],"when":[34],"using":[35],"it":[36],"combination":[38,79],"visual":[40],"object":[41],"tracking":[42],"methods.":[43],"Precision":[44],"is":[45,125],"achieved":[46],"by":[47],"modeling":[48],"and":[49,87,127,138,141],"correcting":[50],"biases":[51],"as":[56,58,65,134],"well":[57],"inaccuracies":[59],"robot":[62],"model,":[63],"such":[64,133],"poor":[66],"extrinsic":[67],"calibration.":[69],"make":[71],"our":[72,100,123,153],"computationally":[74],"efficient":[75],"through":[76],"principled":[78],"Kalman":[81],"asynchronous":[88],"depth-image":[89],"updates":[90],"based":[91],"on":[92,102],"Coordinate":[94],"Particle":[95],"Filter.":[96],"quantitatively":[98],"evaluate":[99],"approach":[101],"dataset":[104,147],"recorded":[105],"from":[106,115],"real":[108],"robotic":[109],"platform,":[110],"annotated":[111],"ground":[113],"truth":[114],"motion":[117],"capture":[118],"system.":[119],"show":[121],"that":[122],"robust":[126],"accurate":[128],"even":[129],"under":[130],"challenging":[131],"conditions":[132],"fast":[135],"motion,":[136],"significant":[137],"long-term":[139],"occlusions,":[140],"time-varying":[142],"biases.":[143],"release":[145],"along":[148],"open-source":[150],"code":[151],"allow":[156],"quantitative":[157],"comparison":[158],"alternative":[160],"approaches.":[161]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":13},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":12},{"year":2019,"cited_by_count":14},{"year":2018,"cited_by_count":7},{"year":2017,"cited_by_count":5}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}
