{"id":"https://openalex.org/W3144162717","doi":"https://doi.org/10.1109/lra.2021.3093873","title":"Refractive Light-Field Features for Curved Transparent Objects in Structure From Motion","display_name":"Refractive Light-Field Features for Curved Transparent Objects in Structure From Motion","publication_year":2021,"publication_date":"2021-06-30","ids":{"openalex":"https://openalex.org/W3144162717","doi":"https://doi.org/10.1109/lra.2021.3093873","mag":"3144162717"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3093873","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3093873","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2103.15349","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5077091331","display_name":"Dorian Tsai","orcid":"https://orcid.org/0000-0003-1411-4845"},"institutions":[{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]},{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Dorian Tsai","raw_affiliation_strings":["Australian Centre for Robotic Vision, Queensland University of Technology (QUT), Brisbane, QLD, Australia"],"raw_orcid":"https://orcid.org/0000-0003-1411-4845","affiliations":[{"raw_affiliation_string":"Australian Centre for Robotic Vision, Queensland University of Technology (QUT), Brisbane, QLD, Australia","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I160993911"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080187476","display_name":"Peter Corke","orcid":"https://orcid.org/0000-0001-6650-367X"},"institutions":[{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]},{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Peter Corke","raw_affiliation_strings":["Australian Centre for Robotic Vision, Queensland University of Technology (QUT), Brisbane, QLD, Australia"],"raw_orcid":"https://orcid.org/0000-0001-6650-367X","affiliations":[{"raw_affiliation_string":"Australian Centre for Robotic Vision, Queensland University of Technology (QUT), Brisbane, QLD, Australia","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I160993911"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060070984","display_name":"Thierry Peynot","orcid":"https://orcid.org/0000-0001-8275-6538"},"institutions":[{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]},{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Thierry Peynot","raw_affiliation_strings":["Australian Centre for Robotic Vision, Queensland University of Technology (QUT), Brisbane, QLD, Australia"],"raw_orcid":"https://orcid.org/0000-0001-8275-6538","affiliations":[{"raw_affiliation_string":"Australian Centre for Robotic Vision, Queensland University of Technology (QUT), Brisbane, QLD, Australia","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I160993911"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002518455","display_name":"Donald G. Dansereau","orcid":"https://orcid.org/0000-0003-2540-1639"},"institutions":[{"id":"https://openalex.org/I129604602","display_name":"The University of Sydney","ror":"https://ror.org/0384j8v12","country_code":"AU","type":"education","lineage":["https://openalex.org/I129604602"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Donald Dansereau","raw_affiliation_strings":["Sydney Institute for Robotics and Intelligent Systems, University of Sydney, Camperdown, NSW, Australia"],"raw_orcid":"https://orcid.org/0000-0003-2540-1639","affiliations":[{"raw_affiliation_string":"Sydney Institute for Robotics and Intelligent Systems, University of Sydney, Camperdown, NSW, Australia","institution_ids":["https://openalex.org/I129604602"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.097,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.35718779,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"6","issue":"4","first_page":"6923","last_page":"6930"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":1.0,"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":1.0,"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":0.9980999827384949,"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/T13114","display_name":"Image Processing Techniques and Applications","score":0.9975000023841858,"subfield":{"id":"https://openalex.org/subfields/2214","display_name":"Media Technology"},"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/computer-vision","display_name":"Computer vision","score":0.7346827983856201},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7177473902702332},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6363023519515991},{"id":"https://openalex.org/keywords/light-field","display_name":"Light field","score":0.6210786700248718},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.6016029119491577},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5104138255119324},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4552520513534546},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.41368070244789124},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.381807804107666},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1956767737865448}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7346827983856201},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7177473902702332},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6363023519515991},{"id":"https://openalex.org/C48983235","wikidata":"https://www.wikidata.org/wiki/Q593161","display_name":"Light field","level":2,"score":0.6210786700248718},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.6016029119491577},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5104138255119324},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4552520513534546},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.41368070244789124},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.381807804107666},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1956767737865448},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/lra.2021.3093873","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3093873","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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"},{"id":"pmh:oai:arXiv.org:2103.15349","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2103.15349","pdf_url":"https://arxiv.org/pdf/2103.15349","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:eprints.qut.edu.au:212513","is_oa":true,"landing_page_url":null,"pdf_url":"https://eprints.qut.edu.au/212513/1/96535506.pdf","source":{"id":"https://openalex.org/S4306402607","display_name":"QUT ePrints (Queensland University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I160993911","host_organization_name":"Queensland University of Technology","host_organization_lineage":["https://openalex.org/I160993911"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"Contribution to Journal"},{"id":"doi:10.48550/arxiv.2103.15349","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2103.15349","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2103.15349","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2103.15349","pdf_url":"https://arxiv.org/pdf/2103.15349","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.4699999988079071}],"awards":[],"funders":[{"id":"https://openalex.org/F4320337726","display_name":"Centre of Excellence for Core to Crust Fluid Systems, Australian Research Council","ror":"https://ror.org/03nk9pp38"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1979931042","https://openalex.org/W2027621340","https://openalex.org/W2063366997","https://openalex.org/W2065042868","https://openalex.org/W2072706148","https://openalex.org/W2107027687","https://openalex.org/W2128268941","https://openalex.org/W2143050242","https://openalex.org/W2175023734","https://openalex.org/W2218745053","https://openalex.org/W2296360731","https://openalex.org/W2471962767","https://openalex.org/W2485992890","https://openalex.org/W2574319686","https://openalex.org/W2611976572","https://openalex.org/W2772445811","https://openalex.org/W2809494891","https://openalex.org/W2922486436","https://openalex.org/W2963760000","https://openalex.org/W2982579843"],"related_works":["https://openalex.org/W3176433894","https://openalex.org/W3144159205","https://openalex.org/W2107027687","https://openalex.org/W2044366237","https://openalex.org/W3034233533","https://openalex.org/W2977485788","https://openalex.org/W2161852276","https://openalex.org/W2958437256","https://openalex.org/W3157015877","https://openalex.org/W3128614118","https://openalex.org/W2952773257","https://openalex.org/W2896202702","https://openalex.org/W2943446173","https://openalex.org/W2559367790","https://openalex.org/W2497142192","https://openalex.org/W2998744498","https://openalex.org/W40543723","https://openalex.org/W2003537776","https://openalex.org/W10864309","https://openalex.org/W318083685"],"abstract_inverted_index":{"Curved":[0],"refractive":[1,96,132],"objects":[2,38],"are":[3],"common":[4],"in":[5,39,78,92,136],"the":[6,33,56,118],"human":[7],"environment,":[8],"and":[9,54,107,141,148],"have":[10],"a":[11,40,45,123],"complex":[12],"visual":[13],"appearance":[14,35],"that":[15,52,101],"can":[16],"cause":[17],"robotic":[18],"vision":[19],"algorithms":[20],"to":[21,27,75,129],"fail.":[22],"Light-field":[23],"cameras":[24],"allow":[25],"us":[26],"address":[28],"this":[29],"challenge":[30],"by":[31],"capturing":[32],"view-dependent":[34],"of":[36,58,80],"such":[37],"single":[41],"exposure.":[42],"We":[43,65],"propose":[44],"novel":[46],"image":[47],"feature":[48],"for":[49],"light":[50,59],"fields":[51],"detects":[53],"describes":[55],"patterns":[57],"refracted":[60],"through":[61],"curved":[62],"transparent":[63,150],"objects.":[64],"derive":[66],"characteristic":[67],"points":[68],"based":[69],"on":[70],"these":[71],"features":[72],"allowing":[73,127],"them":[74],"be":[76],"used":[77],"place":[79],"conventional":[81],"2D":[82],"features.":[83],"Using":[84],"our":[85,111],"features,":[86],"we":[87],"demonstrate":[88],"improved":[89,103],"structure-from-motion":[90],"performance":[91],"challenging":[93],"scenes":[94],"containing":[95],"objects,":[97,133],"including":[98],"quantitative":[99],"evaluations":[100],"show":[102],"camera":[104],"pose":[105],"estimates":[106],"3D":[108],"reconstructions.":[109],"Additionally,":[110],"methods":[112],"converge":[113],"15-35%":[114],"more":[115],"frequently":[116],"than":[117],"state-of-the-art.":[119],"Our":[120],"method":[121],"is":[122],"critical":[124],"step":[125],"towards":[126],"robots":[128,143],"operate":[130],"around":[131],"with":[134,145],"applications":[135],"manufacturing,":[137],"quality":[138],"assurance,":[139],"pick-and-place,":[140],"domestic":[142],"working":[144],"acrylic,":[146],"glass":[147],"other":[149],"materials.":[151]},"counts_by_year":[{"year":2022,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}