{"id":"https://openalex.org/W4403510652","doi":"https://doi.org/10.1109/lra.2024.3483037","title":"ViTract: Robust Object Shape Perception via Active Visuo-Tactile Interaction","display_name":"ViTract: Robust Object Shape Perception via Active Visuo-Tactile Interaction","publication_year":2024,"publication_date":"2024-10-17","ids":{"openalex":"https://openalex.org/W4403510652","doi":"https://doi.org/10.1109/lra.2024.3483037"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3483037","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2024.3483037","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1109/lra.2024.3483037","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5073432337","display_name":"Anirvan Dutta","orcid":"https://orcid.org/0000-0001-5857-4769"},"institutions":[{"id":"https://openalex.org/I4210153544","display_name":"Invent (Germany)","ror":"https://ror.org/0507xbc51","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210153544"]},{"id":"https://openalex.org/I4210156768","display_name":"BMW Group (Germany)","ror":"https://ror.org/044kkbh92","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210156768"]},{"id":"https://openalex.org/I1283382300","display_name":"BMW (Germany)","ror":"https://ror.org/05vs9tj88","country_code":"DE","type":"company","lineage":["https://openalex.org/I1283382300","https://openalex.org/I4210156768"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Anirvan Dutta","raw_affiliation_strings":["RoboTac Laboratory, BMW Group, Munich, Germany","RoboTac Lab, BMW Group, Center of Invention, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"RoboTac Laboratory, BMW Group, Munich, Germany","institution_ids":["https://openalex.org/I4210156768","https://openalex.org/I1283382300"]},{"raw_affiliation_string":"RoboTac Lab, BMW Group, Center of Invention, Munich, Germany","institution_ids":["https://openalex.org/I1283382300","https://openalex.org/I4210153544","https://openalex.org/I4210156768"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025807459","display_name":"Etienne Burdet","orcid":"https://orcid.org/0000-0002-2123-0185"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Etienne Burdet","raw_affiliation_strings":["The Imperial College of Science, Technology and Medicine, London, U.K","The Imperial College of Sciencem, Technology and Medicine, London, England"],"affiliations":[{"raw_affiliation_string":"The Imperial College of Science, Technology and Medicine, London, U.K","institution_ids":[]},{"raw_affiliation_string":"The Imperial College of Sciencem, Technology and Medicine, London, England","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5030520581","display_name":"Mohsen Kaboli","orcid":"https://orcid.org/0000-0002-2320-5717"},"institutions":[{"id":"https://openalex.org/I4210156768","display_name":"BMW Group (Germany)","ror":"https://ror.org/044kkbh92","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210156768"]},{"id":"https://openalex.org/I1283382300","display_name":"BMW (Germany)","ror":"https://ror.org/05vs9tj88","country_code":"DE","type":"company","lineage":["https://openalex.org/I1283382300","https://openalex.org/I4210156768"]},{"id":"https://openalex.org/I4210153544","display_name":"Invent (Germany)","ror":"https://ror.org/0507xbc51","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210153544"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Mohsen Kaboli","raw_affiliation_strings":["RoboTac Laboratory, BMW Group, Munich, Germany","RoboTac Lab, BMW Group, Center of Invention, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"RoboTac Laboratory, BMW Group, Munich, Germany","institution_ids":["https://openalex.org/I4210156768","https://openalex.org/I1283382300"]},{"raw_affiliation_string":"RoboTac Lab, BMW Group, Center of Invention, Munich, Germany","institution_ids":["https://openalex.org/I1283382300","https://openalex.org/I4210153544","https://openalex.org/I4210156768"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5073432337"],"corresponding_institution_ids":["https://openalex.org/I1283382300","https://openalex.org/I4210153544","https://openalex.org/I4210156768"],"apc_list":null,"apc_paid":null,"fwci":0.6927,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.69954706,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"9","issue":"12","first_page":"11250","last_page":"11257"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.98580002784729,"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"}},"topics":[{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.98580002784729,"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"}},{"id":"https://openalex.org/T12111","display_name":"Industrial Vision Systems and Defect Detection","score":0.9833999872207642,"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":0.9677000045776367,"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/tactile-perception","display_name":"Tactile perception","score":0.6133487224578857},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.5798449516296387},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5212001204490662},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4788248836994171},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4666588008403778},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.41382595896720886},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.39155203104019165},{"id":"https://openalex.org/keywords/communication","display_name":"Communication","score":0.3467288017272949},{"id":"https://openalex.org/keywords/neuroscience","display_name":"Neuroscience","score":0.21723142266273499}],"concepts":[{"id":"https://openalex.org/C3017819093","wikidata":"https://www.wikidata.org/wiki/Q328835","display_name":"Tactile perception","level":3,"score":0.6133487224578857},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.5798449516296387},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5212001204490662},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4788248836994171},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4666588008403778},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.41382595896720886},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39155203104019165},{"id":"https://openalex.org/C46312422","wikidata":"https://www.wikidata.org/wiki/Q11024","display_name":"Communication","level":1,"score":0.3467288017272949},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.21723142266273499}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2024.3483037","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2024.3483037","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:pure.tue.nl:openaire/b2f968a2-38e6-45c3-9957-bf2ffdfe3bc8","is_oa":true,"landing_page_url":"https://research.tue.nl/en/publications/b2f968a2-38e6-45c3-9957-bf2ffdfe3bc8","pdf_url":"https://pure.tue.nl/ws/files/345513112/ViTract_Robust_Object_Shape_Perception_via_Active_Visuo-Tactile_Interaction.pdf","source":{"id":"https://openalex.org/S4406922641","display_name":"TU/e Research Portal","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Dutta, A, Burdet, E & Kaboli, M 2024, 'ViTract : Robust Object Shape Perception via Active Visuo-Tactile Interaction', IEEE Robotics and Automation Letters, vol. 9, no. 12, 10720798, pp. 11250-11257. https://doi.org/10.1109/LRA.2024.3483037","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":{"id":"doi:10.1109/lra.2024.3483037","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2024.3483037","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4038305825","display_name":null,"funder_award_id":"101092096","funder_id":"https://openalex.org/F4320332999","funder_display_name":"Horizon 2020 Framework Programme"},{"id":"https://openalex.org/G7331901853","display_name":null,"funder_award_id":"EU H2020","funder_id":"https://openalex.org/F4320332999","funder_display_name":"Horizon 2020 Framework Programme"}],"funders":[{"id":"https://openalex.org/F4320332999","display_name":"Horizon 2020 Framework Programme","ror":"https://ror.org/00k4n6c32"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":65,"referenced_works":["https://openalex.org/W1597979665","https://openalex.org/W1706124764","https://openalex.org/W2021314974","https://openalex.org/W2023751161","https://openalex.org/W2049981393","https://openalex.org/W2050595634","https://openalex.org/W2057316718","https://openalex.org/W2062876937","https://openalex.org/W2097307110","https://openalex.org/W2107153006","https://openalex.org/W2115846099","https://openalex.org/W2123564600","https://openalex.org/W2156406284","https://openalex.org/W2156583822","https://openalex.org/W2541666556","https://openalex.org/W2542262075","https://openalex.org/W2566638765","https://openalex.org/W2567969112","https://openalex.org/W2603737562","https://openalex.org/W2605843382","https://openalex.org/W2730442514","https://openalex.org/W2773348725","https://openalex.org/W2775435206","https://openalex.org/W2788109308","https://openalex.org/W2812031262","https://openalex.org/W2886316146","https://openalex.org/W2963400238","https://openalex.org/W2963828828","https://openalex.org/W2996888844","https://openalex.org/W3000711072","https://openalex.org/W3009018472","https://openalex.org/W3041148233","https://openalex.org/W3045147162","https://openalex.org/W3046735138","https://openalex.org/W3090971691","https://openalex.org/W3126119618","https://openalex.org/W3129565825","https://openalex.org/W3130306728","https://openalex.org/W3131818940","https://openalex.org/W3197120694","https://openalex.org/W4211039365","https://openalex.org/W4213422176","https://openalex.org/W4221143972","https://openalex.org/W4226166070","https://openalex.org/W4233141626","https://openalex.org/W4243970992","https://openalex.org/W4285102268","https://openalex.org/W4285102355","https://openalex.org/W4312968203","https://openalex.org/W4327630646","https://openalex.org/W4382657775","https://openalex.org/W4383097419","https://openalex.org/W4389665380","https://openalex.org/W4389665529","https://openalex.org/W4389666148","https://openalex.org/W4389667455","https://openalex.org/W4389667670","https://openalex.org/W4389667844","https://openalex.org/W4396542177","https://openalex.org/W4400727520","https://openalex.org/W4401415233","https://openalex.org/W6637131181","https://openalex.org/W6678483272","https://openalex.org/W6780860281","https://openalex.org/W6798796899"],"related_works":["https://openalex.org/W2628861693","https://openalex.org/W3203087560","https://openalex.org/W2737719445","https://openalex.org/W4361279463","https://openalex.org/W4239098401","https://openalex.org/W4232814730","https://openalex.org/W2975814312","https://openalex.org/W4387697615","https://openalex.org/W2568121504","https://openalex.org/W1526580933"],"abstract_inverted_index":{"An":[0],"essential":[1],"problem":[2],"in":[3,11,53],"robotic":[4],"systems":[5],"that":[6],"are":[7,92],"to":[8,129,140,154],"be":[9],"deployed":[10],"unstructured":[12],"environments":[13],"is":[14,67],"the":[15,21,78,103,131],"accurate":[16],"and":[17,87,109,134,150],"autonomous":[18],"perception":[19,64],"of":[20,23,72,80,102,119],"shapes":[22],"previously":[24],"unseen":[25,73],"objects.":[26,74],"Existing":[27],"methods":[28],"for":[29,69,114],"shape":[30,70,79,89,157],"estimation":[31,71,158],"or":[32,38,43,49],"reconstruction":[33],"have":[34,44],"leveraged":[35],"either":[36],"visual":[37,48],"tactile":[39,50,110],"interactive":[40,63],"exploration":[41],"techniques":[42],"relied":[45],"on":[46],"comprehensive":[47],"information":[51,105,127],"acquired":[52],"an":[54],"offline":[55],"manner.":[56],"In":[57],"this":[58],"letter,":[59],"a":[60,124],"novel":[61,125],"visuo-tactile":[62],"framework-":[65],"ViTract,":[66],"introduced":[68],"Our":[75,145],"framework":[76,99],"estimates":[77],"diverse":[81],"objects":[82],"robustly":[83],"using":[84],"low-dimensional,":[85],"efficient,":[86],"generalizable":[88],"primitives,":[90],"which":[91],"superquadrics.":[93],"The":[94],"probabilistic":[95],"formulation":[96],"within":[97],"our":[98,120],"takes":[100],"advantage":[101],"complementary":[104],"provided":[106],"by":[107],"vision":[108],"observations":[111],"while":[112],"accounting":[113],"associated":[115],"noise.":[116],"As":[117],"part":[118],"framework,":[121],"we":[122],"propose":[123],"modality-specific":[126],"gain":[128],"select":[130],"most":[132],"informative":[133],"reliable":[135],"exploratory":[136],"action":[137],"(using":[138],"vision/tactile)":[139],"obtain":[141],"iterative":[142],"visuo/tactile":[143],"information.":[144],"real-robot":[146],"experiments":[147],"demonstrate":[148],"superior":[149],"robust":[151],"performance":[152],"compared":[153],"state-of-the-art":[155],"visuo-tactile-based":[156],"techniques.":[159]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-03-25T14:56:36.534964","created_date":"2025-10-10T00:00:00"}