{"id":"https://openalex.org/W4390099607","doi":"https://doi.org/10.1109/robio58561.2023.10354922","title":"Simulation of Vision-based Tactile Sensors with Efficiency-tunable Rendering","display_name":"Simulation of Vision-based Tactile Sensors with Efficiency-tunable Rendering","publication_year":2023,"publication_date":"2023-12-04","ids":{"openalex":"https://openalex.org/W4390099607","doi":"https://doi.org/10.1109/robio58561.2023.10354922"},"language":"en","primary_location":{"id":"doi:10.1109/robio58561.2023.10354922","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robio58561.2023.10354922","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5100660851","display_name":"Yuhao Sun","orcid":"https://orcid.org/0009-0005-4693-8824"},"institutions":[{"id":"https://openalex.org/I184681353","display_name":"Anhui University of Science and Technology","ror":"https://ror.org/00q9atg80","country_code":"CN","type":"education","lineage":["https://openalex.org/I184681353"]},{"id":"https://openalex.org/I92178344","display_name":"Anhui University of Technology","ror":"https://ror.org/02qdtrq21","country_code":"CN","type":"education","lineage":["https://openalex.org/I92178344"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuhao Sun","raw_affiliation_strings":["Anhui University of Technology,School of Mechanical Engineering,China","Department of Computer Science and Technology, Beijing National Research Center for Information Science and Technology, Institute for Artificial Intelligence, Tsinghua University, Beijing, China","School of Mechanical Engineering, Anhui University of Technology, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Anhui University of Technology,School of Mechanical Engineering,China","institution_ids":["https://openalex.org/I184681353","https://openalex.org/I92178344"]},{"raw_affiliation_string":"Department of Computer Science and Technology, Beijing National Research Center for Information Science and Technology, Institute for Artificial Intelligence, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"School of Mechanical Engineering, Anhui University of Technology, China","institution_ids":["https://openalex.org/I92178344"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101464368","display_name":"Shixin Zhang","orcid":"https://orcid.org/0000-0002-7542-310X"},"institutions":[{"id":"https://openalex.org/I3125743391","display_name":"China University of Geosciences (Beijing)","ror":"https://ror.org/04q6c7p66","country_code":"CN","type":"education","lineage":["https://openalex.org/I3125743391"]},{"id":"https://openalex.org/I4210156423","display_name":"National Engineering Research Center for Information Technology in Agriculture","ror":"https://ror.org/04c3j3t84","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210156423"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shixin Zhang","raw_affiliation_strings":["Tsinghua University,Institute for Artificial Intelligence,Department of Computer Science and Technology, Beijing National Research Center for Information Science and Technology,Beijing,China,100084","School of Engineering and Technology, China University of Geosciences (Beijing), Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,Institute for Artificial Intelligence,Department of Computer Science and Technology, Beijing National Research Center for Information Science and Technology,Beijing,China,100084","institution_ids":["https://openalex.org/I4210156423","https://openalex.org/I99065089"]},{"raw_affiliation_string":"School of Engineering and Technology, China University of Geosciences (Beijing), Beijing, China","institution_ids":["https://openalex.org/I3125743391"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101915477","display_name":"Jianhua Shan","orcid":"https://orcid.org/0000-0002-7710-1729"},"institutions":[{"id":"https://openalex.org/I184681353","display_name":"Anhui University of Science and Technology","ror":"https://ror.org/00q9atg80","country_code":"CN","type":"education","lineage":["https://openalex.org/I184681353"]},{"id":"https://openalex.org/I92178344","display_name":"Anhui University of Technology","ror":"https://ror.org/02qdtrq21","country_code":"CN","type":"education","lineage":["https://openalex.org/I92178344"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianhua Shan","raw_affiliation_strings":["Anhui University of Technology,School of Mechanical Engineering,China","School of Mechanical Engineering, Anhui University of Technology, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Anhui University of Technology,School of Mechanical Engineering,China","institution_ids":["https://openalex.org/I184681353","https://openalex.org/I92178344"]},{"raw_affiliation_string":"School of Mechanical Engineering, Anhui University of Technology, China","institution_ids":["https://openalex.org/I92178344"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057532931","display_name":"Lei Zhao","orcid":"https://orcid.org/0000-0002-1028-9632"},"institutions":[{"id":"https://openalex.org/I184681353","display_name":"Anhui University of Science and Technology","ror":"https://ror.org/00q9atg80","country_code":"CN","type":"education","lineage":["https://openalex.org/I184681353"]},{"id":"https://openalex.org/I92178344","display_name":"Anhui University of Technology","ror":"https://ror.org/02qdtrq21","country_code":"CN","type":"education","lineage":["https://openalex.org/I92178344"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Zhao","raw_affiliation_strings":["Anhui University of Technology,School of Mechanical Engineering,China","School of Mechanical Engineering, Anhui University of Technology, China","Department of Computer Science and Technology, Beijing National Research Center for Information Science and Technology, Institute for Artificial Intelligence, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Anhui University of Technology,School of Mechanical Engineering,China","institution_ids":["https://openalex.org/I184681353","https://openalex.org/I92178344"]},{"raw_affiliation_string":"School of Mechanical Engineering, Anhui University of Technology, China","institution_ids":["https://openalex.org/I92178344"]},{"raw_affiliation_string":"Department of Computer Science and Technology, Beijing National Research Center for Information Science and Technology, Institute for Artificial Intelligence, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066788263","display_name":"Xiangbo Wang","orcid":"https://orcid.org/0000-0002-7611-4405"},"institutions":[{"id":"https://openalex.org/I4210156423","display_name":"National Engineering Research Center for Information Technology in Agriculture","ror":"https://ror.org/04c3j3t84","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210156423"]},{"id":"https://openalex.org/I43337087","display_name":"Hebei University","ror":"https://ror.org/01p884a79","country_code":"CN","type":"education","lineage":["https://openalex.org/I43337087"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiangbo Wang","raw_affiliation_strings":["Tsinghua University,Institute for Artificial Intelligence,Department of Computer Science and Technology, Beijing National Research Center for Information Science and Technology,Beijing,China,100084","School of Quality and Technology Supervising, Hebei University, Baoding, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,Institute for Artificial Intelligence,Department of Computer Science and Technology, Beijing National Research Center for Information Science and Technology,Beijing,China,100084","institution_ids":["https://openalex.org/I4210156423","https://openalex.org/I99065089"]},{"raw_affiliation_string":"School of Quality and Technology Supervising, Hebei University, Baoding, China","institution_ids":["https://openalex.org/I43337087"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055546056","display_name":"Fuchun Sun","orcid":"https://orcid.org/0000-0003-3546-6305"},"institutions":[{"id":"https://openalex.org/I4210156423","display_name":"National Engineering Research Center for Information Technology in Agriculture","ror":"https://ror.org/04c3j3t84","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210156423"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fuchun Sun","raw_affiliation_strings":["Tsinghua University,Institute for Artificial Intelligence,Department of Computer Science and Technology, Beijing National Research Center for Information Science and Technology,Beijing,China,100084"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,Institute for Artificial Intelligence,Department of Computer Science and Technology, Beijing National Research Center for Information Science and Technology,Beijing,China,100084","institution_ids":["https://openalex.org/I4210156423","https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004937333","display_name":"Yiyong Yang","orcid":"https://orcid.org/0000-0003-1536-8142"},"institutions":[{"id":"https://openalex.org/I3125743391","display_name":"China University of Geosciences (Beijing)","ror":"https://ror.org/04q6c7p66","country_code":"CN","type":"education","lineage":["https://openalex.org/I3125743391"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yiyong Yang","raw_affiliation_strings":["China University of Geosciences (Beijing),School of Engineering and Technology,Beijing,China,100083"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"China University of Geosciences (Beijing),School of Engineering and Technology,Beijing,China,100083","institution_ids":["https://openalex.org/I3125743391"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029662229","display_name":"Bin Fang","orcid":"https://orcid.org/0000-0002-9149-7336"},"institutions":[{"id":"https://openalex.org/I4210156423","display_name":"National Engineering Research Center for Information Technology in Agriculture","ror":"https://ror.org/04c3j3t84","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210156423"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bin Fang","raw_affiliation_strings":["Tsinghua University,Institute for Artificial Intelligence,Department of Computer Science and Technology, Beijing National Research Center for Information Science and Technology,Beijing,China,100084"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,Institute for Artificial Intelligence,Department of Computer Science and Technology, Beijing National Research Center for Information Science and Technology,Beijing,China,100084","institution_ids":["https://openalex.org/I4210156423","https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9957000017166138,"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"}},"topics":[{"id":"https://openalex.org/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9957000017166138,"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":0.9948999881744385,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9936000108718872,"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/rendering","display_name":"Rendering (computer graphics)","score":0.8207519054412842},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7973904609680176},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7225761413574219},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.679024875164032},{"id":"https://openalex.org/keywords/path-tracing","display_name":"Path tracing","score":0.5614742636680603},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49953627586364746},{"id":"https://openalex.org/keywords/image-based-modeling-and-rendering","display_name":"Image-based modeling and rendering","score":0.4449130892753601},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.40884318947792053}],"concepts":[{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.8207519054412842},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7973904609680176},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7225761413574219},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.679024875164032},{"id":"https://openalex.org/C110541219","wikidata":"https://www.wikidata.org/wiki/Q72948","display_name":"Path tracing","level":3,"score":0.5614742636680603},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49953627586364746},{"id":"https://openalex.org/C44185422","wikidata":"https://www.wikidata.org/wiki/Q6002064","display_name":"Image-based modeling and rendering","level":3,"score":0.4449130892753601},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.40884318947792053}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio58561.2023.10354922","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robio58561.2023.10354922","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.6700000166893005}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322392","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W190660021","https://openalex.org/W1990864775","https://openalex.org/W2775635818","https://openalex.org/W2781493652","https://openalex.org/W2810873357","https://openalex.org/W2962793652","https://openalex.org/W2966551937","https://openalex.org/W2977371611","https://openalex.org/W3112669067","https://openalex.org/W3128582681","https://openalex.org/W3135512538","https://openalex.org/W3142960102","https://openalex.org/W3181656631","https://openalex.org/W3192021195","https://openalex.org/W3198507954","https://openalex.org/W3206949798","https://openalex.org/W3207855543","https://openalex.org/W4225710745","https://openalex.org/W4309258842","https://openalex.org/W4313546642","https://openalex.org/W4316661152","https://openalex.org/W6790030675","https://openalex.org/W6791228971"],"related_works":["https://openalex.org/W2902083801","https://openalex.org/W4300010773","https://openalex.org/W2950602979","https://openalex.org/W4385284185","https://openalex.org/W2106647072","https://openalex.org/W4246858109","https://openalex.org/W2028281716","https://openalex.org/W2170209930","https://openalex.org/W2046782623","https://openalex.org/W2121111362"],"abstract_inverted_index":{"Vision-based":[0],"tactile":[1,10],"sensors":[2],"(VBTS)":[3],"leverages":[4],"visual":[5],"modality":[6],"to":[7,19,106,133,142],"present":[8],"high-resolution":[9],"information.":[11],"The":[12,66,114],"vision-based":[13],"sensing":[14],"mechanism":[15],"has":[16,139],"good":[17],"adaptability":[18],"robot":[20,112],"manipulation":[21],"because":[22,39],"of":[23,33,81,99,110],"available":[24],"information":[25],"capture":[26],"and":[27,45,75,93],"data":[28],"processing.":[29],"However,":[30],"the":[31,79,90,97,102,108,140,144],"simulation":[32,54,80],"VBTS":[34,57,74],"is":[35],"a":[36,53,59],"challenging":[37],"problem":[38],"it":[40],"deals":[41],"with":[42,72],"computer":[43],"graphics":[44],"elasto-plastic":[46],"deformation.":[47],"In":[48,84],"this":[49,86],"paper,":[50],"we":[51],"propose":[52],"approach":[55,61],"for":[56,78],"using":[58],"rendering":[60,67,91,127,135],"based":[62],"on":[63,147],"path":[64],"tracing.":[65],"method":[68,87,120],"can":[69,88,121],"be":[70],"integrated":[71],"existing":[73],"robotic":[76,82],"simulators":[77],"systems.":[83],"addition,":[85],"control":[89],"efficiency":[92,128],"quality":[94,132],"by":[95],"controlling":[96],"number":[98],"voxels":[100],"in":[101],"fitting":[103],"deformation":[104],"area":[105],"meet":[107],"requirements":[109],"efficient":[111],"training.":[113],"experimental":[115],"results":[116],"verify":[117],"that":[118],"our":[119],"provide":[122],"high-quality":[123],"images":[124],"at":[125],"low":[126],"or":[129],"reduce":[130],"image":[131],"improve":[134],"efficiency.":[136],"Our":[137],"work":[138],"potential":[141],"advance":[143],"sim-to-real":[145],"research":[146],"VBTS.":[148]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-27T08:26:11.824852","created_date":"2025-10-10T00:00:00"}