{"id":"https://openalex.org/W4225163031","doi":"https://doi.org/10.1109/robosoft54090.2022.9762199","title":"Sensing soft robots' shape with cameras: an investigation on kinematics-aware SLAM","display_name":"Sensing soft robots' shape with cameras: an investigation on kinematics-aware SLAM","publication_year":2022,"publication_date":"2022-04-04","ids":{"openalex":"https://openalex.org/W4225163031","doi":"https://doi.org/10.1109/robosoft54090.2022.9762199"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft54090.2022.9762199","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft54090.2022.9762199","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 5th International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://resolver.tudelft.nl/uuid:cf0db0b5-0561-48c8-ae98-2dc312a1bbd4","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5039840922","display_name":"Emanuele Riccardo Rosi","orcid":null},"institutions":[{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]},{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["IT","NL"],"is_corresponding":false,"raw_author_name":"Emanuele Riccardo Rosi","raw_affiliation_strings":["Delft University of Technology,Cognitive Robotics department,CD Delft,Netherlands,2628","Department of Computer Science, Bioengineering, Robotics and System Engineering (DIB-RIS), University of Genoa, Genoa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Delft University of Technology,Cognitive Robotics department,CD Delft,Netherlands,2628","institution_ids":["https://openalex.org/I98358874"]},{"raw_affiliation_string":"Department of Computer Science, Bioengineering, Robotics and System Engineering (DIB-RIS), University of Genoa, Genoa, Italy","institution_ids":["https://openalex.org/I83816512"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043272952","display_name":"Maximilian St\u00f6lzle","orcid":"https://orcid.org/0000-0002-2608-9758"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Maximilian Stolzle","raw_affiliation_strings":["Delft University of Technology,Cognitive Robotics department,CD Delft,Netherlands,2628"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Delft University of Technology,Cognitive Robotics department,CD Delft,Netherlands,2628","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085589239","display_name":"Fabio Solari","orcid":"https://orcid.org/0000-0002-8111-0409"},"institutions":[{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Fabio Solari","raw_affiliation_strings":["University of Genoa,Department of Computer Science, Bioengineering, Robotics and System Engineering (DIB-RIS),Genoa,Italy,16145"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Genoa,Department of Computer Science, Bioengineering, Robotics and System Engineering (DIB-RIS),Genoa,Italy,16145","institution_ids":["https://openalex.org/I83816512"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050239145","display_name":"Cosimo Della Santina","orcid":"https://orcid.org/0000-0003-1067-1134"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Cosimo Della Santina","raw_affiliation_strings":["Delft University of Technology,Cognitive Robotics department,CD Delft,Netherlands,2628"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Delft University of Technology,Cognitive Robotics department,CD Delft,Netherlands,2628","institution_ids":["https://openalex.org/I98358874"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.6538,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.62330677,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":1.0,"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/T10868","display_name":"Soft Robotics and Applications","score":1.0,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9902999997138977,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9896000027656555,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7264750599861145},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.7209653258323669},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7201230525970459},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6916732788085938},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6399804353713989},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6187894344329834},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.5267336368560791},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5181090235710144},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4884447157382965},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.46556544303894043},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.44649118185043335},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.4227569103240967},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.4111824631690979},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06481724977493286}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7264750599861145},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.7209653258323669},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7201230525970459},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6916732788085938},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6399804353713989},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6187894344329834},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.5267336368560791},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5181090235710144},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4884447157382965},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.46556544303894043},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.44649118185043335},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.4227569103240967},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.4111824631690979},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06481724977493286},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/robosoft54090.2022.9762199","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft54090.2022.9762199","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 5th International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"},{"id":"pmh:oai:elib.dlr.de:192614","is_oa":false,"landing_page_url":"https://ieeexplore.ieee.org/document/9762199/","pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Konferenzbeitrag"},{"id":"pmh:oai:iris.unige.it:11567/1087097","is_oa":false,"landing_page_url":"http://hdl.handle.net/11567/1087097","pdf_url":null,"source":{"id":"https://openalex.org/S4377196291","display_name":"CINECA IRIS Institutial Research Information System (University of Genoa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I83816512","host_organization_name":"University of Genoa","host_organization_lineage":["https://openalex.org/I83816512"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:tudelft.nl:uuid:cf0db0b5-0561-48c8-ae98-2dc312a1bbd4","is_oa":true,"landing_page_url":"http://resolver.tudelft.nl/uuid:cf0db0b5-0561-48c8-ae98-2dc312a1bbd4","pdf_url":null,"source":{"id":"https://openalex.org/S4306400906","display_name":"Research Repository (Delft University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98358874","host_organization_name":"Delft University of Technology","host_organization_lineage":["https://openalex.org/I98358874"],"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":"","raw_type":"conference paper"}],"best_oa_location":{"id":"pmh:oai:tudelft.nl:uuid:cf0db0b5-0561-48c8-ae98-2dc312a1bbd4","is_oa":true,"landing_page_url":"http://resolver.tudelft.nl/uuid:cf0db0b5-0561-48c8-ae98-2dc312a1bbd4","pdf_url":null,"source":{"id":"https://openalex.org/S4306400906","display_name":"Research Repository (Delft University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98358874","host_organization_name":"Delft University of Technology","host_organization_lineage":["https://openalex.org/I98358874"],"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":"","raw_type":"conference paper"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1826399803","https://openalex.org/W1979266466","https://openalex.org/W2086663847","https://openalex.org/W2101667962","https://openalex.org/W2535547924","https://openalex.org/W2585344004","https://openalex.org/W2618733545","https://openalex.org/W2736652053","https://openalex.org/W2781493652","https://openalex.org/W2883279767","https://openalex.org/W2897782084","https://openalex.org/W2901582285","https://openalex.org/W2909176668","https://openalex.org/W2913446864","https://openalex.org/W2930142071","https://openalex.org/W2947094677","https://openalex.org/W2999072533","https://openalex.org/W3008109267","https://openalex.org/W3089672928","https://openalex.org/W3090733808","https://openalex.org/W3102327032","https://openalex.org/W3112765272","https://openalex.org/W3131245576","https://openalex.org/W3139257454","https://openalex.org/W3142099226","https://openalex.org/W3204719635","https://openalex.org/W4285412736","https://openalex.org/W4378448388","https://openalex.org/W6792435797","https://openalex.org/W6792675530","https://openalex.org/W6839527061"],"related_works":["https://openalex.org/W1508899372","https://openalex.org/W200819717","https://openalex.org/W28570768","https://openalex.org/W2039460805","https://openalex.org/W4250956039","https://openalex.org/W2032269556","https://openalex.org/W2911666782","https://openalex.org/W4312473168","https://openalex.org/W4211124276","https://openalex.org/W2980723633"],"abstract_inverted_index":{"The":[0],"nature":[1],"of":[2,62,112],"continuum":[3],"soft":[4,116],"robots":[5],"calls":[6],"for":[7,51,144],"novel":[8],"perception":[9],"solutions,":[10],"which":[11],"can":[12,75],"provide":[13],"information":[14],"on":[15,97,142],"the":[16,60,98,104,123],"robot's":[17,99],"shape":[18,85],"while":[19],"not":[20],"substantially":[21],"modifying":[22],"their":[23],"bodies'":[24],"softness.":[25],"One":[26],"way":[27],"to":[28,33,44,122],"achieve":[29,126],"this":[30],"goal":[31],"is":[32],"develop":[34],"innovative":[35],"and":[36,109,134,137],"completely":[37],"deformable":[38],"sensors.":[39],"However,":[40],"these":[41],"solutions":[42,78],"tend":[43],"be":[45],"less":[46],"reliable":[47],"than":[48],"classic":[49],"sensors":[50],"rigid":[52,69],"robots.":[53],"As":[54],"an":[55],"alternative,":[56],"we":[57,74],"consider":[58],"here":[59],"use":[61],"monocular":[63],"cameras.":[64],"By":[65],"admitting":[66],"a":[67,84,90,113,119],"small":[68],"component":[70],"in":[71,107],"our":[72],"design,":[73],"leverage":[76],"well-established":[77],"from":[79],"mobile":[80],"robotics.":[81],"We":[82,102,125],"propose":[83],"sensing":[86],"strategy":[87],"that":[88],"combines":[89],"SLAM":[91],"algorithm":[92],"with":[93,110,118],"nonlinear":[94],"optimization":[95],"based":[96],"kinematic":[100],"model.":[101],"prove":[103],"method's":[105],"effectiveness":[106],"simulation":[108,146],"experiments":[111,135],"single-segment":[114],"continuous":[115],"robot":[117],"camera":[120],"mounted":[121],"tip.":[124],"mean":[127],"relative":[128],"translational":[129],"errors":[130],"below":[131],"9%":[132],"simulations":[133],"alike,":[136],"as":[138,140],"low":[139],"0.5%":[141],"average":[143],"some":[145],"conditions.":[147]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}