{"id":"https://openalex.org/W2112714380","doi":"https://doi.org/10.1109/tro.2011.2138450","title":"Global Localization of Objects via Touch","display_name":"Global Localization of Objects via Touch","publication_year":2011,"publication_date":"2011-06-01","ids":{"openalex":"https://openalex.org/W2112714380","doi":"https://doi.org/10.1109/tro.2011.2138450","mag":"2112714380"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2011.2138450","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2011.2138450","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Transactions on Robotics","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/A5067603809","display_name":"Anna Petrovskaya","orcid":"https://orcid.org/0000-0001-6059-9172"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anna Petrovskaya","raw_affiliation_strings":["Computer Science Department, University of Stanford, Stanford, CA, USA","Computer Science Department Stanford University Stanford, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science Department, University of Stanford, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Computer Science Department Stanford University Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051336665","display_name":"Oussama Khatib","orcid":"https://orcid.org/0000-0003-0482-1415"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Oussama Khatib","raw_affiliation_strings":["Computer Science Department, University of Stanford, Stanford, CA, USA","Computer Science Department Stanford University Stanford, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science Department, University of Stanford, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Computer Science Department Stanford University Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I97018004"],"apc_list":null,"apc_paid":null,"fwci":235.8187,"has_fulltext":false,"cited_by_count":142,"citation_normalized_percentile":{"value":0.99958604,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":100},"biblio":{"volume":"27","issue":"3","first_page":"569","last_page":"585"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9926999807357788,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9922999739646912,"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/computer-science","display_name":"Computer science","score":0.6866225004196167},{"id":"https://openalex.org/keywords/bayesian-probability","display_name":"Bayesian probability","score":0.5963672399520874},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5778617858886719},{"id":"https://openalex.org/keywords/simulated-annealing","display_name":"Simulated annealing","score":0.5769091248512268},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5049510598182678},{"id":"https://openalex.org/keywords/monte-carlo-method","display_name":"Monte Carlo method","score":0.4962041974067688},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4930548369884491},{"id":"https://openalex.org/keywords/series","display_name":"Series (stratigraphy)","score":0.47535866498947144},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.43093156814575195},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3429028391838074},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16297733783721924}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6866225004196167},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.5963672399520874},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5778617858886719},{"id":"https://openalex.org/C126980161","wikidata":"https://www.wikidata.org/wiki/Q863783","display_name":"Simulated annealing","level":2,"score":0.5769091248512268},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5049510598182678},{"id":"https://openalex.org/C19499675","wikidata":"https://www.wikidata.org/wiki/Q232207","display_name":"Monte Carlo method","level":2,"score":0.4962041974067688},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4930548369884491},{"id":"https://openalex.org/C143724316","wikidata":"https://www.wikidata.org/wiki/Q312468","display_name":"Series (stratigraphy)","level":2,"score":0.47535866498947144},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.43093156814575195},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3429028391838074},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16297733783721924},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2011.2138450","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2011.2138450","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Transactions on Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.800000011920929,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":67,"referenced_works":["https://openalex.org/W12410007","https://openalex.org/W25337784","https://openalex.org/W46519310","https://openalex.org/W121511052","https://openalex.org/W1483307070","https://openalex.org/W1485885588","https://openalex.org/W1486578428","https://openalex.org/W1489119587","https://openalex.org/W1523545809","https://openalex.org/W1532977286","https://openalex.org/W1533101802","https://openalex.org/W1756045053","https://openalex.org/W1757789103","https://openalex.org/W1993267444","https://openalex.org/W1998174613","https://openalex.org/W2001745459","https://openalex.org/W2006178360","https://openalex.org/W2010187412","https://openalex.org/W2017629945","https://openalex.org/W2029977228","https://openalex.org/W2035557456","https://openalex.org/W2044164936","https://openalex.org/W2046155033","https://openalex.org/W2057565703","https://openalex.org/W2060816518","https://openalex.org/W2061283984","https://openalex.org/W2085261163","https://openalex.org/W2092291441","https://openalex.org/W2100832189","https://openalex.org/W2105777811","https://openalex.org/W2106530445","https://openalex.org/W2113243634","https://openalex.org/W2116582281","https://openalex.org/W2126009268","https://openalex.org/W2129190609","https://openalex.org/W2131500902","https://openalex.org/W2133464237","https://openalex.org/W2135764620","https://openalex.org/W2141789091","https://openalex.org/W2144124341","https://openalex.org/W2153224410","https://openalex.org/W2158496056","https://openalex.org/W2158890580","https://openalex.org/W2160337655","https://openalex.org/W2164474021","https://openalex.org/W2164834344","https://openalex.org/W2169102162","https://openalex.org/W2296434941","https://openalex.org/W2336416123","https://openalex.org/W2524610172","https://openalex.org/W2540133481","https://openalex.org/W2582974675","https://openalex.org/W4206771003","https://openalex.org/W4231704354","https://openalex.org/W4246238737","https://openalex.org/W4248908705","https://openalex.org/W4285719527","https://openalex.org/W6601886159","https://openalex.org/W6604967858","https://openalex.org/W6629209749","https://openalex.org/W6629488383","https://openalex.org/W6631524083","https://openalex.org/W6659226336","https://openalex.org/W6682335534","https://openalex.org/W6697261684","https://openalex.org/W6728614222","https://openalex.org/W6732695680"],"related_works":["https://openalex.org/W2393870460","https://openalex.org/W2067147118","https://openalex.org/W2392013129","https://openalex.org/W2025427163","https://openalex.org/W2113777112","https://openalex.org/W2254578859","https://openalex.org/W4284894156","https://openalex.org/W2161803855","https://openalex.org/W2884994975","https://openalex.org/W3110774753"],"abstract_inverted_index":{"Humans":[0],"are":[1,149],"capable":[2,76],"of":[3,11,25,40,47,56,77,96,140,162],"manipulating":[4],"objects":[5,26,164],"based":[6],"solely":[7],"on":[8,143],"the":[9,17,34,41,45,48,52,79,141,153],"sense":[10],"touch.":[12],"For":[13],"robots":[14],"to":[15,36],"achieve":[16],"same":[18],"feat":[19],"in":[20,83],"unstructured":[21],"environments,":[22],"global":[23,59],"localization":[24,60,159],"via":[27],"touch":[28],"is":[29,62,75,87],"required.":[30],"Bayesian":[31,49,69],"approaches":[32],"provide":[33],"means":[35],"cope":[37],"with":[38,100],"uncertainties":[39],"real":[42,84],"world,":[43],"but":[44],"estimation":[46],"posterior":[50],"for":[51,117],"full":[53,80],"six":[54],"degrees":[55],"freedom":[57],"(6-DOF)":[58],"problem":[61,81],"computationally":[63],"prohibitive.":[64],"We":[65,102,136,155],"propose":[66,104],"an":[67,105],"efficient":[68],"approach":[70,91,142],"termed":[71],"Scaling":[72,130],"Series.":[73],"It":[74],"solving":[78],"reliably":[82],"time.":[85],"This":[86],"a":[88,94,122],"Monte":[89],"Carlo":[90],"that":[92,129,165],"performs":[93],"series":[95],"successive":[97],"refinements":[98],"coupled":[99],"annealing.":[101],"also":[103,156],"analytical":[106],"measurement":[107],"model,":[108],"which":[109,148],"can":[110,166],"be":[111],"computed":[112],"efficiently":[113],"at":[114],"run":[115],"time":[116],"any":[118],"object":[119],"represented":[120],"as":[121],"polygonal":[123],"mesh.":[124],"Extensive":[125],"empirical":[126],"evaluation":[127],"shows":[128],"Series":[131],"drastically":[132],"outperforms":[133],"prior":[134],"approaches.":[135],"demonstrate":[137],"general":[138],"applicability":[139],"five":[144],"common":[145],"solid":[146],"objects,":[147],"rigidly":[150],"fixed":[151],"during":[152,168],"experiments.":[154],"consider":[157],"6-DOF":[158],"and":[160],"tracking":[161],"free-standing":[163],"move":[167],"tactile":[169],"exploration.":[170]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":12},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":15},{"year":2018,"cited_by_count":11},{"year":2017,"cited_by_count":21},{"year":2016,"cited_by_count":17},{"year":2015,"cited_by_count":11},{"year":2014,"cited_by_count":10},{"year":2013,"cited_by_count":12},{"year":2012,"cited_by_count":7}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}