{"id":"https://openalex.org/W4409640609","doi":"https://doi.org/10.1109/lra.2025.3562790","title":"Stereo Hand-Object Reconstruction for Human-to-Robot Handover","display_name":"Stereo Hand-Object Reconstruction for Human-to-Robot Handover","publication_year":2025,"publication_date":"2025-04-21","ids":{"openalex":"https://openalex.org/W4409640609","doi":"https://doi.org/10.1109/lra.2025.3562790"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3562790","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3562790","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://infoscience.epfl.ch/handle/20.500.14299/249689","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5071958875","display_name":"Yik Lung Pang","orcid":"https://orcid.org/0000-0002-8649-3701"},"institutions":[{"id":"https://openalex.org/I166337079","display_name":"Queen Mary University of London","ror":"https://ror.org/026zzn846","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I166337079"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Yik Lung Pang","raw_affiliation_strings":["Centre for Intelligent Sensing, Queen Mary University of London, London, U.K","Centre for Intelligent Sensing, Queen Mary University of London, UK"],"raw_orcid":"https://orcid.org/0000-0002-8649-3701","affiliations":[{"raw_affiliation_string":"Centre for Intelligent Sensing, Queen Mary University of London, London, U.K","institution_ids":["https://openalex.org/I166337079"]},{"raw_affiliation_string":"Centre for Intelligent Sensing, Queen Mary University of London, UK","institution_ids":["https://openalex.org/I166337079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078453520","display_name":"Alessio Xompero","orcid":"https://orcid.org/0000-0002-8227-8529"},"institutions":[{"id":"https://openalex.org/I166337079","display_name":"Queen Mary University of London","ror":"https://ror.org/026zzn846","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I166337079"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Alessio Xompero","raw_affiliation_strings":["Centre for Intelligent Sensing, Queen Mary University of London, London, U.K","Centre for Intelligent Sensing, Queen Mary University of London, UK"],"raw_orcid":"https://orcid.org/0000-0002-8227-8529","affiliations":[{"raw_affiliation_string":"Centre for Intelligent Sensing, Queen Mary University of London, London, U.K","institution_ids":["https://openalex.org/I166337079"]},{"raw_affiliation_string":"Centre for Intelligent Sensing, Queen Mary University of London, UK","institution_ids":["https://openalex.org/I166337079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103187625","display_name":"Changjae Oh","orcid":"https://orcid.org/0000-0002-6522-2451"},"institutions":[{"id":"https://openalex.org/I166337079","display_name":"Queen Mary University of London","ror":"https://ror.org/026zzn846","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I166337079"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Changjae Oh","raw_affiliation_strings":["Centre for Intelligent Sensing, Queen Mary University of London, London, U.K","Centre for Intelligent Sensing, Queen Mary University of London, UK"],"raw_orcid":"https://orcid.org/0000-0002-6522-2451","affiliations":[{"raw_affiliation_string":"Centre for Intelligent Sensing, Queen Mary University of London, London, U.K","institution_ids":["https://openalex.org/I166337079"]},{"raw_affiliation_string":"Centre for Intelligent Sensing, Queen Mary University of London, UK","institution_ids":["https://openalex.org/I166337079"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004087827","display_name":"Andrea Cavallaro","orcid":"https://orcid.org/0000-0001-5086-7858"},"institutions":[{"id":"https://openalex.org/I7495430","display_name":"Idiap Research Institute","ror":"https://ror.org/05932h694","country_code":"CH","type":"facility","lineage":["https://openalex.org/I7495430"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Andrea Cavallaro","raw_affiliation_strings":["Idiap Research Institute, Martigny, Switzerland","Idiap Research Institute and &#x00C9;cole Polytechnique F&#x00E9;d&#x00E9;rale de Lausanne, Switzerland"],"raw_orcid":"https://orcid.org/0000-0001-5086-7858","affiliations":[{"raw_affiliation_string":"Idiap Research Institute, Martigny, Switzerland","institution_ids":["https://openalex.org/I7495430"]},{"raw_affiliation_string":"Idiap Research Institute and &#x00C9;cole Polytechnique F&#x00E9;d&#x00E9;rale de Lausanne, Switzerland","institution_ids":["https://openalex.org/I7495430"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.05715495,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"10","issue":"6","first_page":"5761","last_page":"5768"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"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/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.9835000038146973,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.9833999872207642,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7156355381011963},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6714852452278137},{"id":"https://openalex.org/keywords/handover","display_name":"Handover","score":0.664462685585022},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6513782739639282},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5187044739723206},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4322260618209839},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.32973477244377136},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.06972759962081909}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7156355381011963},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6714852452278137},{"id":"https://openalex.org/C111852164","wikidata":"https://www.wikidata.org/wiki/Q1414679","display_name":"Handover","level":2,"score":0.664462685585022},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6513782739639282},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5187044739723206},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4322260618209839},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.32973477244377136},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.06972759962081909}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2025.3562790","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3562790","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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:infoscience.epfl.ch:20.500.14299/249689","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/handle/20.500.14299/249689","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"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-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"research article"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:20.500.14299/249689","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/handle/20.500.14299/249689","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"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-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"research article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1595280774","display_name":"JADE: Joint Academic Data science Endeavour - 2","funder_award_id":"EP/T022205/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W2108598243","https://openalex.org/W2150382645","https://openalex.org/W2194775991","https://openalex.org/W2752796333","https://openalex.org/W2768683308","https://openalex.org/W2962849139","https://openalex.org/W2963033241","https://openalex.org/W2963150697","https://openalex.org/W2963188159","https://openalex.org/W2963227409","https://openalex.org/W2963488642","https://openalex.org/W2968722025","https://openalex.org/W2986303149","https://openalex.org/W3001418026","https://openalex.org/W3015249398","https://openalex.org/W3034891989","https://openalex.org/W3089045049","https://openalex.org/W3114952123","https://openalex.org/W3131514027","https://openalex.org/W3172917672","https://openalex.org/W3180172155","https://openalex.org/W3194569790","https://openalex.org/W3205994030","https://openalex.org/W3215052027","https://openalex.org/W3215920455","https://openalex.org/W4221156515","https://openalex.org/W4226069512","https://openalex.org/W4312331262","https://openalex.org/W4312910764","https://openalex.org/W4386066654","https://openalex.org/W4386076166","https://openalex.org/W4390190829","https://openalex.org/W4390872254","https://openalex.org/W4390889757","https://openalex.org/W4401414041","https://openalex.org/W4402917049","https://openalex.org/W6639102338","https://openalex.org/W6687484953","https://openalex.org/W6768852475","https://openalex.org/W6783692663","https://openalex.org/W6853219587","https://openalex.org/W6873364406"],"related_works":["https://openalex.org/W2520149731","https://openalex.org/W1981519115","https://openalex.org/W1985631144","https://openalex.org/W2087123996","https://openalex.org/W3111553259","https://openalex.org/W2103264866","https://openalex.org/W53279813","https://openalex.org/W2115561238","https://openalex.org/W2023203067","https://openalex.org/W2378403302"],"abstract_inverted_index":{"Jointly":[0],"estimating":[1],"hand":[2],"and":[3,31,75,105,120],"object":[4,24,91],"shape":[5,67,113],"facilitates":[6],"the":[7,19,23,90,110,122,151],"grasping":[8],"task":[9],"in":[10],"human-to-robot":[11,127],"handovers.":[12],"Relying":[13],"on":[14,102],"hand-crafted":[15],"prior":[16],"knowledge":[17],"about":[18],"geometric":[20],"structure":[21],"of":[22,147],"fails":[25],"when":[26],"generalising":[27],"to":[28,35,58,79,95,124,141],"unseen":[29],"objects,":[30],"depth":[32],"sensors":[33],"fail":[34],"detect":[36],"transparent":[37,82],"objects":[38,149],"such":[39],"as":[40],"drinking":[41],"glasses.":[42],"In":[43],"this":[44],"work,":[45],"we":[46],"propose":[47],"a":[48,60,70,115,126,139,144],"method":[49,88],"for":[50],"hand-object":[51,73,99,112,136],"reconstruction":[52,100,137],"that":[53,86],"combines":[54],"single-view":[55],"reconstructions":[56],"probabilistically":[57],"form":[59],"coherent":[61],"stereo":[62,106,132],"reconstruction.":[63],"We":[64,84,108],"learn":[65],"3D":[66],"priors":[68],"from":[69,150],"large":[71],"synthetic":[72],"dataset,":[74],"use":[76,121],"RGB":[77,97,133],"inputs":[78],"better":[80],"capture":[81],"objects.":[83],"show":[85],"our":[87],"reduces":[89],"Chamfer":[92],"distance":[93],"compared":[94],"existing":[96],"based":[98],"methods":[101],"single":[103],"view":[104],"settings.":[107],"process":[109],"reconstructed":[111],"with":[114,130],"projection-based":[116],"outlier":[117],"removal":[118],"step":[119],"output":[123],"guide":[125],"handover":[128],"pipeline":[129],"wide-baseline":[131],"cameras.":[134],"Our":[135],"enables":[138],"robot":[140],"successfully":[142],"receive":[143],"diverse":[145],"range":[146],"household":[148],"human.":[152]},"counts_by_year":[],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}
