{"id":"https://openalex.org/W4385729925","doi":"https://doi.org/10.1145/3594806.3594854","title":"Real-Time Object Localization for Human-Robot Handover","display_name":"Real-Time Object Localization for Human-Robot Handover","publication_year":2023,"publication_date":"2023-07-05","ids":{"openalex":"https://openalex.org/W4385729925","doi":"https://doi.org/10.1145/3594806.3594854"},"language":"en","primary_location":{"id":"doi:10.1145/3594806.3594854","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3594806.3594854","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 16th International Conference on PErvasive Technologies Related to Assistive Environments","raw_type":"proceedings-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/A5017946519","display_name":"Sadjad Asghari-Esfeden","orcid":"https://orcid.org/0000-0003-1866-9944"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Sadjad Asghari-Esfeden","raw_affiliation_strings":["Northeastern University, United States"],"affiliations":[{"raw_affiliation_string":"Northeastern University, United States","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092623988","display_name":"Garrit Strenge","orcid":null},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Garrit Strenge","raw_affiliation_strings":["Northeastern University, United States"],"affiliations":[{"raw_affiliation_string":"Northeastern University, United States","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026540271","display_name":"Kyle Lockwood","orcid":"https://orcid.org/0000-0002-1316-0789"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kyle Lockwood","raw_affiliation_strings":["Northeastern University, United States"],"affiliations":[{"raw_affiliation_string":"Northeastern University, United States","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034909011","display_name":"Yunus Bicer","orcid":"https://orcid.org/0000-0002-5405-0770"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yunus Bicer","raw_affiliation_strings":["Northeastern University, United States"],"affiliations":[{"raw_affiliation_string":"Northeastern University, United States","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009495271","display_name":"Tales Imbiriba","orcid":"https://orcid.org/0000-0002-2626-2039"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tales Imbiriba","raw_affiliation_strings":["Northeastern University, United States"],"affiliations":[{"raw_affiliation_string":"Northeastern University, United States","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077499333","display_name":"Mariusz P. Furmanek","orcid":"https://orcid.org/0000-0002-8797-1154"},"institutions":[{"id":"https://openalex.org/I17626003","display_name":"University of Rhode Island","ror":"https://ror.org/013ckk937","country_code":"US","type":"education","lineage":["https://openalex.org/I17626003"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mariusz Furmanek","raw_affiliation_strings":["University of Rhode Island, United States"],"affiliations":[{"raw_affiliation_string":"University of Rhode Island, United States","institution_ids":["https://openalex.org/I17626003"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069832419","display_name":"Mathew Yarossi","orcid":"https://orcid.org/0000-0003-1564-2324"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mathew Yarossi","raw_affiliation_strings":["Northeastern University, United States"],"affiliations":[{"raw_affiliation_string":"Northeastern University, United States","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013630760","display_name":"Eugene Tunik","orcid":"https://orcid.org/0000-0002-7497-1251"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Eugene Tunik","raw_affiliation_strings":["Northeastern University, United States"],"affiliations":[{"raw_affiliation_string":"Northeastern University, United States","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009032681","display_name":"Ta\u015fk\u0131n Pad\u0131r","orcid":"https://orcid.org/0000-0001-5123-5801"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Taskin Padir","raw_affiliation_strings":["Northeastern University, United States"],"affiliations":[{"raw_affiliation_string":"Northeastern University, United States","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083261801","display_name":"Deniz Erdo\u011fmu\u015f","orcid":"https://orcid.org/0000-0002-1114-3539"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Deniz Erdogmus","raw_affiliation_strings":["Northeastern University, United States"],"affiliations":[{"raw_affiliation_string":"Northeastern University, United States","institution_ids":["https://openalex.org/I12912129"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":10,"corresponding_author_ids":["https://openalex.org/A5017946519"],"corresponding_institution_ids":["https://openalex.org/I12912129"],"apc_list":null,"apc_paid":null,"fwci":0.8824,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.80686245,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"42","last_page":"46"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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":0.9997000098228455,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9983000159263611,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9948999881744385,"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/handover","display_name":"Handover","score":0.8169663548469543},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7530389428138733},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7173638939857483},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.7163372039794922},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6789724826812744},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6654468774795532},{"id":"https://openalex.org/keywords/video-tracking","display_name":"Video tracking","score":0.6367176175117493},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.5869943499565125},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.49426937103271484},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.4871032238006592},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.4322609305381775},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.34020280838012695},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.0694931149482727},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.0689343810081482}],"concepts":[{"id":"https://openalex.org/C111852164","wikidata":"https://www.wikidata.org/wiki/Q1414679","display_name":"Handover","level":2,"score":0.8169663548469543},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7530389428138733},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7173638939857483},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.7163372039794922},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6789724826812744},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6654468774795532},{"id":"https://openalex.org/C202474056","wikidata":"https://www.wikidata.org/wiki/Q1931635","display_name":"Video tracking","level":3,"score":0.6367176175117493},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.5869943499565125},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.49426937103271484},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.4871032238006592},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.4322609305381775},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.34020280838012695},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.0694931149482727},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0689343810081482},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3594806.3594854","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3594806.3594854","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 16th International Conference on PErvasive Technologies Related to Assistive Environments","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W2029798244","https://openalex.org/W2051588547","https://openalex.org/W2101544546","https://openalex.org/W2105934661","https://openalex.org/W2120079785","https://openalex.org/W2603203130","https://openalex.org/W2806490840","https://openalex.org/W2910193695","https://openalex.org/W2967235442","https://openalex.org/W2996695408","https://openalex.org/W3035727180","https://openalex.org/W3056171435","https://openalex.org/W3089045049","https://openalex.org/W3104104643","https://openalex.org/W3105077954","https://openalex.org/W3121142051","https://openalex.org/W3193423746","https://openalex.org/W3199440838","https://openalex.org/W4213179364","https://openalex.org/W4285008503","https://openalex.org/W4285357233"],"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/W3109712509","https://openalex.org/W2965594636"],"abstract_inverted_index":{"Human-robot":[0],"interaction":[1],"in":[2,16,41,53,73,79,116,183],"a":[3,37,42,54,63,117,127,155],"physical":[4],"world":[5],"like":[6],"handover":[7,49,175],"of":[8,20,33,57,68,76,135,146,160,169,173],"objects":[9],"requires":[10],"perception":[11,81,128],"systems":[12],"to":[13,29,65,95,109,113,119,125,132],"be":[14,133],"efficient":[15],"localizing":[17,137],"the":[18,31,34,69,74,80,85,100,103,111,114,138,167,174],"object":[19,35,70,86,101,112,121,139,151,176],"interest.":[21],"In":[22,123],"this":[23,161],"paper":[24],"we":[25,148],"propose":[26],"an":[27,150],"approach":[28],"estimate":[30],"location":[32,143,181],"with":[36,154],"low-cost":[38],"RGB":[39],"camera":[40],"real-time":[43],"fashion":[44],"for":[45,62,130,166],"human-robot":[46],"handover.":[47,122],"While":[48],"can":[50,178],"take":[51],"place":[52],"short":[55],"amount":[56],"time,":[58],"it":[59],"is":[60,87],"important":[61],"robot":[64,93,115,120,131],"keep":[66],"track":[67,99],"and":[71,98,107,140,144,171,177],"fill":[72],"gaps":[75],"missing":[77],"detections":[78],"module,":[82],"specially":[83],"when":[84,108],"partially":[88],"or":[89],"completely":[90],"occluded.":[91],"A":[92],"needs":[94],"proactively":[96],"detect":[97],"since":[102],"human":[104,118],"decides":[105],"where":[106],"transfer":[110],"order":[124],"develop":[126],"system":[129],"capable":[134],"constantly":[136],"predict":[141],"its":[142,180],"time":[145],"transfer,":[147],"integrate":[149],"detection":[152],"algorithm":[153],"tracking":[156,172],"framework.":[157],"The":[158],"evaluation":[159],"pipeline":[162],"shows":[163],"promising":[164],"results":[165],"goal":[168],"localization":[170],"help":[179],"prediction":[182],"future.":[184]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
