{"id":"https://openalex.org/W2408199220","doi":"https://doi.org/10.3233/978-1-61499-452-7-45","title":"Improving autonomous underwater grasp specification using primitive shape fitting in point clouds","display_name":"Improving autonomous underwater grasp specification using primitive shape fitting in point clouds","publication_year":2014,"publication_date":"2014-01-01","ids":{"openalex":"https://openalex.org/W2408199220","doi":"https://doi.org/10.3233/978-1-61499-452-7-45","mag":"2408199220"},"language":"en","primary_location":{"id":"doi:10.3233/978-1-61499-452-7-45","is_oa":false,"landing_page_url":"https://doi.org/10.3233/978-1-61499-452-7-45","pdf_url":null,"source":{"id":"https://openalex.org/S4210201731","display_name":"Frontiers in artificial intelligence and applications","issn_l":"0922-6389","issn":["0922-6389","1879-8314"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Artificial Intelligence and Applications","raw_type":"book-chapter"},"type":"book-chapter","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":null,"display_name":"Fornas David","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Fornas David","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Sales Jorge","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sales Jorge","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5116359121","display_name":"Pe ntilde alver Antonio","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Peñalver Antonio","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Pérez Javier","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pérez Javier","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Fernández J. Javier","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fernández J. Javier","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5108946326","display_name":"S. J.","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sanz Pedro J.","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":6,"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":0.2447179,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"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/T12290","display_name":"Human Motion and Animation","score":0.9979000091552734,"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"}},"topics":[{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.9979000091552734,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9975000023841858,"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"}},{"id":"https://openalex.org/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9962000250816345,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.9203042387962341},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.778327465057373},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.715766191482544},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5425652861595154},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5373398661613464},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.3364521861076355},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.2626488208770752},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2514103651046753},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22847473621368408},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.1986454427242279},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1896054446697235},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.1072167158126831},{"id":"https://openalex.org/keywords/oceanography","display_name":"Oceanography","score":0.07943221926689148}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9203042387962341},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.778327465057373},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.715766191482544},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5425652861595154},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5373398661613464},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.3364521861076355},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.2626488208770752},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2514103651046753},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22847473621368408},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.1986454427242279},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1896054446697235},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.1072167158126831},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.07943221926689148}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.3233/978-1-61499-452-7-45","is_oa":false,"landing_page_url":"https://doi.org/10.3233/978-1-61499-452-7-45","pdf_url":null,"source":{"id":"https://openalex.org/S4210201731","display_name":"Frontiers in artificial intelligence and applications","issn_l":"0922-6389","issn":["0922-6389","1879-8314"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Artificial Intelligence and Applications","raw_type":"book-chapter"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W2743859443","https://openalex.org/W2326995835","https://openalex.org/W165915117","https://openalex.org/W2059402478","https://openalex.org/W2123347777","https://openalex.org/W4387804363","https://openalex.org/W2019547100","https://openalex.org/W2477150073","https://openalex.org/W2515493494"],"abstract_inverted_index":{"This":[0,130],"paper":[1],"presents":[2],"a":[3,33,105,111,123],"research":[4,13],"in":[5,14,38,60,101,134],"progress":[6],"towards":[7],"autonomous":[8],"underwater":[9,15,39,86],"robot":[10,55],"manipulation.":[11],"Current":[12],"robotics":[16],"intends":[17],"to":[18,78,97,103],"increase":[19],"the":[20,54,69,80,108,117,137],"autonomy":[21],"of":[22,47,71,82,92,107,125,139],"intervention":[23],"operations":[24,84],"that":[25,52,76],"require":[26],"physical":[27],"interaction.":[28],"Autonomous":[29],"grasping":[30,83],"is":[31,132,149],"still":[32],"very":[34],"challenging":[35],"skill,":[36],"especially":[37],"environments,":[40],"with":[41],"highly":[42],"unstructured":[43],"scenarios,":[44],"limited":[45],"availability":[46],"sensors":[48],"and":[49,57,73,122,136,146],"adverse":[50],"conditions":[51],"affect":[53],"perception":[56],"control":[58],"systems":[59],"various":[61],"degrees.":[62],"To":[63],"tackle":[64],"those":[65],"issues,":[66],"we":[67],"propose":[68],"use":[70],"vision":[72],"segmentation":[74],"techniques":[75],"aim":[77],"improve":[79],"specification":[81],"on":[85],"primitive":[87,113],"shaped":[88],"objects.":[89],"Several":[90],"sources":[91],"stereo":[93],"information":[94,100],"are":[95,120,128],"used":[96],"gather":[98],"3D":[99,141],"order":[102],"obtain":[104],"model":[106,118],"object.":[109],"Using":[110],"RANSAC":[112],"shape":[114],"recognition":[115],"algorithm,":[116],"parameters":[119],"estimated":[121],"set":[124],"feasible":[126],"grasps":[127],"computed.":[129],"approach":[131],"validated":[133],"simulation":[135],"quality":[138],"different":[140],"reconstructions":[142],"from":[143],"both":[144],"real":[145],"virtual":[147],"scenarios":[148],"analyzed.":[150]},"counts_by_year":[],"updated_date":"2026-04-17T18:11:37.981687","created_date":"2025-10-10T00:00:00"}