{"id":"https://openalex.org/W4324319299","doi":"https://doi.org/10.48550/arxiv.2303.06542","title":"StereoTac: a Novel Visuotactile Sensor that Combines Tactile Sensing with 3D Vision","display_name":"StereoTac: a Novel Visuotactile Sensor that Combines Tactile Sensing with 3D Vision","publication_year":2023,"publication_date":"2023-03-12","ids":{"openalex":"https://openalex.org/W4324319299","doi":"https://doi.org/10.48550/arxiv.2303.06542"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2303.06542","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2303.06542","pdf_url":"https://arxiv.org/pdf/2303.06542","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":null,"raw_type":"text"},"type":"preprint","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2303.06542","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5078112660","display_name":"Etienne Roberge","orcid":"https://orcid.org/0009-0008-2620-1245"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Roberge, Etienne","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065435966","display_name":"Guillaume Fornes","orcid":"https://orcid.org/0009-0000-8073-8328"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fornes, Guillaume","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5019399641","display_name":"Jean-Philippe Roberge","orcid":"https://orcid.org/0000-0003-0265-9020"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Roberge, Jean-Philippe","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":null,"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.9957000017166138,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9957000017166138,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9951000213623047,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9902999997138977,"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/tactile-sensor","display_name":"Tactile sensor","score":0.8053504228591919},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7738802433013916},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7237039804458618},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6454601883888245},{"id":"https://openalex.org/keywords/stereopsis","display_name":"Stereopsis","score":0.5327565670013428},{"id":"https://openalex.org/keywords/transparency","display_name":"Transparency (behavior)","score":0.4820743203163147},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4537142515182495},{"id":"https://openalex.org/keywords/stereoscopy","display_name":"Stereoscopy","score":0.4322070777416229},{"id":"https://openalex.org/keywords/depth-perception","display_name":"Depth perception","score":0.41867581009864807},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.41126513481140137},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.3459353446960449}],"concepts":[{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.8053504228591919},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7738802433013916},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7237039804458618},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6454601883888245},{"id":"https://openalex.org/C68537008","wikidata":"https://www.wikidata.org/wiki/Q247932","display_name":"Stereopsis","level":2,"score":0.5327565670013428},{"id":"https://openalex.org/C2780233690","wikidata":"https://www.wikidata.org/wiki/Q535347","display_name":"Transparency (behavior)","level":2,"score":0.4820743203163147},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4537142515182495},{"id":"https://openalex.org/C126057942","wikidata":"https://www.wikidata.org/wiki/Q35158","display_name":"Stereoscopy","level":2,"score":0.4322070777416229},{"id":"https://openalex.org/C52672216","wikidata":"https://www.wikidata.org/wiki/Q1749840","display_name":"Depth perception","level":3,"score":0.41867581009864807},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.41126513481140137},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.3459353446960449},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"pmh:oai:arXiv.org:2303.06542","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2303.06542","pdf_url":"https://arxiv.org/pdf/2303.06542","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":null,"raw_type":"text"},{"id":"pmh:oai:espace2.etsmtl.ca:31794","is_oa":false,"landing_page_url":"https://espace2.etsmtl.ca/id/eprint/31794/","pdf_url":null,"source":{"id":"https://openalex.org/S4306402392","display_name":"Espace \u00c9TS (ETS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1341030882","host_organization_name":"Educational Testing Service","host_organization_lineage":["https://openalex.org/I1341030882"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Communication"},{"id":"doi:10.48550/arxiv.2303.06542","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2303.06542","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2303.06542","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2303.06542","pdf_url":"https://arxiv.org/pdf/2303.06542","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2614460161","display_name":null,"funder_award_id":"-2022","funder_id":"https://openalex.org/F4320334593","funder_display_name":"Natural Sciences and Engineering Research Council of Canada"}],"funders":[{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4324319299.pdf","grobid_xml":"https://content.openalex.org/works/W4324319299.grobid-xml"},"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2257095280","https://openalex.org/W2074585893","https://openalex.org/W2067745193","https://openalex.org/W2100767936","https://openalex.org/W2566445787","https://openalex.org/W1978189035","https://openalex.org/W2092680635","https://openalex.org/W2160589835","https://openalex.org/W2007987780","https://openalex.org/W113585334"],"abstract_inverted_index":{"Combining":[0],"3D":[1,24,67,79,157,169],"vision":[2,75],"with":[3,66,121,127],"tactile":[4,64,93,154,180],"sensing":[5,65],"could":[6],"unlock":[7],"a":[8,22,58,78,109,117,122,128,168,172],"greater":[9],"level":[10,129],"of":[11,26,81,116,125,130,171,187],"dexterity":[12],"for":[13,152,185],"robots":[14],"and":[15,86,148,156,177],"improve":[16],"several":[17],"manipulation":[18,30],"tasks.":[19],"However,":[20],"obtaining":[21],"close-up":[23],"view":[25,170],"the":[27,48,82,92,138,145,163,179,188],"location":[28],"where":[29],"contacts":[31],"occur":[32],"can":[33,133,166],"be":[34,134],"challenging,":[35],"particularly":[36],"in":[37,108],"confined":[38],"spaces,":[39],"cluttered":[40],"environments,":[41],"or":[42],"without":[43],"installing":[44],"more":[45],"sensors":[46],"on":[47,73],"end":[49],"effector.":[50],"In":[51],"this":[52,54,102],"context,":[53],"paper":[55],"presents":[56],"StereoTac,":[57],"novel":[59],"vision-based":[60],"sensor":[61,71,165],"that":[62,132,162],"combines":[63],"vision.":[68,158],"The":[69],"proposed":[70,164],"relies":[72],"stereoscopic":[74],"to":[76,90],"capture":[77],"representation":[80],"environment":[83],"before":[84,175],"contact":[85,189],"uses":[87],"photometric":[88],"stereo":[89],"reconstruct":[91,167],"imprint":[94,181],"generated":[95],"by":[96,136],"an":[97],"object":[98],"during":[99,190],"contact.":[100],"To":[101],"end,":[103],"two":[104],"cameras":[105],"were":[106],"integrated":[107],"single":[110],"sensor,":[111],"whose":[112],"interface":[113],"is":[114],"made":[115],"transparent":[118],"elastomer":[119],"coated":[120],"thin":[123],"layer":[124],"paint":[126],"transparency":[131],"adjusted":[135],"varying":[137],"sensor's":[139,146],"internal":[140],"lighting":[141],"conditions.":[142],"We":[143],"describe":[144],"fabrication":[147],"evaluate":[149],"its":[150],"performance":[151],"both":[153],"perception":[155],"Our":[159],"results":[160],"show":[161],"scene":[173],"just":[174],"grasping":[176],"perceive":[178],"after":[182],"grasping,":[183],"allowing":[184],"monitoring":[186],"manipulation.":[191]},"counts_by_year":[],"updated_date":"2026-08-26T07:47:46.906454","created_date":"2025-10-10T00:00:00"}
