{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,20]],"date-time":"2026-04-20T12:52:16Z","timestamp":1776689536012,"version":"3.51.2"},"publisher-location":"New York, NY, USA","reference-count":38,"publisher":"ACM","license":[{"start":{"date-parts":[[2024,3,11]],"date-time":"2024-03-11T00:00:00Z","timestamp":1710115200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"funder":[{"name":"SNSF","award":["project No.188596."],"award-info":[{"award-number":["project No.188596."]}]},{"name":"National Centre of Competence in Research (NCCR) Digital Fabrication"}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":[],"published-print":{"date-parts":[[2024,3,11]]},"DOI":"10.1145\/3610977.3634958","type":"proceedings-article","created":{"date-parts":[[2024,3,10]],"date-time":"2024-03-10T00:19:00Z","timestamp":1710029940000},"page":"734-742","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":2,"title":["Fast Perception for Human-Robot Handovers with Legged Manipulators"],"prefix":"10.1145","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3775-700X","authenticated-orcid":false,"given":"Andreea","family":"Tulbure","sequence":"first","affiliation":[{"name":"Robotic Systems Lab, ETH Zurich, Zurich, Switzerland"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1600-6330","authenticated-orcid":false,"given":"Firas","family":"Abi-Farraj","sequence":"additional","affiliation":[{"name":"Robotic Systems Lab, ETH Zurich, Zurich, Switzerland"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4285-4990","authenticated-orcid":false,"given":"Marco","family":"Hutter","sequence":"additional","affiliation":[{"name":"Robotic Systems Lab, ETH Zurich, Zurich, Switzerland"}]}],"member":"320","published-online":{"date-parts":[[2024,3,11]]},"reference":[{"key":"e_1_3_2_2_1_1","unstructured":"[n. d.]. Jetson Xavier AGX. https:\/\/developer.nvidia.com\/embedded\/jetson-agxxavier. Accessed: 2023-06--26."},{"key":"e_1_3_2_2_2_1","volume-title":"2017 IEEE Power & Energy Society General Meeting. 1--5.","author":"Akhlaghi Shahrokh","unstructured":"Shahrokh Akhlaghi, Ning Zhou, and Zhenyu Huang. [n. d.]. Adaptive adjustment of noise covariance in Kalman filter for dynamic state estimation. In 2017 IEEE Power & Energy Society General Meeting. 1--5."},{"key":"e_1_3_2_2_3_1","volume-title":"2012 IEEE RO-MAN: The 21st IEEE International Symposium on Robot and Human Interactive Communication. 771--776","author":"Aleotti Jacopo","unstructured":"Jacopo Aleotti, Vincenzo Micelli, and Stefano Caselli. [n. d.]. Comfortable robot to human object hand-over. In 2012 IEEE RO-MAN: The 21st IEEE International Symposium on Robot and Human Interactive Communication. 771--776."},{"key":"e_1_3_2_2_4_1","volume-title":"Efficient adaptive non-maximal suppression algorithms for homogeneous spatial keypoint distribution. Pattern Recognition Letters","author":"Bailo Oleksandr","year":"2018","unstructured":"Oleksandr Bailo, Fran\u00e7ois Rameau, Kyungdon Joo, Jinsun Park, Oleksandr Bogdan, and Inso Kweon. 2018. Efficient adaptive non-maximal suppression algorithms for homogeneous spatial keypoint distribution. Pattern Recognition Letters (2018)."},{"key":"e_1_3_2_2_5_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.actaastro.2014.05.023"},{"key":"e_1_3_2_2_6_1","unstructured":"J.-Y. Bouguet. 1999. Pyramidal implementation of the lucas kanade feature tracker."},{"key":"e_1_3_2_2_7_1","unstructured":"Z. Cao G. Hidalgo Martinez T. Simon S. Wei and Y. A. Sheikh. 2019. OpenPose: Realtime Multi-Person 2D Pose Estimation using Part Affinity Fields. IEEE Transactions on Pattern Analysis and Machine Intelligence (2019)."},{"key":"e_1_3_2_2_8_1","volume-title":"2022 IEEE International Conference on Robotics and Automation (ICRA).","author":"Chang Po-Kai","unstructured":"Po-Kai Chang, Jui-Te Huang, Yu-Yen Huang, and Hsueh-Cheng Wang. [n. d.]. Learning End-to-End 6DoF Grasp Choice of Human-to-Robot Handover using Affordance Prediction and Deep Reinforcement Learning. In 2022 IEEE International Conference on Robotics and Automation (ICRA)."},{"key":"e_1_3_2_2_9_1","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52729.2023.00931"},{"key":"e_1_3_2_2_10_1","doi-asserted-by":"publisher","DOI":"10.3389\/frobt.2021.672995"},{"key":"e_1_3_2_2_11_1","volume-title":"Learning Human-to-Robot Dexterous Handovers for Anthropomorphic Hand","author":"Duan Haonan","year":"2022","unstructured":"Haonan Duan, Peng Wang, Yiming Li, Daheng Li, and Wei Wei. 2022. Learning Human-to-Robot Dexterous Handovers for Anthropomorphic Hand. IEEE Transactions on Cognitive and Developmental Systems (2022), 1--1. https:\/\/doi.org\/10. 1109\/TCDS.2022.3203025"},{"key":"e_1_3_2_2_12_1","volume-title":"2018 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS). 6835--6842","author":"Furrer F.","unstructured":"F. Furrer, T. Novkovic, M. Fehr, A. Gawel, M. Grinvald, T. Sattler, R. Siegwart, and J. Nieto. [n. d.]. Incremental Object Database: Building 3D Models from Multiple Partial Observations. In 2018 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS). 6835--6842."},{"key":"e_1_3_2_2_13_1","doi-asserted-by":"publisher","DOI":"10.1109\/7.913685"},{"key":"e_1_3_2_2_14_1","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2019.2957464"},{"key":"e_1_3_2_2_15_1","volume-title":"RO-MAN 2008 - The 17th IEEE International Symposium on Robot and Human Interactive Communication. 107--112","author":"Huber Markus","unstructured":"Markus Huber, Markus Rickert, Alois Knoll, Thomas Brandt, and Stefan Glasauer. [n. d.]. Human-robot interaction in handing-over tasks. In RO-MAN 2008 - The 17th IEEE International Symposium on Robot and Human Interactive Communication. 107--112."},{"key":"e_1_3_2_2_16_1","doi-asserted-by":"publisher","DOI":"10.1037\/h0034147"},{"key":"e_1_3_2_2_17_1","volume-title":"Third International Symposium on New Frontiers in Human-Robot Interaction.","author":"Koene Ansgar","year":"2014","unstructured":"Ansgar Koene, Anthony Remazeilles, Miguel Prada, Ainara Garzo, Mildred Puerto, Satoshi Endo, and AlanMWing. 2014. Relative importance of spatial and temporal precision for user satisfaction in human-robot object handover interactions. In Third International Symposium on New Frontiers in Human-Robot Interaction."},{"key":"e_1_3_2_2_18_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-64107-2_35"},{"key":"e_1_3_2_2_19_1","volume-title":"Proceedings of the 37th IEEE Conference on Decision and Control","volume":"4","author":"Larsen T.D.","unstructured":"T.D. Larsen, N.A. Andersen, O. Ravn, and N.K. Poulsen. 1998. Incorporation of time delayed measurements in a discrete-time Kalman filter. In Proceedings of the 37th IEEE Conference on Decision and Control, Vol. 4. 3972--3977 vol.4."},{"key":"e_1_3_2_2_20_1","volume-title":"SiamRPN: Evolution of Siamese Visual Tracking with Very Deep Networks. CoRR abs\/1812.11703","author":"Li Bo","year":"2018","unstructured":"Bo Li, Wei Wu, Qiang Wang, Fangyi Zhang, Junliang Xing, and Junjie Yan. 2018. SiamRPN: Evolution of Siamese Visual Tracking with Very Deep Networks. CoRR abs\/1812.11703 (2018)."},{"key":"e_1_3_2_2_21_1","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-018-9799-1"},{"key":"e_1_3_2_2_22_1","volume-title":"Learning robust perceptive locomotion for quadrupedal robots in the wild. Science Robotics 7, 62","author":"Miki Takahiro","year":"2022","unstructured":"Takahiro Miki, Joonho Lee, Jemin Hwangbo, Lorenz Wellhausen, Vladlen Koltun, and Marco Hutter. 2022. Learning robust perceptive locomotion for quadrupedal robots in the wild. Science Robotics 7, 62 (2022), eabk2822. https:\/\/doi.org\/10. 1126\/scirobotics.abk2822"},{"key":"e_1_3_2_2_23_1","volume-title":"2003 IEEE International Conference on Robotics and Automation","volume":"2","author":"Miller A.T.","year":"1824","unstructured":"A.T. Miller, S. Knoop, H.I. Christensen, and P.K. Allen. [n. d.]. Automatic grasp planning using shape primitives. In 2003 IEEE International Conference on Robotics and Automation, Vol. 2. 1824--1829."},{"key":"e_1_3_2_2_24_1","volume-title":"TrackingNet: A Large-Scale Dataset and Benchmark for Object Tracking in the Wild. CoRR abs\/1803.10794","author":"M\u00fcller Matthias","year":"2018","unstructured":"Matthias M\u00fcller, Adel Bibi, Silvio Giancola, Salman Al-Subaihi, and Bernard Ghanem. 2018. TrackingNet: A Large-Scale Dataset and Benchmark for Object Tracking in the Wild. CoRR abs\/1803.10794 (2018). arXiv:1803.10794"},{"key":"e_1_3_2_2_25_1","volume-title":"Object handovers: a review for robotics","author":"Ortenzi Valerio","year":"2021","unstructured":"Valerio Ortenzi, Akansel Cosgun, Tommaso Pardi, Wesley P Chan, Elizabeth Croft, and Dana Kulic. 2021. Object handovers: a review for robotics. IEEE Transactions on Robotics (2021)."},{"key":"e_1_3_2_2_26_1","volume-title":"2019 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS). 6735--6741","author":"Pan Matthew K.X.J.","unstructured":"Matthew K.X.J. Pan, Espen Knoop, Moritz B\u00e4cher, and G\u00fcnter Niemeyer. [n. d.]. Fast Handovers with a Robot Character: Small Sensorimotor Delays Improve Perceived Qualities. In 2019 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS). 6735--6741."},{"key":"e_1_3_2_2_27_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICPR.2000.903548"},{"key":"e_1_3_2_2_28_1","volume-title":"Object-Independent Human-to-Robot Handovers using Real Time Robotic Vision. CoRR abs\/2006.01797","author":"Rosenberger Patrick","year":"2020","unstructured":"Patrick Rosenberger, Akansel Cosgun, Rhys Newbury, Jun Kwan, Valerio Ortenzi, Peter Corke, and Manfred Grafinger. 2020. Object-Independent Human-to-Robot Handovers using Real Time Robotic Vision. CoRR abs\/2006.01797 (2020)."},{"key":"e_1_3_2_2_29_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2969200"},{"key":"e_1_3_2_2_30_1","volume-title":"Tracking Holistic Object Representations. In British Machine Vision Conference (BMVC).","author":"Sauer Axel","year":"2019","unstructured":"Axel Sauer, Elie Aljalbout, and Sami Haddadin. 2019. Tracking Holistic Object Representations. In British Machine Vision Conference (BMVC)."},{"key":"e_1_3_2_2_31_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3068908"},{"key":"e_1_3_2_2_32_1","volume-title":"Speed of processing in the human visual system. nature 381, 6582","author":"Thorpe Simon","year":"1996","unstructured":"Simon Thorpe, Denis Fize, and Catherine Marlot. 1996. Speed of processing in the human visual system. nature 381, 6582 (1996), 520--522."},{"key":"e_1_3_2_2_33_1","volume-title":"YOLOv7: Trainable bag-of-freebies sets new state-of-the-art for real-time object detectors. arXiv preprint arXiv:2207.02696","author":"Bochkovskiy Alexey","year":"2022","unstructured":"Chien-YaoWang, Alexey Bochkovskiy, and Hong-Yuan Mark Liao. 2022. YOLOv7: Trainable bag-of-freebies sets new state-of-the-art for real-time object detectors. arXiv preprint arXiv:2207.02696 (2022)."},{"key":"e_1_3_2_2_34_1","volume-title":"Learning Spatio-Temporal Transformer for Visual Tracking. In 2021 IEEE\/CVF International Conference on Computer Vision (ICCV). 10428--10437","author":"Yan Bin","year":"2021","unstructured":"Bin Yan, Houwen Peng, Jianlong Fu, DongWang, and Huchuan Lu. 2021. Learning Spatio-Temporal Transformer for Visual Tracking. In 2021 IEEE\/CVF International Conference on Computer Vision (ICCV). 10428--10437."},{"key":"e_1_3_2_2_35_1","volume-title":"2020 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS). 11123--11130","author":"Yang Wei","unstructured":"Wei Yang, Chris Paxton, Maya Cakmak, and Dieter Fox. [n. d.]. Human grasp classification for reactive human-to-robot handovers. In 2020 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS). 11123--11130."},{"key":"e_1_3_2_2_36_1","volume-title":"Reactive Human-to-Robot Handovers of Arbitrary Objects. CoRR abs\/2011.08961","author":"Yang Wei","year":"2020","unstructured":"Wei Yang, Chris Paxton, Arsalan Mousavian, Yu-Wei Chao, Maya Cakmak, and Dieter Fox. 2020. Reactive Human-to-Robot Handovers of Arbitrary Objects. CoRR abs\/2011.08961 (2020)."},{"key":"e_1_3_2_2_37_1","volume-title":"Model Predictive Control for Fluid Human-to-Robot Handovers. In 2022 IEEE International Conference on Robotics and Automation (ICRA). 6956--6962","author":"Yang Wei","unstructured":"Wei Yang, Balakumar Sundaralingam, Chris Paxton, Iretiayo Akinola, Yu-Wei Chao, Maya Cakmak, and Dieter Fox. [n. d.]. Model Predictive Control for Fluid Human-to-Robot Handovers. In 2022 IEEE International Conference on Robotics and Automation (ICRA). 6956--6962."},{"key":"e_1_3_2_2_38_1","doi-asserted-by":"publisher","DOI":"10.1109\/TIP.2016.2520370"}],"event":{"name":"HRI '24: ACM\/IEEE International Conference on Human-Robot Interaction","location":"Boulder CO USA","acronym":"HRI '24","sponsor":["SIGAI ACM Special Interest Group on Artificial Intelligence","SIGCHI ACM Special Interest Group on Computer-Human Interaction"]},"container-title":["Proceedings of the 2024 ACM\/IEEE International Conference on Human-Robot Interaction"],"original-title":[],"link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3610977.3634958","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3610977.3634958","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,8,28]],"date-time":"2025-08-28T16:36:57Z","timestamp":1756399017000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3610977.3634958"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,3,11]]},"references-count":38,"alternative-id":["10.1145\/3610977.3634958","10.1145\/3610977"],"URL":"https:\/\/doi.org\/10.1145\/3610977.3634958","relation":{},"subject":[],"published":{"date-parts":[[2024,3,11]]},"assertion":[{"value":"2024-03-11","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}