{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T10:00:43Z","timestamp":1777716043972,"version":"3.51.4"},"reference-count":46,"publisher":"SAGE Publications","issue":"11","license":[{"start":{"date-parts":[[2011,7,7]],"date-time":"2011-07-07T00:00:00Z","timestamp":1309996800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2011,9]]},"abstract":"<jats:p>Recognizing and manipulating objects is an important task for mobile robots performing useful services in everyday environments. While existing techniques for object recognition related to manipulation provide very good results even for noisy and incomplete data, they are typically trained using data generated in an offline process. As a result, they do not enable a robot to acquire new object models as it operates in an environment. In this paper we develop an approach to building 3D models of unknown objects based on a depth camera observing the robot\u2019s hand while moving an object. The approach integrates both shape and appearance information into an articulated Iterative Closest Point approach to track the robot\u2019s manipulator and the object. Objects are modeled by sets of surfels, which are small patches providing occlusion and appearance information. Experiments show that our approach provides very good 3D models even when the object is highly symmetric and lacks visual features and the manipulator motion is noisy. Autonomous object modeling represents a step toward improved semantic understanding, which will eventually enable robots to reason about their environments in terms of objects and their relations rather than through raw sensor data.<\/jats:p>","DOI":"10.1177\/0278364911403178","type":"journal-article","created":{"date-parts":[[2011,7,8]],"date-time":"2011-07-08T10:04:58Z","timestamp":1310119498000},"page":"1311-1327","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":123,"title":["Manipulator and object tracking for in-hand 3D object modeling"],"prefix":"10.1177","volume":"30","author":[{"given":"Michael","family":"Krainin","sequence":"first","affiliation":[{"name":"Department of Computer Science & Engineering, University of Washington, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Peter","family":"Henry","sequence":"additional","affiliation":[{"name":"Department of Computer Science & Engineering, University of Washington, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xiaofeng","family":"Ren","sequence":"additional","affiliation":[{"name":"Intel Labs Seattle, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Dieter","family":"Fox","sequence":"additional","affiliation":[{"name":"Department of Computer Science & Engineering, University of Washington, USA"},{"name":"Intel Labs Seattle, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2011,7,7]]},"reference":[{"key":"bibr1-0278364911403178","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2003.1211500"},{"key":"bibr2-0278364911403178","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2010.5509855"},{"key":"bibr3-0278364911403178","doi-asserted-by":"publisher","DOI":"10.1109\/ICHR.2008.4755944"},{"key":"bibr4-0278364911403178","doi-asserted-by":"publisher","DOI":"10.1016\/0262-8856(92)90066-C"},{"key":"bibr5-0278364911403178","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2007.4399227"},{"key":"bibr6-0278364911403178","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2009.5152739"},{"key":"bibr7-0278364911403178","author":"Curless B","year":"1996","journal-title":"ACM Transactions on Graphics (Proceedings of SIGGRAPH)"},{"key":"bibr8-0278364911403178","unstructured":"Diankov R (2010) Automated Construction of Robotic Manipulation Programs. PhD thesis, Robotics Institute, Carnegie Mellon University. http:\/\/www.programmingvision.com\/rosen_diankov_thesis.pdf."},{"key":"bibr9-0278364911403178","doi-asserted-by":"publisher","DOI":"10.1109\/ICIA.2006.306004"},{"key":"bibr10-0278364911403178","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2010.5540141"},{"key":"bibr11-0278364911403178","doi-asserted-by":"publisher","DOI":"10.1177\/0278364909340332"},{"key":"bibr12-0278364911403178","doi-asserted-by":"publisher","DOI":"10.1109\/IM.2001.924430"},{"key":"bibr13-0278364911403178","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2007.4399030"},{"key":"bibr14-0278364911403178","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2007.383195"},{"key":"bibr15-0278364911403178","volume-title":"Proceedings of the International Symposium on Experimental Robotics (ISER)","author":"Henry P","year":"2010"},{"key":"bibr16-0278364911403178","unstructured":"Johnson A (1997) Spin-Images: A Representation for 3-D Surface Matching. PhD thesis, Robotics Institute, Carnegie Mellon University."},{"key":"bibr17-0278364911403178","doi-asserted-by":"publisher","DOI":"10.1109\/IM.1997.603871"},{"key":"bibr18-0278364911403178","doi-asserted-by":"crossref","unstructured":"Kashani A, Owen WS, Himmelman N, Lawrence PD, Hall RA (2010) Laser Scanner-based End-effector Tracking and Joint Variable Extraction for Heavy Machinery. The International Journal of Robotics Research. http:\/\/ijr.sagepub.com\/cgi\/content\/abstract\/0278364909359316v1.","DOI":"10.1177\/0278364909359316"},{"key":"bibr19-0278364911403178","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-03767-2_88"},{"key":"bibr20-0278364911403178","volume-title":"Proceedings of the fourth Eurographics Symposium on Geometry Processing","author":"Kazhdan M","year":"2006"},{"key":"bibr21-0278364911403178","doi-asserted-by":"publisher","DOI":"10.1142\/S021984360800139X"},{"key":"bibr22-0278364911403178","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5980429"},{"key":"bibr23-0278364911403178","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2009.V.022"},{"key":"bibr24-0278364911403178","doi-asserted-by":"publisher","DOI":"10.1007\/11919629_51"},{"key":"bibr25-0278364911403178","author":"Levoy M","year":"2000","journal-title":"ACM Transactions on Graphics (Proceedings of SIGGRAPH)"},{"key":"bibr26-0278364911403178","doi-asserted-by":"crossref","unstructured":"Li WH, Kleeman L (2009) Interactive learning of visually symmetric objects. In: Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS) St Louis, MO, USA. http:\/\/www.waiholi.com\/papers\/li_kleeman_iros09_learn.pdf.","DOI":"10.1109\/IROS.2009.5354616"},{"key":"bibr27-0278364911403178","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2007.383302"},{"key":"bibr28-0278364911403178","first-page":"87","author":"Pai D","year":"2001","journal-title":"ACM Transactions on Graphics (Proceedings of SIGGRAPH)"},{"key":"bibr29-0278364911403178","doi-asserted-by":"publisher","DOI":"10.5244\/C.23.112"},{"key":"bibr30-0278364911403178","doi-asserted-by":"publisher","DOI":"10.5244\/C.22.87"},{"key":"bibr31-0278364911403178","doi-asserted-by":"publisher","DOI":"10.1145\/344779.344936"},{"key":"bibr32-0278364911403178","unstructured":"PrimeSense Home Page. (2010) http:\/\/www.primesense.com\/."},{"key":"bibr33-0278364911403178","author":"Rasolzadeh B","year":"2009","journal-title":"International Journal of Robotics Research (IJRR)"},{"key":"bibr34-0278364911403178","doi-asserted-by":"publisher","DOI":"10.1145\/566654.566600"},{"key":"bibr35-0278364911403178","first-page":"379","author":"Sato Y","year":"1997","journal-title":"ACM Transactions on Graphics (Proceedings of SIGGRAPH)"},{"key":"bibr36-0278364911403178","doi-asserted-by":"publisher","DOI":"10.1177\/0278364907087172"},{"key":"bibr37-0278364911403178","doi-asserted-by":"publisher","DOI":"10.1109\/34.982886"},{"key":"bibr38-0278364911403178","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2009.5354708"},{"key":"bibr39-0278364911403178","doi-asserted-by":"publisher","DOI":"10.1016\/j.jphysparis.2009.08.005"},{"key":"bibr40-0278364911403178","first-page":"189","volume":"12","author":"Sudderth EB","year":"2004","journal-title":"Computer Vision and Pattern Recognition Workshop"},{"key":"bibr41-0278364911403178","doi-asserted-by":"publisher","DOI":"10.1016\/S1474-6670(17)32052-9"},{"key":"bibr42-0278364911403178","doi-asserted-by":"publisher","DOI":"10.1145\/192161.192241"},{"key":"bibr43-0278364911403178","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843608001406"},{"key":"bibr44-0278364911403178","doi-asserted-by":"publisher","DOI":"10.1109\/IM.1997.603853"},{"key":"bibr45-0278364911403178","doi-asserted-by":"publisher","DOI":"10.1109\/ICCVW.2009.5457479"},{"key":"bibr46-0278364911403178","unstructured":"Wu C (2007) SiftGPU: A GPU implementation of scale invariant feature transform (SIFT). http:\/\/cs.unc.edu\/ccwu\/siftgpu."}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364911403178","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364911403178","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:17:11Z","timestamp":1777457831000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0278364911403178"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2011,7,7]]},"references-count":46,"journal-issue":{"issue":"11","published-print":{"date-parts":[[2011,9]]}},"alternative-id":["10.1177\/0278364911403178"],"URL":"https:\/\/doi.org\/10.1177\/0278364911403178","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2011,7,7]]}}}