{"id":"https://openalex.org/W4407467360","doi":"https://doi.org/10.1109/cac63892.2024.10865202","title":"Object Recognition and Grasp Detection in Complex Scenarios for Home Service Robot","display_name":"Object Recognition and Grasp Detection in Complex Scenarios for Home Service Robot","publication_year":2024,"publication_date":"2024-11-01","ids":{"openalex":"https://openalex.org/W4407467360","doi":"https://doi.org/10.1109/cac63892.2024.10865202"},"language":"en","primary_location":{"id":"doi:10.1109/cac63892.2024.10865202","doi":"https://doi.org/10.1109/cac63892.2024.10865202","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cac63892.2024.10865202","pdf_url":null,"source":{"id":"https://openalex.org/S4363604230","display_name":"China Automation Congress (CAC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 China Automation Congress (CAC)","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","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/A5041286121","display_name":"Shengjun Xu","orcid":"https://orcid.org/0000-0003-2338-453X","observed_orcids":["https://orcid.org/0000-0003-2338-453X"]},"institutions":[{"id":"https://openalex.org/I148099405","display_name":"Xi'an University of Architecture and Technology","ror":"https://ror.org/04v2j2k71","country_code":"CN","type":"education","lineage":["https://openalex.org/I148099405"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shengjun Xu","raw_affiliation_strings":["School of Information and Control Engineering, Xi&#x0027;an University of Architecture and Technology,Xi&#x0027;an,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information and Control Engineering, Xi&#x0027;an University of Architecture and Technology,Xi&#x0027;an,China","institution_ids":["https://openalex.org/I148099405"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109358093","display_name":"Liang Bai","orcid":"https://orcid.org/0000-0003-3583-9888","observed_orcids":["https://orcid.org/0000-0003-3583-9888"]},"institutions":[{"id":"https://openalex.org/I148099405","display_name":"Xi'an University of Architecture and Technology","ror":"https://ror.org/04v2j2k71","country_code":"CN","type":"education","lineage":["https://openalex.org/I148099405"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liang Bai","raw_affiliation_strings":["School of Information and Control Engineering, Xi&#x0027;an University of Architecture and Technology,Xi&#x0027;an,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information and Control Engineering, Xi&#x0027;an University of Architecture and Technology,Xi&#x0027;an,China","institution_ids":["https://openalex.org/I148099405"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108408945","display_name":"Huangwei Zhong","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huangwei Zhong","raw_affiliation_strings":["School of Automation Science and Engineering, Faculty of Electronic and Information Engineering, Xi&#x0027;an Jiaotong University,Xi&#x0027;an,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation Science and Engineering, Faculty of Electronic and Information Engineering, Xi&#x0027;an Jiaotong University,Xi&#x0027;an,China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100589973","display_name":"Yuji Hu","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuji Hu","raw_affiliation_strings":["School of Automation Science and Engineering, Faculty of Electronic and Information Engineering, Xi&#x0027;an Jiaotong University,Xi&#x0027;an,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation Science and Engineering, Faculty of Electronic and Information Engineering, Xi&#x0027;an Jiaotong University,Xi&#x0027;an,China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Xiangcai Sun","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I148099405","display_name":"Xi'an University of Architecture and Technology","ror":"https://ror.org/04v2j2k71","country_code":"CN","type":"education","lineage":["https://openalex.org/I148099405"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiangcai Sun","raw_affiliation_strings":["School of Information and Control Engineering, Xi&#x0027;an University of Architecture and Technology,Xi&#x0027;an,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information and Control Engineering, Xi&#x0027;an University of Architecture and Technology,Xi&#x0027;an,China","institution_ids":["https://openalex.org/I148099405"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112907192","display_name":"Hongqiang Lyu","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongqiang Lyu","raw_affiliation_strings":["School of Automation Science and Engineering, Faculty of Electronic and Information Engineering, Xi&#x0027;an Jiaotong University,Xi&#x0027;an,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation Science and Engineering, Faculty of Electronic and Information Engineering, Xi&#x0027;an Jiaotong University,Xi&#x0027;an,China","institution_ids":["https://openalex.org/I87445476"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"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":0.41010058,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1372","last_page":"1377"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9990000128746033,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9990000128746033,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.0003000000142492354,"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/T13382","display_name":"Robotics and Automated Systems","score":9.999999747378752e-05,"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/domestic-service-robots","display_name":"home service robots","score":0.9409999847412109},{"id":"https://openalex.org/keywords/object-recognition","display_name":"object recognition","score":0.9589999914169312},{"id":"https://openalex.org/keywords/grasp-detection","display_name":"grasp detection","score":0.9700000286102295},{"id":"https://openalex.org/keywords/rgb-d-point-clouds","display_name":"RGB-D point clouds","score":0.722000002861023},{"id":"https://openalex.org/keywords/depth-completion","display_name":"depth completion","score":0.9129999876022339},{"id":"https://openalex.org/keywords/yolov8","display_name":"YOLOv8","score":0.8999999761581421},{"id":"https://openalex.org/keywords/human-robot-interaction","display_name":"human-robot interaction","score":0.7950000166893005}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8424930572509766},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7342687845230103},{"id":"https://openalex.org/C2776228582","wikidata":"https://www.wikidata.org/wiki/Q7455797","display_name":"Service robot","level":3,"score":0.6962500214576721},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.560703456401825},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5509443283081055},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5445639491081238},{"id":"https://openalex.org/C64876066","wikidata":"https://www.wikidata.org/wiki/Q5141226","display_name":"Cognitive neuroscience of visual object recognition","level":3,"score":0.5097677111625671},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4978165626525879},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.4481913447380066},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.44218623638153076},{"id":"https://openalex.org/C2780378061","wikidata":"https://www.wikidata.org/wiki/Q25351891","display_name":"Service (business)","level":2,"score":0.4223785400390625},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.15600892901420593},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.06572696566581726},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C136264566","wikidata":"https://www.wikidata.org/wiki/Q159810","display_name":"Economy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cac63892.2024.10865202","doi":"https://doi.org/10.1109/cac63892.2024.10865202","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cac63892.2024.10865202","pdf_url":null,"source":{"id":"https://openalex.org/S4363604230","display_name":"China Automation Congress (CAC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 China Automation Congress (CAC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"sustainable_development_goals_aurora":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W2085261163","https://openalex.org/W2094801294","https://openalex.org/W2109255472","https://openalex.org/W2565639579","https://openalex.org/W2889985731","https://openalex.org/W2945413402","https://openalex.org/W2962834855","https://openalex.org/W2963857746","https://openalex.org/W3035198432","https://openalex.org/W3190335749","https://openalex.org/W4386076325","https://openalex.org/W6777046832"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W2743859443","https://openalex.org/W2326995835","https://openalex.org/W2025208083","https://openalex.org/W2109596994","https://openalex.org/W4323870231","https://openalex.org/W2994284679","https://openalex.org/W2117145672","https://openalex.org/W2041565334","https://openalex.org/W2664962245"],"abstract_inverted_index":{"With":[0],"the":[1,19,29,96,103,122,134,149,163,172,181,188,208,218,227],"development":[2],"of":[3,18,22,31,72,95,124],"artificial":[4],"intelligence,":[5],"home":[6,48,64,194],"service":[7,23,65,168,195],"robots":[8,38,66],"have":[9],"been":[10],"widely":[11],"applied":[12],"in":[13,42,46,60],"daily":[14,202],"life.":[15],"As":[16],"one":[17],"fundamental":[20],"functions":[21],"robots,":[24],"object":[25,54,112,116,212],"grasping":[26,165,184,223,232],"helps":[27],"improve":[28],"level":[30],"unmanned":[32],"and":[33,44,56,83,92,99,118,137,145,226],"intelligent":[34],"household.":[35],"However,":[36],"traditional":[37],"still":[39],"face":[40],"challenges":[41],"flexibility":[43],"accuracy":[45,210],"complex":[47,61],"environments.":[49],"In":[50],"this":[51],"paper,":[52],"an":[53,190],"recognition":[55,113,213],"grasp":[57,200],"detection":[58],"system":[59,70],"scenarios":[62],"for":[63,167,193,211,221,230],"is":[67,130,153,176,197,224],"proposed.":[68],"The":[69,86,105,126,204],"consists":[71],"four":[73],"modules:":[74],"image":[75,81,87,107],"acquisition,":[76],"human-machine":[77],"interaction":[78],"software,":[79],"RGB-D":[80,106],"processing,":[82],"robot":[84,173,196],"control.":[85],"acquisition":[88],"module":[89,109,175],"captures":[90],"RGB":[91],"depth":[93,139,143],"images":[94],"work":[97],"area":[98],"sends":[100],"them":[101],"to":[102,114,161,178,199,216],"software.":[104],"processing":[108],"begins":[110],"with":[111,121],"obtain":[115],"categories":[117],"bounding":[119],"box":[120],"help":[123],"YOLOv8.":[125],"target":[127,135,183],"point":[128,151],"cloud":[129,152],"produced":[131],"by":[132,142],"combining":[133],"subimage":[136],"corresponding":[138,182],"information,":[140],"followed":[141],"completion":[144],"plane":[146],"expansion.":[147],"Then":[148],"processed":[150],"fed":[154],"into":[155],"a":[156],"Graspnet":[157],"pose":[158,166],"estimation":[159],"network":[160],"calculate":[162],"6D":[164],"robot.":[169],"And":[170],"finally,":[171],"control":[174],"invoked":[177],"carry":[179],"out":[180],"action.":[185],"To":[186],"evaluate":[187],"performance,":[189],"experimental":[191],"platform":[192],"built":[198],"various":[201],"necessities.":[203],"results":[205],"tell":[206],"that":[207],"average":[209],"reaches":[214],"up":[215],"98.3%,":[217],"success":[219,228],"rate":[220,229],"single-target":[222],"94.4%,":[225],"multi-target":[231],"can":[233],"achieve":[234],"80%.":[235]},"counts_by_year":[],"updated_date":"2026-10-14T16:39:01.820549","created_date":"2025-10-10T00:00:00"}
