{"id":"https://openalex.org/W3135527080","doi":"https://doi.org/10.1080/01691864.2021.1897674","title":"Robust grasp detection with incomplete point cloud and complex background","display_name":"Robust grasp detection with incomplete point cloud and complex background","publication_year":2021,"publication_date":"2021-03-10","ids":{"openalex":"https://openalex.org/W3135527080","doi":"https://doi.org/10.1080/01691864.2021.1897674","mag":"3135527080"},"language":"en","primary_location":{"id":"doi:10.1080/01691864.2021.1897674","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2021.1897674","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"},"type":"article","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/A5060711710","display_name":"Xixun Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Xixun Wang","raw_affiliation_strings":["Department of Mechanical Engineering and Science, Kyoto University, Kyoto, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Science, Kyoto University, Kyoto, Japan","institution_ids":["https://openalex.org/I22299242"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000550676","display_name":"Sajid Nisar","orcid":"https://orcid.org/0000-0003-0382-8367"},"institutions":[{"id":"https://openalex.org/I78928947","display_name":"Kyoto University of Advanced Science","ror":"https://ror.org/00qa6r925","country_code":"JP","type":"education","lineage":["https://openalex.org/I78928947"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Sajid Nisar","raw_affiliation_strings":["Department of Mechanical and Electrical Systems Engineering, Kyoto University of Advanced Science, Kyoto, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Electrical Systems Engineering, Kyoto University of Advanced Science, Kyoto, Japan","institution_ids":["https://openalex.org/I78928947"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015434555","display_name":"Fumitoshi Matsuno","orcid":"https://orcid.org/0000-0001-9685-3267"},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Fumitoshi Matsuno","raw_affiliation_strings":["Department of Mechanical Engineering and Science, Kyoto University, Kyoto, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Science, Kyoto University, Kyoto, Japan","institution_ids":["https://openalex.org/I22299242"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5060711710"],"corresponding_institution_ids":["https://openalex.org/I22299242"],"apc_list":null,"apc_paid":null,"fwci":0.2747,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.51570869,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":"35","issue":"10","first_page":"619","last_page":"634"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9890000224113464,"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"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9883000254631042,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.9566012024879456},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.8047822713851929},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.6382561326026917},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6324543952941895},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5866097807884216},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5509665012359619},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.542419970035553},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5221027135848999},{"id":"https://openalex.org/keywords/table","display_name":"Table (database)","score":0.45307067036628723},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.4403689205646515},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4179805517196655},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.228811115026474},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13889795541763306},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.0725182294845581}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9566012024879456},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.8047822713851929},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.6382561326026917},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6324543952941895},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5866097807884216},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5509665012359619},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.542419970035553},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5221027135848999},{"id":"https://openalex.org/C45235069","wikidata":"https://www.wikidata.org/wiki/Q278425","display_name":"Table (database)","level":2,"score":0.45307067036628723},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.4403689205646515},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4179805517196655},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.228811115026474},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13889795541763306},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0725182294845581},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1080/01691864.2021.1897674","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2021.1897674","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W46565623","https://openalex.org/W1532701078","https://openalex.org/W1855641990","https://openalex.org/W1990510172","https://openalex.org/W2049410986","https://openalex.org/W2068127265","https://openalex.org/W2112725185","https://openalex.org/W2112796928","https://openalex.org/W2133844819","https://openalex.org/W2155893237","https://openalex.org/W2560419594","https://openalex.org/W2588205874","https://openalex.org/W2590453059","https://openalex.org/W2789805345","https://openalex.org/W2889969363","https://openalex.org/W2953669419","https://openalex.org/W2962737955","https://openalex.org/W2962837436","https://openalex.org/W2963326767","https://openalex.org/W2964249569","https://openalex.org/W2967068439","https://openalex.org/W2986303149","https://openalex.org/W3000575545","https://openalex.org/W3003266338","https://openalex.org/W3102256368"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W165915117","https://openalex.org/W2326995835","https://openalex.org/W2743859443","https://openalex.org/W2059402478","https://openalex.org/W2123347777","https://openalex.org/W4387804363","https://openalex.org/W2477150073","https://openalex.org/W2019547100","https://openalex.org/W4387947522"],"abstract_inverted_index":{"Point":[0],"cloud":[1,27,34,81,178,198],"information":[2,35,87],"is":[3,36,41,113,125,158,200],"a":[4,51,70,116,129,135,164,171,175],"convenient":[5],"means":[6],"to":[7,94],"accomplish":[8],"grasp":[9,21,53,97,104,167],"detection":[10,22,54],"in":[11],"autonomous":[12,192],"robotic":[13],"grasping.":[14],"However,":[15],"the":[16,31,39,79,89,110,122,155,184,189],"performance":[17,190],"of":[18,88,121,191],"various":[19],"state-of-the-art":[20,172],"methods":[23],"that":[24,56,92,154,183],"use":[25],"point":[26,33,63,80,177,197],"decreases":[28],"significantly":[29,187],"when":[30],"available":[32],"incomplete":[37,62,196],"and":[38,65,82,85,100,109,147,162,199],"background":[40,141],"complex,":[42],"i.e.":[43],"heterogeneous.":[44],"To":[45],"solve":[46],"this":[47],"problem,":[48],"we":[49],"propose":[50],"robust":[52,201],"method":[55,124,157,173,186],"demonstrates":[57],"higher":[58,166],"performance,":[59],"especially":[60],"with":[61,134,138,195],"clouds":[64],"complex":[66],"backgrounds.":[67,204],"We":[68],"introduce":[69],"novel":[71],"technique":[72],"named":[73],"\u2018visible":[74],"point-cloud\u2019":[75],"\u2013":[76,91],"generated":[77],"using":[78,115,128],"pose":[83],"(position":[84],"orientation)":[86],"sensor(s)":[90],"helps":[93],"eliminate":[95],"unsafe":[96],"candidates":[98,105],"quickly":[99],"efficiently.":[101],"The":[102,119,151,180],"remaining":[103],"are":[106],"then":[107],"classified":[108],"best":[111],"candidate":[112],"determined":[114],"cost":[117],"function.":[118],"effectiveness":[120],"proposed":[123,156,185],"shown":[126],"experimentally":[127],"6-DoF":[130],"robot":[131],"arm":[132],"equipped":[133],"two-finger":[136],"gripper":[137],"three":[139],"different":[140,203],"settings:":[142],"(a)":[143],"steps,":[144],"(b)":[145],"pillars,":[146],"(c)":[148],"table":[149],"top.":[150],"results":[152,181],"show":[153],"1.20":[159],"times":[160],"faster":[161],"has":[163],"20%":[165],"success":[168],"rate":[169],"than":[170],"for":[174,202],"single":[176],"camera.":[179],"demonstrate":[182],"improves":[188],"grasping":[193],"even":[194]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
