{"id":"https://openalex.org/W4409890702","doi":"https://doi.org/10.1080/01691864.2025.2468198","title":"Autonomous manipulator for depalletizing mixedly piled products of various kinds via object recognition including deep-learning-based boundary detection","display_name":"Autonomous manipulator for depalletizing mixedly piled products of various kinds via object recognition including deep-learning-based boundary detection","publication_year":2025,"publication_date":"2025-04-18","ids":{"openalex":"https://openalex.org/W4409890702","doi":"https://doi.org/10.1080/01691864.2025.2468198"},"language":"en","primary_location":{"id":"doi:10.1080/01691864.2025.2468198","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2025.2468198","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/A5109357468","display_name":"Nobutaka Kimura","orcid":null},"institutions":[{"id":"https://openalex.org/I65143321","display_name":"Hitachi (Japan)","ror":"https://ror.org/02exqgm79","country_code":"JP","type":"company","lineage":["https://openalex.org/I65143321"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Nobutaka Kimura","raw_affiliation_strings":["Research & Development Division, Hitachi America, Ltd"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research & Development Division, Hitachi America, Ltd","institution_ids":["https://openalex.org/I65143321"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100679578","display_name":"Jie Hu","orcid":"https://orcid.org/0000-0003-3296-5459"},"institutions":[{"id":"https://openalex.org/I65143321","display_name":"Hitachi (Japan)","ror":"https://ror.org/02exqgm79","country_code":"JP","type":"company","lineage":["https://openalex.org/I65143321"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Jie Hu","raw_affiliation_strings":["Research & Development Division, Hitachi America, Ltd"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research & Development Division, Hitachi America, Ltd","institution_ids":["https://openalex.org/I65143321"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087085277","display_name":"Taiki Yano","orcid":null},"institutions":[{"id":"https://openalex.org/I65143321","display_name":"Hitachi (Japan)","ror":"https://ror.org/02exqgm79","country_code":"JP","type":"company","lineage":["https://openalex.org/I65143321"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Taiki Yano","raw_affiliation_strings":["Research & Development Group, Hitachi, Ltd"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research & Development Group, Hitachi, Ltd","institution_ids":["https://openalex.org/I65143321"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065853839","display_name":"Kento Sekiya","orcid":null},"institutions":[{"id":"https://openalex.org/I65143321","display_name":"Hitachi (Japan)","ror":"https://ror.org/02exqgm79","country_code":"JP","type":"company","lineage":["https://openalex.org/I65143321"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kento Sekiya","raw_affiliation_strings":["Research & Development Group, Hitachi, Ltd"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research & Development Group, Hitachi, Ltd","institution_ids":["https://openalex.org/I65143321"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054839416","display_name":"Kiyoto Ito","orcid":"https://orcid.org/0000-0002-2243-5756"},"institutions":[{"id":"https://openalex.org/I65143321","display_name":"Hitachi (Japan)","ror":"https://ror.org/02exqgm79","country_code":"JP","type":"company","lineage":["https://openalex.org/I65143321"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kiyoto Ito","raw_affiliation_strings":["Research & Development Group, Hitachi, Ltd"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research & Development Group, Hitachi, Ltd","institution_ids":["https://openalex.org/I65143321"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5109357468"],"corresponding_institution_ids":["https://openalex.org/I65143321"],"apc_list":null,"apc_paid":null,"fwci":0.9105,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.73384972,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":"39","issue":"8","first_page":"383","last_page":"402"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T14339","display_name":"Image Processing and 3D Reconstruction","score":0.9973000288009644,"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"}},"topics":[{"id":"https://openalex.org/T14339","display_name":"Image Processing and 3D Reconstruction","score":0.9973000288009644,"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/T12111","display_name":"Industrial Vision Systems and Defect Detection","score":0.9882000088691711,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T12549","display_name":"Image and Object Detection Techniques","score":0.984499990940094,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6843361258506775},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.6357744932174683},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5929948687553406},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5802881717681885},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5358693599700928},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.5197760462760925},{"id":"https://openalex.org/keywords/cognitive-neuroscience-of-visual-object-recognition","display_name":"Cognitive neuroscience of visual object recognition","score":0.4375303387641907},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.41488009691238403},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.4117974638938904},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3998478055000305},{"id":"https://openalex.org/keywords/engineering-drawing","display_name":"Engineering drawing","score":0.3480781614780426},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2946360111236572},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15356886386871338}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6843361258506775},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.6357744932174683},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5929948687553406},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5802881717681885},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5358693599700928},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.5197760462760925},{"id":"https://openalex.org/C64876066","wikidata":"https://www.wikidata.org/wiki/Q5141226","display_name":"Cognitive neuroscience of visual object recognition","level":3,"score":0.4375303387641907},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.41488009691238403},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.4117974638938904},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3998478055000305},{"id":"https://openalex.org/C199639397","wikidata":"https://www.wikidata.org/wiki/Q1788588","display_name":"Engineering drawing","level":1,"score":0.3480781614780426},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2946360111236572},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15356886386871338},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1080/01691864.2025.2468198","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2025.2468198","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":[{"id":"https://metadata.un.org/sdg/10","score":0.6100000143051147,"display_name":"Reduced inequalities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1565402342","https://openalex.org/W1964262869","https://openalex.org/W2085261163","https://openalex.org/W2133059825","https://openalex.org/W2151103935","https://openalex.org/W2560622558","https://openalex.org/W2650354119","https://openalex.org/W2962746398","https://openalex.org/W2962793481","https://openalex.org/W2963150697","https://openalex.org/W2993476843","https://openalex.org/W3046953966","https://openalex.org/W3101196391","https://openalex.org/W3176793950","https://openalex.org/W3210958112","https://openalex.org/W4309118862","https://openalex.org/W4312634043","https://openalex.org/W4312686090","https://openalex.org/W4321793403","https://openalex.org/W4323240385","https://openalex.org/W4385801541","https://openalex.org/W4390874575","https://openalex.org/W4403675332"],"related_works":["https://openalex.org/W2391397427","https://openalex.org/W1996341361","https://openalex.org/W4366609476","https://openalex.org/W2078127841","https://openalex.org/W2156518980","https://openalex.org/W4403420403","https://openalex.org/W2093621301","https://openalex.org/W849053048","https://openalex.org/W4409642668","https://openalex.org/W2517515794"],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"a":[3,44,97,150],"prototype":[4,140],"autonomous":[5],"manipulator":[6,141],"for":[7],"depalletizing":[8],"mixedly":[9],"piled":[10],"products":[11],"of":[12,51,58,67,121,131,153],"various":[13,103],"kinds":[14],"in":[15,72,116],"logistics":[16],"centers":[17],"that":[18,82,100,130],"directly":[19],"acts":[20],"upon":[21],"not":[22],"only":[23],"cardboard":[24],"boxes":[25],"but":[26],"also":[27,95],"wrapped":[28],"objects":[29,52,57,71,104,112],"such":[30],"as":[31],"plastic":[32],"packages":[33],"and":[34,53,76,87,106],"bottle":[35],"blocks.":[36],"For":[37],"this,":[38],"we":[39,63],"need":[40],"object":[41,79],"recognition":[42,80],"with":[43,149],"high":[45],"success":[46,119,151],"rate":[47,120,152],"on":[48,54],"different":[49,147],"types":[50],"tightly":[55],"arranged":[56,115],"the":[59,65,118,132],"same":[60],"kind.":[61],"Therefore,":[62],"considered":[64],"problem":[66],"determining":[68],"boundaries":[69],"between":[70],"rule-based":[73,90,134],"image":[74,91],"processing":[75,92],"designed":[77,96],"an":[78],"algorithm":[81,123],"combines":[83],"deep-learning-based":[84],"boundary":[85],"detection":[86],"other":[88],"elemental":[89],"functions.":[93],"We":[94],"robot":[98],"gripper":[99],"can":[101],"handle":[102],"safely":[105],"stably.":[107],"In":[108],"our":[109,122,137,139],"test,":[110],"where":[111],"were":[113],"closely":[114],"pairs,":[117],"was":[124],"24.9":[125],"percentage":[126],"points":[127],"higher":[128],"than":[129],"purely":[133],"technology.":[135],"Using":[136],"algorithm,":[138],"depalletized":[142],"48":[143],"products,":[144],"including":[145],"24":[146],"kinds,":[148],"97.5%.":[154]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-06-14T06:11:07.267592","created_date":"2025-10-10T00:00:00"}
