{"id":"https://openalex.org/W3196481167","doi":"https://doi.org/10.1109/access.2021.3110795","title":"Robotic Waste Sorter with Agile Manipulation and Quickly Trainable Detector","display_name":"Robotic Waste Sorter with Agile Manipulation and Quickly Trainable Detector","publication_year":2021,"publication_date":"2021-04-02","ids":{"openalex":"https://openalex.org/W3196481167","doi":"https://doi.org/10.1109/access.2021.3110795","mag":"3196481167"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2104.01260","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2104.01260","pdf_url":"https://arxiv.org/pdf/2104.01260","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"type":"preprint","indexed_in":["arxiv"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2104.01260","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5049153408","display_name":"Takuya Kiyokawa","orcid":"https://orcid.org/0000-0002-8555-8489"},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Kiyokawa, Takuya","raw_affiliation_strings":["Division of Information Science, Nara Institute of Science and Technology, 8916-5 Takayama-cho, Ikoma-shi, Nara, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Division of Information Science, Nara Institute of Science and Technology, 8916-5 Takayama-cho, Ikoma-shi, Nara, Japan","institution_ids":["https://openalex.org/I75917431"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113813860","display_name":"Hiroki Katayama","orcid":null},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Katayama, Hiroki","raw_affiliation_strings":["Nara Institute of Science and Technology (NAIST), 8916-5 Takayama, Ikoma, Nara, 630-0192, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nara Institute of Science and Technology (NAIST), 8916-5 Takayama, Ikoma, Nara, 630-0192, Japan","institution_ids":["https://openalex.org/I75917431"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082645508","display_name":"Yuya Tatsuta","orcid":null},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tatsuta, Yuya","raw_affiliation_strings":["Nara Institute of Science and Technology (NAIST), 8916-5 Takayama, Ikoma, Nara, 630-0192, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nara Institute of Science and Technology (NAIST), 8916-5 Takayama, Ikoma, Nara, 630-0192, Japan","institution_ids":["https://openalex.org/I75917431"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047085140","display_name":"Jun Takamatsu","orcid":"https://orcid.org/0000-0001-7457-2878"},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takamatsu, Jun","raw_affiliation_strings":["Nara Institute of Science and Technology (NAIST), 8916-5 Takayama, Ikoma, Nara, 630-0192, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nara Institute of Science and Technology (NAIST), 8916-5 Takayama, Ikoma, Nara, 630-0192, Japan","institution_ids":["https://openalex.org/I75917431"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044340470","display_name":"Tsukasa Ogasawara","orcid":"https://orcid.org/0000-0001-9767-6039"},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ogasawara, Tsukasa","raw_affiliation_strings":["Nara Institute of Science and Technology (NAIST), 8916-5 Takayama, Ikoma, Nara, 630-0192, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nara Institute of Science and Technology (NAIST), 8916-5 Takayama, Ikoma, Nara, 630-0192, Japan","institution_ids":["https://openalex.org/I75917431"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5049153408"],"corresponding_institution_ids":["https://openalex.org/I75917431"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":33,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9962999820709229,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9962999820709229,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.9944000244140625,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9840999841690063,"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/computer-science","display_name":"Computer science","score":0.7766544818878174},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6587725877761841},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.544435977935791},{"id":"https://openalex.org/keywords/sorting","display_name":"Sorting","score":0.5283116698265076},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4860289692878723},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.46276038885116577},{"id":"https://openalex.org/keywords/laptop","display_name":"Laptop","score":0.43729519844055176},{"id":"https://openalex.org/keywords/detector","display_name":"Detector","score":0.4294368624687195},{"id":"https://openalex.org/keywords/automation","display_name":"Automation","score":0.4167192280292511},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.20574107766151428},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14453798532485962}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7766544818878174},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6587725877761841},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.544435977935791},{"id":"https://openalex.org/C111696304","wikidata":"https://www.wikidata.org/wiki/Q2303697","display_name":"Sorting","level":2,"score":0.5283116698265076},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4860289692878723},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.46276038885116577},{"id":"https://openalex.org/C2780008327","wikidata":"https://www.wikidata.org/wiki/Q3962","display_name":"Laptop","level":2,"score":0.43729519844055176},{"id":"https://openalex.org/C94915269","wikidata":"https://www.wikidata.org/wiki/Q1834857","display_name":"Detector","level":2,"score":0.4294368624687195},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.4167192280292511},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.20574107766151428},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14453798532485962},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"pmh:oai:arXiv.org:2104.01260","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2104.01260","pdf_url":"https://arxiv.org/pdf/2104.01260","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2104.01260","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2104.01260","pdf_url":"https://arxiv.org/pdf/2104.01260","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"score":0.7099999785423279,"id":"https://metadata.un.org/sdg/8","display_name":"Decent work and economic growth"}],"awards":[{"id":"https://openalex.org/G1774117831","display_name":null,"funder_award_id":"JPNP14004","funder_id":"https://openalex.org/F4320321034","funder_display_name":"New Energy and Industrial Technology Development Organization"},{"id":"https://openalex.org/G3073201993","display_name":null,"funder_award_id":"JPNP 20012","funder_id":"https://openalex.org/F4320321034","funder_display_name":"New Energy and Industrial Technology Development Organization"}],"funders":[{"id":"https://openalex.org/F4320321034","display_name":"New Energy and Industrial Technology Development Organization","ror":"https://ror.org/0055k7a87"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":99,"referenced_works":["https://openalex.org/W108969863","https://openalex.org/W147723833","https://openalex.org/W639708223","https://openalex.org/W1198461769","https://openalex.org/W1536680647","https://openalex.org/W1569600562","https://openalex.org/W1747778109","https://openalex.org/W1861492603","https://openalex.org/W1957167950","https://openalex.org/W1967736013","https://openalex.org/W1976935191","https://openalex.org/W1980434677","https://openalex.org/W1997567269","https://openalex.org/W1999478155","https://openalex.org/W2001412060","https://openalex.org/W2006012458","https://openalex.org/W2007605483","https://openalex.org/W2010072864","https://openalex.org/W2037227137","https://openalex.org/W2044673646","https://openalex.org/W2068127265","https://openalex.org/W2070604790","https://openalex.org/W2074098806","https://openalex.org/W2105613965","https://openalex.org/W2108598243","https://openalex.org/W2116143083","https://openalex.org/W2117907414","https://openalex.org/W2123302273","https://openalex.org/W2124351162","https://openalex.org/W2125186487","https://openalex.org/W2127972053","https://openalex.org/W2128053425","https://openalex.org/W2129787803","https://openalex.org/W2130313874","https://openalex.org/W2136839463","https://openalex.org/W2142601254","https://openalex.org/W2143668817","https://openalex.org/W2145792510","https://openalex.org/W2166502676","https://openalex.org/W2168545424","https://openalex.org/W2340897893","https://openalex.org/W2485425341","https://openalex.org/W2522127752","https://openalex.org/W2539709712","https://openalex.org/W2560865072","https://openalex.org/W2593768305","https://openalex.org/W2613718673","https://openalex.org/W2740832349","https://openalex.org/W2769833683","https://openalex.org/W2777407155","https://openalex.org/W2777654136","https://openalex.org/W2781659358","https://openalex.org/W2796347433","https://openalex.org/W2807785345","https://openalex.org/W2809246272","https://openalex.org/W2809894139","https://openalex.org/W2883318486","https://openalex.org/W2884367402","https://openalex.org/W2897749050","https://openalex.org/W2899607431","https://openalex.org/W2908440980","https://openalex.org/W2911952840","https://openalex.org/W2919115771","https://openalex.org/W2922093271","https://openalex.org/W2925104720","https://openalex.org/W2949736877","https://openalex.org/W2949765995","https://openalex.org/W2954430690","https://openalex.org/W2962823940","https://openalex.org/W2962967409","https://openalex.org/W2963072537","https://openalex.org/W2963158400","https://openalex.org/W2963231598","https://openalex.org/W2963892386","https://openalex.org/W2965259320","https://openalex.org/W2967153639","https://openalex.org/W2968382122","https://openalex.org/W2969893028","https://openalex.org/W2970395278","https://openalex.org/W2973914144","https://openalex.org/W2977457315","https://openalex.org/W2979394918","https://openalex.org/W2982770724","https://openalex.org/W2990816918","https://openalex.org/W2997095758","https://openalex.org/W2998410126","https://openalex.org/W2998508940","https://openalex.org/W2999480748","https://openalex.org/W3010381534","https://openalex.org/W3017097154","https://openalex.org/W3034971973","https://openalex.org/W3084169874","https://openalex.org/W3092931139","https://openalex.org/W3105550226","https://openalex.org/W3106250896","https://openalex.org/W4230616527","https://openalex.org/W4250645217","https://openalex.org/W4256068510","https://openalex.org/W4293584584"],"related_works":["https://openalex.org/W3153292769","https://openalex.org/W2045444909","https://openalex.org/W1516398359","https://openalex.org/W1901656956","https://openalex.org/W2990805456","https://openalex.org/W2941659365","https://openalex.org/W4239210160","https://openalex.org/W2376300433","https://openalex.org/W4242605858","https://openalex.org/W2495255596"],"abstract_inverted_index":{"Owing":[0],"to":[1,19,67,79,137],"human":[2,22],"labor":[3],"shortages,":[4],"the":[5,21,81,84,97,109,138,154,161,185,191,197,201,205],"automation":[6],"of":[7,15,24,30,86,111,160,168],"labor-intensive":[8],"manual":[9],"waste-sorting":[10,17],"is":[11,18],"needed.":[12],"The":[13],"goal":[14],"automating":[16],"replace":[20],"role":[23],"robust":[25],"detection":[26,180],"and":[27,52,96,123,134,176,179],"agile":[28],"manipulation":[29,47],"waste":[31,100,114,169],"items":[32,170],"with":[33,131,181],"robots.":[34],"To":[35],"achieve":[36],"this,":[37],"we":[38,43,56,75,151],"propose":[39],"three":[40,166],"methods.":[41],"First,":[42],"provide":[44,57,76],"a":[45,58,70,77,103,112],"combined":[46],"method":[48,78,199],"using":[49],"graspless":[50],"push-and-drop":[51],"pick-and-release":[53],"manipulation.":[54],"Second,":[55],"robotic":[59],"system":[60],"that":[61,153,187,196],"can":[62],"automatically":[63],"collect":[64],"object":[65,127],"images":[66],"quickly":[68,203],"train":[69],"deep":[71],"neural-network":[72],"model.":[73],"Third,":[74],"mitigate":[80],"differences":[82,107,120],"in":[83,102,121,144],"appearance":[85],"target":[87],"objects":[88],"from":[89],"two":[90],"scenes:":[91],"one":[92],"for":[93,99,149,165],"dataset":[94],"collection":[95,159],"other":[98],"sorting":[101],"recycling":[104],"factory.":[105],"If":[106],"exist,":[108],"performance":[110,183],"trained":[113],"detector":[115],"may":[116],"decrease.":[117],"We":[118,193],"address":[119],"illumination":[122],"background":[124,135],"by":[125],"applying":[126],"scaling,":[128],"histogram":[129,132],"matching":[130],"equalization,":[133],"synthesis":[136],"source":[139],"target-object":[140],"images.":[141],"Via":[142],"experiments":[143],"an":[145],"indoor":[146],"experimental":[147],"workplace":[148],"waste-sorting,":[150],"confirm":[152,195],"proposed":[155,198],"methods":[156,186],"enable":[157],"quick":[158],"training":[162],"image":[163],"sets":[164],"classes":[167],"(i.e.,":[171],"aluminum":[172],"can,":[173],"glass":[174],"bottle,":[175],"plastic":[177],"bottle)":[178],"higher":[182],"than":[184],"do":[188],"not":[189],"consider":[190],"differences.":[192],"also":[194],"enables":[200],"robot":[202],"manipulate":[204],"objects.":[206]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":6}],"updated_date":"2026-08-05T07:39:15.569665","created_date":"2021-09-13T00:00:00"}