{"id":"https://openalex.org/W4416381324","doi":"https://doi.org/10.1109/access.2025.3631328","title":"An Approach to Industrial Part Grasping Based on Point Cloud Completion and Skeleton Guidance","display_name":"An Approach to Industrial Part Grasping Based on Point Cloud Completion and Skeleton Guidance","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4416381324","doi":"https://doi.org/10.1109/access.2025.3631328"},"language":"en","primary_location":{"id":"doi:10.1109/access.2025.3631328","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3631328","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1109/access.2025.3631328","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5001249056","display_name":"Xuhui Ye","orcid":"https://orcid.org/0000-0002-9333-061X"},"institutions":[{"id":"https://openalex.org/I74525822","display_name":"Hubei University of Technology","ror":"https://ror.org/02d3fj342","country_code":"CN","type":"education","lineage":["https://openalex.org/I74525822"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xuhui Ye","raw_affiliation_strings":["School of Mechanical Engineering, Hubei University of Technology, Wuhan, Hubei, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Hubei University of Technology, Wuhan, Hubei, China","institution_ids":["https://openalex.org/I74525822"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113159117","display_name":"Xiaoyang Qin","orcid":"https://orcid.org/0009-0004-4218-2452"},"institutions":[{"id":"https://openalex.org/I74525822","display_name":"Hubei University of Technology","ror":"https://ror.org/02d3fj342","country_code":"CN","type":"education","lineage":["https://openalex.org/I74525822"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoyang Qin","raw_affiliation_strings":["School of Mechanical Engineering, Hubei University of Technology, Wuhan, Hubei, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Hubei University of Technology, Wuhan, Hubei, China","institution_ids":["https://openalex.org/I74525822"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100395877","display_name":"Jun Wang","orcid":"https://orcid.org/0009-0005-1966-7766"},"institutions":[{"id":"https://openalex.org/I74525822","display_name":"Hubei University of Technology","ror":"https://ror.org/02d3fj342","country_code":"CN","type":"education","lineage":["https://openalex.org/I74525822"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jun Wang","raw_affiliation_strings":["School of Mechanical Engineering, Hubei University of Technology, Wuhan, Hubei, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Hubei University of Technology, Wuhan, Hubei, China","institution_ids":["https://openalex.org/I74525822"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100378099","display_name":"Yan Chen","orcid":"https://orcid.org/0000-0002-6531-3441"},"institutions":[{"id":"https://openalex.org/I4210105877","display_name":"Wuhan Donghu University","ror":"https://ror.org/017swdq34","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210105877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yan Chen","raw_affiliation_strings":["School of Mechanical and Electrical Engineering, Wuhan Donghu University, Wuhan, Hubei, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Electrical Engineering, Wuhan Donghu University, Wuhan, Hubei, China","institution_ids":["https://openalex.org/I4210105877"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101516799","display_name":"Shengjun Li","orcid":"https://orcid.org/0000-0002-0377-6862"},"institutions":[{"id":"https://openalex.org/I10011244","display_name":"Huanggang Normal University","ror":"https://ror.org/007gf6e19","country_code":"CN","type":"education","lineage":["https://openalex.org/I10011244"]},{"id":"https://openalex.org/I4210162891","display_name":"Huanggang Central Hospital","ror":"https://ror.org/02sjdcn27","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210162891"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shengjun Li","raw_affiliation_strings":["Edsonburg Huangmei New Materials Company Ltd., Huanggang, Hubei, China"],"affiliations":[{"raw_affiliation_string":"Edsonburg Huangmei New Materials Company Ltd., Huanggang, Hubei, China","institution_ids":["https://openalex.org/I10011244","https://openalex.org/I4210162891"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5001249056"],"corresponding_institution_ids":["https://openalex.org/I74525822"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.46316419,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"13","issue":null,"first_page":"193474","last_page":"193488"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9786999821662903,"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":0.9786999821662903,"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/T10719","display_name":"3D Shape Modeling and Analysis","score":0.00279999990016222,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/T10868","display_name":"Soft Robotics and Applications","score":0.0027000000700354576,"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":0.904699981212616},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.7860000133514404},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.5289000272750854},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.49570000171661377},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.3968999981880188},{"id":"https://openalex.org/keywords/chamfer","display_name":"Chamfer (geometry)","score":0.36329999566078186}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.904699981212616},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7860000133514404},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6934999823570251},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5964999794960022},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5853000283241272},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.5289000272750854},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.49570000171661377},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.3968999981880188},{"id":"https://openalex.org/C2776313386","wikidata":"https://www.wikidata.org/wiki/Q18018756","display_name":"Chamfer (geometry)","level":2,"score":0.36329999566078186},{"id":"https://openalex.org/C141353440","wikidata":"https://www.wikidata.org/wiki/Q182221","display_name":"Fuse (electrical)","level":2,"score":0.32339999079704285},{"id":"https://openalex.org/C15759828","wikidata":"https://www.wikidata.org/wiki/Q165074","display_name":"Parallax","level":2,"score":0.30959999561309814},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.2896000146865845},{"id":"https://openalex.org/C108882727","wikidata":"https://www.wikidata.org/wiki/Q2991685","display_name":"Solid modeling","level":2,"score":0.27730000019073486},{"id":"https://openalex.org/C29123130","wikidata":"https://www.wikidata.org/wiki/Q874709","display_name":"Computational geometry","level":2,"score":0.27079999446868896},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.2653000056743622},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.2538999915122986},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2531000077724457}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2025.3631328","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3631328","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:8dde658e54c648f396377357bea7206e","is_oa":true,"landing_page_url":"https://doaj.org/article/8dde658e54c648f396377357bea7206e","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 13, Pp 193474-193488 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2025.3631328","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3631328","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"To":[0],"address":[1],"the":[2,20,32,58,99,105,108,132,137,150,156,160,166,183,190,197,204,214],"issue":[3],"of":[4,22,35,69,92,107,136,159,207],"point":[5,51,59,78,110],"cloud":[6,52,60,111],"incompleteness":[7],"in":[8,37,222],"industrial":[9,45,93,208,238],"scenarios":[10],"caused":[11],"by":[12,172,177,194],"insufficient":[13],"lighting":[14],"and":[15,54,83,139,174,196,240],"occlusions,":[16],"as":[17,19],"well":[18],"limitations":[21],"existing":[23],"grasp":[24,39,125,152,185,199],"pose":[25,186],"generation":[26,187],"methods":[27],"that":[28,49,165],"inadequately":[29],"account":[30],"for":[31],"geometric":[33,134,205],"characteristics":[34,206],"parts\u2014resulting":[36],"unreasonable":[38],"poses\u2014this":[40],"paper":[41],"proposes":[42],"a":[43,65,73,113,119,218],"two-stage":[44],"part":[46],"grasping":[47,212],"method":[48,188,216],"integrates":[50],"completion":[53,61],"skeleton":[55,100,106],"guidance.":[56],"In":[57,98,210],"stage,":[62,102],"we":[63,103],"introduce":[64],"symmetry\u2013geometry":[66],"collaborative":[67],"variant":[68],"GRNet,":[70],"trained":[71],"with":[72,118,155],"progressive":[74],"strategy":[75,153],"to":[76,80,148,203],"enable":[77],"features":[79,135],"gradually":[81],"perceive":[82],"fuse":[84],"global":[85],"symmetry":[86],"information,":[87],"thereby":[88,235],"achieving":[89],"high-quality":[90],"reconstruction":[91],"parts":[94],"under":[95],"occluded":[96],"conditions.":[97],"guidance":[101],"extract":[104],"completed":[109],"using":[112],"Euclidean":[114],"Distance":[115,171],"Transform":[116],"combined":[117],"Minimum":[120],"Spanning":[121],"Tree":[122],"method.":[123],"Candidate":[124],"poses":[126,200],"are":[127],"then":[128],"generated":[129,198],"based":[130],"on":[131,179],"local":[133],"skeleton,":[138],"an":[140,232],"evaluation":[141],"function":[142],"considering":[143],"multiple":[144],"dimensions":[145],"is":[146],"employed":[147],"select":[149],"optimal":[151],"consistent":[154],"overall":[157,228],"structure":[158],"part.":[161],"Experimental":[162],"results":[163],"demonstrate":[164],"improved":[167],"GRNet":[168],"reduces":[169],"Chamfer":[170],"22.4%":[173],"improves":[175],"F-Score@1%":[176],"5.1%":[178],"public":[180],"datasets.":[181],"Moreover,":[182],"skeleton-based":[184],"increases":[189],"effective":[191],"sampling":[192],"rate":[193,221],"27.5%,":[195],"better":[201],"conform":[202],"parts.":[209],"real-world":[211],"experiments,":[213],"proposed":[215],"achieves":[217],"78%":[219],"success":[220],"cluttered":[223],"stacking":[224],"scenarios,":[225],"while":[226],"maintaining":[227],"processing":[229],"time":[230],"within":[231],"acceptable":[233],"range,":[234],"demonstrating":[236],"strong":[237],"applicability":[239],"robustness.":[241]},"counts_by_year":[],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-11-10T00:00:00"}