{"id":"https://openalex.org/W3192511943","doi":"https://doi.org/10.1109/bhi50953.2021.9508533","title":"Mask-Grasp R-CNN: Simultaneous Instance Segmentation and Robotic Grasp Detection","display_name":"Mask-Grasp R-CNN: Simultaneous Instance Segmentation and Robotic Grasp Detection","publication_year":2021,"publication_date":"2021-07-27","ids":{"openalex":"https://openalex.org/W3192511943","doi":"https://doi.org/10.1109/bhi50953.2021.9508533","mag":"3192511943"},"language":"en","primary_location":{"id":"doi:10.1109/bhi50953.2021.9508533","is_oa":false,"landing_page_url":"https://doi.org/10.1109/bhi50953.2021.9508533","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE EMBS International Conference on Biomedical and Health Informatics (BHI)","raw_type":"proceedings-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/A5019415716","display_name":"Mena S.A. Kamel","orcid":null},"institutions":[{"id":"https://openalex.org/I125749732","display_name":"Western University","ror":"https://ror.org/02grkyz14","country_code":"CA","type":"education","lineage":["https://openalex.org/I125749732"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Mena S.A. Kamel","raw_affiliation_strings":["Western University,Department of Electrical and Computer Engineering,London,Ontario,Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Western University,Department of Electrical and Computer Engineering,London,Ontario,Canada","institution_ids":["https://openalex.org/I125749732"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039782206","display_name":"Michael D. Naish","orcid":"https://orcid.org/0000-0001-7603-7182"},"institutions":[{"id":"https://openalex.org/I125749732","display_name":"Western University","ror":"https://ror.org/02grkyz14","country_code":"CA","type":"education","lineage":["https://openalex.org/I125749732"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Michael D. Naish","raw_affiliation_strings":["Western University,Department of Mechanical and Materials Engineering, ECE and the School of Biomedical Engineering,London,Ontario,Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Western University,Department of Mechanical and Materials Engineering, ECE and the School of Biomedical Engineering,London,Ontario,Canada","institution_ids":["https://openalex.org/I125749732"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.1389,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.44709526,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9951000213623047,"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"}},{"id":"https://openalex.org/T10429","display_name":"EEG and Brain-Computer Interfaces","score":0.9822999835014343,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.9524916410446167},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.8543493151664734},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8092441558837891},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.7642507553100586},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6812655925750732},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.658446192741394},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.5584641098976135},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.5527613162994385},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5495896339416504},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5306656956672668},{"id":"https://openalex.org/keywords/image-segmentation","display_name":"Image segmentation","score":0.5004374980926514},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.49791646003723145},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4902837574481964},{"id":"https://openalex.org/keywords/transfer-of-learning","display_name":"Transfer of learning","score":0.4778560996055603},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3741549551486969},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09336814284324646}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9524916410446167},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8543493151664734},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8092441558837891},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.7642507553100586},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6812655925750732},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.658446192741394},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.5584641098976135},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.5527613162994385},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5495896339416504},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5306656956672668},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.5004374980926514},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.49791646003723145},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4902837574481964},{"id":"https://openalex.org/C150899416","wikidata":"https://www.wikidata.org/wiki/Q1820378","display_name":"Transfer of learning","level":2,"score":0.4778560996055603},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3741549551486969},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09336814284324646},{"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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/bhi50953.2021.9508533","is_oa":false,"landing_page_url":"https://doi.org/10.1109/bhi50953.2021.9508533","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE EMBS International Conference on Biomedical and Health Informatics (BHI)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9","score":0.41999998688697815}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W639708223","https://openalex.org/W1505955101","https://openalex.org/W1686810756","https://openalex.org/W1861492603","https://openalex.org/W1892339738","https://openalex.org/W1903029394","https://openalex.org/W1999156278","https://openalex.org/W2010426277","https://openalex.org/W2108227326","https://openalex.org/W2108598243","https://openalex.org/W2194775991","https://openalex.org/W2414685554","https://openalex.org/W2565639579","https://openalex.org/W2611223806","https://openalex.org/W2824754393","https://openalex.org/W2962821282","https://openalex.org/W2962835968","https://openalex.org/W2962875890","https://openalex.org/W2963037989","https://openalex.org/W2963150697","https://openalex.org/W2963326767","https://openalex.org/W2963550225","https://openalex.org/W2966885779","https://openalex.org/W2967153639","https://openalex.org/W2967869116","https://openalex.org/W3004284873","https://openalex.org/W3013482323","https://openalex.org/W3090292349","https://openalex.org/W6637373629","https://openalex.org/W6639102338","https://openalex.org/W6676156930","https://openalex.org/W6758614718"],"related_works":["https://openalex.org/W3004284873","https://openalex.org/W2004370856","https://openalex.org/W4312789810","https://openalex.org/W1967061043","https://openalex.org/W2739874619","https://openalex.org/W2019566805","https://openalex.org/W2896409332","https://openalex.org/W2021186063","https://openalex.org/W1963494852","https://openalex.org/W2738221750"],"abstract_inverted_index":{"Autonomous":[0],"robotics":[1],"research":[2],"has":[3],"been":[4],"driven":[5],"by":[6],"rapid":[7],"advancements":[8],"in":[9,40,59,132,160],"deep":[10,31],"learning":[11,19],"architectures":[12],"and":[13,46,82],"the":[14,51,56,91,107,120,141],"ability":[15],"to":[16,20,127,148,157],"use":[17],"transfer":[18],"train":[21],"networks":[22],"using":[23],"smaller":[24],"datasets.":[25],"This":[26,123],"paper":[27],"proposes":[28],"a":[29,41,47,103,129,153],"single":[30],"convolutional":[32],"neural":[33],"network":[34,85],"capable":[35],"of":[36,50,98],"simultaneously":[37],"predicting":[38],"objects":[39],"scene,":[42],"their":[43],"segmentation":[44,84],"mask,":[45],"ranked":[48],"list":[49],"optimal":[52],"grasping":[53,111],"locations.":[54],"For":[55],"first":[57],"time":[58],"grasp":[60,92],"detection,":[61],"adaptive-size":[62],"anchors":[63],"are":[64],"proposed":[65,72,108],"as":[66],"prior":[67],"information":[68],"for":[69,90],"training.":[70],"The":[71,144],"approach,":[73],"named":[74],"Mask-Grasp":[75,125],"R-CNN,":[76],"shows":[77],"that":[78],"an":[79,114],"object":[80],"detection":[81,93],"instance":[83,115],"can":[86],"be":[87,158],"easily":[88],"extended":[89],"task":[94],"without":[95],"modifying":[96],"any":[97],"its":[99],"weights.":[100],"Building":[101],"on":[102,140],"Mask":[104],"R-CNN":[105,126],"network,":[106],"approach":[109],"detects":[110],"points":[112],"at":[113,119,135],"level":[116],"rather":[117],"than":[118],"image":[121],"level.":[122],"enables":[124],"achieve":[128],"10%":[130],"reduction":[131],"miss":[133],"rate":[134],"1":[136],"false-positive-per-image":[137],"when":[138],"evaluated":[139],"Multi-Object":[142],"dataset.":[143],"end":[145],"goal":[146],"is":[147],"integrate":[149],"this":[150],"system":[151],"into":[152],"semi-autonomous":[154],"control":[155],"scheme":[156],"used":[159],"upper-limb":[161],"prosthetics.":[162]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}