{"id":"https://openalex.org/W3187173268","doi":"https://doi.org/10.1109/cacre52464.2021.9501390","title":"Pallet detection and localization with RGB image and depth data using deep learning techniques","display_name":"Pallet detection and localization with RGB image and depth data using deep learning techniques","publication_year":2021,"publication_date":"2021-07-01","ids":{"openalex":"https://openalex.org/W3187173268","doi":"https://doi.org/10.1109/cacre52464.2021.9501390","mag":"3187173268"},"language":"en","primary_location":{"id":"doi:10.1109/cacre52464.2021.9501390","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cacre52464.2021.9501390","pdf_url":null,"source":{"id":"https://openalex.org/S4306498778","display_name":"2021 6th International Conference on Automation, Control and Robotics Engineering (CACRE)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 6th International Conference on Automation, Control and Robotics Engineering (CACRE)","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/A5009602058","display_name":"Yaoyong Li","orcid":null},"institutions":[{"id":"https://openalex.org/I106645853","display_name":"Changchun University of Science and Technology","ror":"https://ror.org/007mntk44","country_code":"CN","type":"education","lineage":["https://openalex.org/I106645853"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yao-Yong Li","raw_affiliation_strings":["Changchun University of Science and Technology, Changchun, Jilin, China"],"affiliations":[{"raw_affiliation_string":"Changchun University of Science and Technology, Changchun, Jilin, China","institution_ids":["https://openalex.org/I106645853"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011141580","display_name":"Xiaohe Chen","orcid":"https://orcid.org/0000-0001-9657-6263"},"institutions":[{"id":"https://openalex.org/I4210092817","display_name":"Suzhou Institute of Biomedical Engineering and Technology","ror":"https://ror.org/00f58mx93","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210092817"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiao-He Chen","raw_affiliation_strings":["Suzhou Institute of Biomedical Engineering and Technology, Suzhou, Jiangsu, China"],"affiliations":[{"raw_affiliation_string":"Suzhou Institute of Biomedical Engineering and Technology, Suzhou, Jiangsu, China","institution_ids":["https://openalex.org/I4210092817"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063513877","display_name":"Guanyu Ding","orcid":"https://orcid.org/0009-0006-1682-4911"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Guan-Yu Ding","raw_affiliation_strings":["Soleilware Photonics LLC, Suzhou, Jiangsu, China"],"affiliations":[{"raw_affiliation_string":"Soleilware Photonics LLC, Suzhou, Jiangsu, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044296049","display_name":"Sen Wang","orcid":"https://orcid.org/0000-0001-6948-3264"},"institutions":[{"id":"https://openalex.org/I106645853","display_name":"Changchun University of Science and Technology","ror":"https://ror.org/007mntk44","country_code":"CN","type":"education","lineage":["https://openalex.org/I106645853"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Sen Wang","raw_affiliation_strings":["Changchun University of Science and Technology, Changchun, Jilin, China"],"affiliations":[{"raw_affiliation_string":"Changchun University of Science and Technology, Changchun, Jilin, China","institution_ids":["https://openalex.org/I106645853"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060347190","display_name":"Wenchang Xu","orcid":"https://orcid.org/0000-0002-3573-0439"},"institutions":[{"id":"https://openalex.org/I4210092817","display_name":"Suzhou Institute of Biomedical Engineering and Technology","ror":"https://ror.org/00f58mx93","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210092817"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wen-Chang Xu","raw_affiliation_strings":["Suzhou Institute of Biomedical Engineering and Technology, Suzhou, Jiangsu, China"],"affiliations":[{"raw_affiliation_string":"Suzhou Institute of Biomedical Engineering and Technology, Suzhou, Jiangsu, China","institution_ids":["https://openalex.org/I4210092817"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059730849","display_name":"Bingbing Sun","orcid":"https://orcid.org/0000-0002-5444-5078"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bing-Bing Sun","raw_affiliation_strings":["Dalian University of Technology, Dalian, Liaoning, China"],"affiliations":[{"raw_affiliation_string":"Dalian University of Technology, Dalian, Liaoning, China","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100748970","display_name":"Qi Song","orcid":"https://orcid.org/0000-0002-3078-3363"},"institutions":[{"id":"https://openalex.org/I4210092817","display_name":"Suzhou Institute of Biomedical Engineering and Technology","ror":"https://ror.org/00f58mx93","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210092817"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qi Song","raw_affiliation_strings":["Suzhou Institute of Biomedical Engineering and Technology, Suzhou, Jiangsu, China"],"affiliations":[{"raw_affiliation_string":"Suzhou Institute of Biomedical Engineering and Technology, Suzhou, Jiangsu, China","institution_ids":["https://openalex.org/I4210092817"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5009602058"],"corresponding_institution_ids":["https://openalex.org/I106645853"],"apc_list":null,"apc_paid":null,"fwci":6.779,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.97547526,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"306","last_page":"310"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9995999932289124,"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":0.9995999932289124,"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/T12549","display_name":"Image and Object Detection Techniques","score":0.9987000226974487,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9986000061035156,"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/pallet","display_name":"Pallet","score":0.9267306327819824},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.8306124806404114},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7731232047080994},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7448376417160034},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6383814215660095},{"id":"https://openalex.org/keywords/face","display_name":"Face (sociological concept)","score":0.5014505386352539},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.42959272861480713},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.32593148946762085},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17832255363464355},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1765853464603424},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.14688578248023987}],"concepts":[{"id":"https://openalex.org/C51413319","wikidata":"https://www.wikidata.org/wiki/Q505996","display_name":"Pallet","level":2,"score":0.9267306327819824},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.8306124806404114},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7731232047080994},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7448376417160034},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6383814215660095},{"id":"https://openalex.org/C2779304628","wikidata":"https://www.wikidata.org/wiki/Q3503480","display_name":"Face (sociological concept)","level":2,"score":0.5014505386352539},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.42959272861480713},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.32593148946762085},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17832255363464355},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1765853464603424},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.14688578248023987},{"id":"https://openalex.org/C144024400","wikidata":"https://www.wikidata.org/wiki/Q21201","display_name":"Sociology","level":0,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C36289849","wikidata":"https://www.wikidata.org/wiki/Q34749","display_name":"Social science","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cacre52464.2021.9501390","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cacre52464.2021.9501390","pdf_url":null,"source":{"id":"https://openalex.org/S4306498778","display_name":"2021 6th International Conference on Automation, Control and Robotics Engineering (CACRE)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 6th International Conference on Automation, Control and Robotics Engineering (CACRE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1570011791","display_name":null,"funder_award_id":"#31870919,#61975228","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W639708223","https://openalex.org/W2050943492","https://openalex.org/W2085261163","https://openalex.org/W2107534762","https://openalex.org/W2142693830","https://openalex.org/W2152864241","https://openalex.org/W2327649927","https://openalex.org/W2419597278","https://openalex.org/W2755664321","https://openalex.org/W2769236095","https://openalex.org/W2805011039","https://openalex.org/W2896844839","https://openalex.org/W2944165510","https://openalex.org/W2963037989","https://openalex.org/W2972006294","https://openalex.org/W3015045924","https://openalex.org/W3101799466","https://openalex.org/W3109792549","https://openalex.org/W6762082143","https://openalex.org/W6786665387"],"related_works":["https://openalex.org/W59439004","https://openalex.org/W2094299241","https://openalex.org/W575696998","https://openalex.org/W368706031","https://openalex.org/W572765140","https://openalex.org/W2342739646","https://openalex.org/W610320743","https://openalex.org/W2626136638","https://openalex.org/W4366437295","https://openalex.org/W4251858511"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,185],"novel":[4],"approach":[5],"of":[6,67,86,99,126,130,156,162,168],"pallet":[7,51,88,136,147,190],"identification":[8],"and":[9,17,29,32,48,83,108,123,158,182,193],"localization":[10,154],"algorithm":[11,21],"(PILA)":[12],"based":[13],"on":[14],"RGB":[15,31,54,72],"image":[16],"depth":[18,33],"data.":[19],"The":[20,56,77,95,142,170],"is":[22,44,61,81,89,174,184],"implemented":[23],"in":[24,52,70],"C++":[25],"for":[26,188],"real-time":[27],"running":[28,172],"the":[30,50,53,64,71,84,87,92,112,115,120,127,146,152,159,166],"data":[34,60],"from":[35,179],"low-cost":[36],"RGB-D":[37,75],"camera.":[38],"Deep":[39],"neural":[40],"network":[41],"(DNN)":[42],"method":[43],"applied":[45],"to":[46],"detect":[47],"locate":[49],"images.":[55],"pallet's":[57,78,100],"point":[58],"cloud":[59],"correlated":[62],"with":[63,105,134,151],"labeled":[65],"region":[66],"interest":[68],"(ROI)":[69],"images":[73],"through":[74],"fusion.":[76],"front-face":[79,101],"plane":[80],"extracted":[82],"orientation":[85,121],"obtained":[90],"at":[91,111,165],"same":[93],"time.":[94],"triangle":[96],"centric":[97,124],"points":[98],"could":[102,148],"be":[103,149],"determined":[104],"extracting":[106],"x":[107],"y":[109],"lines":[110],"edge":[113],"by":[114],"simple":[116],"geometrical":[117],"rules.":[118],"Experimentally,":[119],"angle":[122,160],"location":[125],"two":[128],"kinds":[129],"pallets":[131],"are":[132],"investigated":[133],"natural":[135],"surface":[137],"without":[138],"any":[139],"artificial":[140],"markings.":[141],"results":[143],"show":[144],"that":[145],"located":[150],"3D":[153],"accuracy":[155],"1cm":[157],"resolution":[161],"0.4":[163],"degree":[164],"distance":[167],"3m.":[169],"end-to-end":[171],"time":[173],"less":[175],"than":[176],"700":[177],"ms":[178],"CAN-IO":[180],"interface":[181],"this":[183],"promising":[186],"solution":[187],"autonomous":[189],"picking":[191],"instrument":[192],"self-driving":[194],"forklift":[195],"applications.":[196]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":3}],"updated_date":"2026-04-03T22:45:19.894376","created_date":"2025-10-10T00:00:00"}