{"id":"https://openalex.org/W4390493522","doi":"https://doi.org/10.1109/cisp-bmei60920.2023.10373320","title":"Multi-object recognition and grasping detection based on the anchor-free network","display_name":"Multi-object recognition and grasping detection based on the anchor-free network","publication_year":2023,"publication_date":"2023-10-28","ids":{"openalex":"https://openalex.org/W4390493522","doi":"https://doi.org/10.1109/cisp-bmei60920.2023.10373320"},"language":"en","primary_location":{"id":"doi:10.1109/cisp-bmei60920.2023.10373320","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cisp-bmei60920.2023.10373320","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 16th International Congress on Image and Signal Processing, BioMedical Engineering and Informatics (CISP-BMEI)","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/A5038182862","display_name":"Mingming Meng","orcid":null},"institutions":[{"id":"https://openalex.org/I143868143","display_name":"Anhui University","ror":"https://ror.org/05th6yx34","country_code":"CN","type":"education","lineage":["https://openalex.org/I143868143"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Mingming Meng","raw_affiliation_strings":["Anhui University,School of Electrical Engineering and Automation,Hefei,China","School of Electrical Engineering and Automation, Anhui University, Hefei, China"],"affiliations":[{"raw_affiliation_string":"Anhui University,School of Electrical Engineering and Automation,Hefei,China","institution_ids":["https://openalex.org/I143868143"]},{"raw_affiliation_string":"School of Electrical Engineering and Automation, Anhui University, Hefei, China","institution_ids":["https://openalex.org/I143868143"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100681992","display_name":"Xiantao Sun","orcid":"https://orcid.org/0000-0002-1941-3089"},"institutions":[{"id":"https://openalex.org/I143868143","display_name":"Anhui University","ror":"https://ror.org/05th6yx34","country_code":"CN","type":"education","lineage":["https://openalex.org/I143868143"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiantao Sun","raw_affiliation_strings":["Anhui University,School of Electrical Engineering and Automation,Hefei,China","School of Electrical Engineering and Automation, Anhui University, Hefei, China"],"affiliations":[{"raw_affiliation_string":"Anhui University,School of Electrical Engineering and Automation,Hefei,China","institution_ids":["https://openalex.org/I143868143"]},{"raw_affiliation_string":"School of Electrical Engineering and Automation, Anhui University, Hefei, China","institution_ids":["https://openalex.org/I143868143"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026365889","display_name":"Weihai Chen","orcid":"https://orcid.org/0000-0001-7912-4505"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]},{"id":"https://openalex.org/I143868143","display_name":"Anhui University","ror":"https://ror.org/05th6yx34","country_code":"CN","type":"education","lineage":["https://openalex.org/I143868143"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weihai Chen","raw_affiliation_strings":["Anhui University,School of Electrical Engineering and Automation,Hefei,China","Beihang University,School of Automation Science and Electrical Engineering,Beijing,China","School of Automation Science and Electrical Engineering, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Anhui University,School of Electrical Engineering and Automation,Hefei,China","institution_ids":["https://openalex.org/I143868143"]},{"raw_affiliation_string":"Beihang University,School of Automation Science and Electrical Engineering,Beijing,China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100462267","display_name":"Wenjie Chen","orcid":"https://orcid.org/0000-0003-0556-7391"},"institutions":[{"id":"https://openalex.org/I143868143","display_name":"Anhui University","ror":"https://ror.org/05th6yx34","country_code":"CN","type":"education","lineage":["https://openalex.org/I143868143"]},{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenjie Chen","raw_affiliation_strings":["Anhui University,School of Electrical Engineering and Automation,Hefei,China","Beihang University,School of Automation Science and Electrical Engineering,Beijing,China","School of Electrical Engineering and Automation, Anhui University, Hefei, China"],"affiliations":[{"raw_affiliation_string":"Anhui University,School of Electrical Engineering and Automation,Hefei,China","institution_ids":["https://openalex.org/I143868143"]},{"raw_affiliation_string":"Beihang University,School of Automation Science and Electrical Engineering,Beijing,China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"School of Electrical Engineering and Automation, Anhui University, Hefei, China","institution_ids":["https://openalex.org/I143868143"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5038182862"],"corresponding_institution_ids":["https://openalex.org/I143868143"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.2283865,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"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":0.9997000098228455,"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":0.9997000098228455,"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/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9611999988555908,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"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":0.9426000118255615,"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":0.7631757259368896},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7517052888870239},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.6786134243011475},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5916169881820679},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5862085223197937},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.5829172730445862},{"id":"https://openalex.org/keywords/residual","display_name":"Residual","score":0.5438601970672607},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.540712833404541},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.47798484563827515},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4542735517024994},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.45106297731399536},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.4474133849143982},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4252975285053253},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1451168656349182},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.11044806241989136},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08519265055656433}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7631757259368896},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7517052888870239},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.6786134243011475},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5916169881820679},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5862085223197937},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.5829172730445862},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.5438601970672607},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.540712833404541},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.47798484563827515},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4542735517024994},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.45106297731399536},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.4474133849143982},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4252975285053253},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1451168656349182},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.11044806241989136},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08519265055656433},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","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/cisp-bmei60920.2023.10373320","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cisp-bmei60920.2023.10373320","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 16th International Congress on Image and Signal Processing, BioMedical Engineering and Informatics (CISP-BMEI)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"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":16,"referenced_works":["https://openalex.org/W1892339738","https://openalex.org/W2123435073","https://openalex.org/W2783657760","https://openalex.org/W2799213142","https://openalex.org/W2884585870","https://openalex.org/W2914433398","https://openalex.org/W2949327133","https://openalex.org/W2962821282","https://openalex.org/W2963326767","https://openalex.org/W3004284873","https://openalex.org/W3013482323","https://openalex.org/W3137044090","https://openalex.org/W4206448185","https://openalex.org/W4309878869","https://openalex.org/W4313472359","https://openalex.org/W6760424586"],"related_works":["https://openalex.org/W2560215812","https://openalex.org/W2949601986","https://openalex.org/W2123263858","https://openalex.org/W3127959533","https://openalex.org/W2788972299","https://openalex.org/W2521347458","https://openalex.org/W2498789492","https://openalex.org/W4387967917","https://openalex.org/W2729981612","https://openalex.org/W2972212393"],"abstract_inverted_index":{"In":[0,135],"multi-object":[1],"scenarios,":[2],"problems":[3],"such":[4],"as":[5],"low":[6],"accuracy":[7,122,146],"of":[8,48,91,123],"detection":[9,71,74,121,142,145],"algorithms":[10],"and":[11,45,72,143,149],"complex":[12],"network":[13,34],"structures":[14],"arise":[15],"when":[16],"a":[17,32,52,55,77,104],"robotic":[18],"arm":[19],"is":[20,62,83,108,133],"intended":[21],"for":[22,64],"grabbing":[23,73,92,101,113],"specific":[24],"objects.":[25,49],"To":[26],"address":[27],"these":[28],"issues,":[29],"we":[30],"propose":[31],"multi-task":[33],"model":[35],"based":[36,80],"on":[37,81,126],"the":[38,43,95,100,112,120,127,136,140],"anchor-free":[39],"mechanism":[40,107],"to":[41,110],"detect":[42],"category":[44],"grasping":[46,78,129,144],"pose":[47,93],"Firstly,":[50],"using":[51],"residual":[53],"network,":[54],"shared":[56],"main":[57],"trunk":[58],"feature":[59,66],"extraction":[60,67],"module":[61],"designed":[63],"shallow":[65],"used":[68],"in":[69,99],"object":[70],"branches.":[75],"Secondly,":[76],"strategy":[79],"key-point":[82,96],"introduced,":[84],"which":[85],"can":[86],"obtain":[87],"an":[88],"accurate":[89],"estimate":[90],"through":[94],"heatmap.":[97],"Lastly,":[98],"prediction":[102,114],"module,":[103],"hybrid":[105],"attention":[106],"introduced":[109],"improve":[111],"accuracy.":[115],"Experimental":[116],"results":[117],"show":[118],"that":[119],"this":[124],"method":[125],"multi-target":[128,138],"data":[130],"set":[131],"VMRD":[132],"94.2%.":[134],"real":[137],"scene,":[139],"target":[141],"are":[147],"97.9%":[148],"92.8%":[150],"respectively.":[151]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}