{"id":"https://openalex.org/W2973768246","doi":"https://doi.org/10.1109/coase.2019.8842859","title":"Efficient 3D Visual Perception for Robotic Rock Breaking","display_name":"Efficient 3D Visual Perception for Robotic Rock Breaking","publication_year":2019,"publication_date":"2019-08-01","ids":{"openalex":"https://openalex.org/W2973768246","doi":"https://doi.org/10.1109/coase.2019.8842859","mag":"2973768246"},"language":"en","primary_location":{"id":"doi:10.1109/coase.2019.8842859","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2019.8842859","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 15th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5021284328","display_name":"Longchuan Niu","orcid":"https://orcid.org/0000-0003-4996-5519"},"institutions":[{"id":"https://openalex.org/I166825849","display_name":"Tampere University","ror":"https://ror.org/033003e23","country_code":"FI","type":"education","lineage":["https://openalex.org/I166825849"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Longchuan Niu","raw_affiliation_strings":["Automation Technology and Mechanical Engineering, Faculty of Engineering and Natural Sciences, Tampere University, Tampere, Finland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Automation Technology and Mechanical Engineering, Faculty of Engineering and Natural Sciences, Tampere University, Tampere, Finland","institution_ids":["https://openalex.org/I166825849"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100649535","display_name":"Ke Chen","orcid":"https://orcid.org/0000-0003-0928-5199"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ke Chen","raw_affiliation_strings":["School of Electronic and Information Engineering, South China University of Technology, Guangzhou, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronic and Information Engineering, South China University of Technology, Guangzhou, P.R. China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065964089","display_name":"Kui Jia","orcid":"https://orcid.org/0000-0003-2661-5700"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kui Jia","raw_affiliation_strings":["School of Electronic and Information Engineering, South China University of Technology, Guangzhou, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronic and Information Engineering, South China University of Technology, Guangzhou, P.R. China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070792821","display_name":"Jouni Mattila","orcid":"https://orcid.org/0000-0003-1799-4323"},"institutions":[{"id":"https://openalex.org/I166825849","display_name":"Tampere University","ror":"https://ror.org/033003e23","country_code":"FI","type":"education","lineage":["https://openalex.org/I166825849"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Jouni Mattila","raw_affiliation_strings":["Automation Technology and Mechanical Engineering, Faculty of Engineering and Natural Sciences, Tampere University, Tampere, Finland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Automation Technology and Mechanical Engineering, Faculty of Engineering and Natural Sciences, Tampere University, Tampere, Finland","institution_ids":["https://openalex.org/I166825849"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.598,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.89631688,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1124","last_page":"1130"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9969000220298767,"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":0.9969000220298767,"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":0.9900000095367432,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9900000095367432,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5609550476074219},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5236506462097168},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.5220091938972473},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5158823728561401},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.49953341484069824},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.48532384634017944},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4831482768058777},{"id":"https://openalex.org/keywords/centroid","display_name":"Centroid","score":0.4125879406929016}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5609550476074219},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5236506462097168},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.5220091938972473},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5158823728561401},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.49953341484069824},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.48532384634017944},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4831482768058777},{"id":"https://openalex.org/C146599234","wikidata":"https://www.wikidata.org/wiki/Q511093","display_name":"Centroid","level":2,"score":0.4125879406929016},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/coase.2019.8842859","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2019.8842859","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 15th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},{"id":"pmh:oai:trepo.tuni.fi:10024/215458","is_oa":false,"landing_page_url":"https://trepo.tuni.fi/handle/10024/215458","pdf_url":null,"source":{"id":"https://openalex.org/S4306401860","display_name":"Tampere University Institutional Repository (Tampere University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I150589677","host_organization_name":"Tampere University of Applied Sciences","host_organization_lineage":["https://openalex.org/I150589677"],"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":"conference"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W136060874","https://openalex.org/W156453593","https://openalex.org/W639708223","https://openalex.org/W1969921023","https://openalex.org/W2085261163","https://openalex.org/W2102605133","https://openalex.org/W2104974755","https://openalex.org/W2117383878","https://openalex.org/W2149992262","https://openalex.org/W2194775991","https://openalex.org/W2293349265","https://openalex.org/W2490270993","https://openalex.org/W2570343428","https://openalex.org/W2757360138","https://openalex.org/W2780829839","https://openalex.org/W2808403543","https://openalex.org/W2891302876","https://openalex.org/W2909079131","https://openalex.org/W2963037989","https://openalex.org/W2963150697","https://openalex.org/W2963721253","https://openalex.org/W2964062501","https://openalex.org/W3106250896","https://openalex.org/W4293584584","https://openalex.org/W6605496807","https://openalex.org/W6620707391","https://openalex.org/W6631782140","https://openalex.org/W6750227808","https://openalex.org/W6785652829"],"related_works":["https://openalex.org/W2381926679","https://openalex.org/W2007009951","https://openalex.org/W2082644203","https://openalex.org/W2350539780","https://openalex.org/W3165040664","https://openalex.org/W3122652148","https://openalex.org/W1583866266","https://openalex.org/W4242386713","https://openalex.org/W2996505764","https://openalex.org/W3088649123"],"abstract_inverted_index":{"In":[0,37,83,101],"recent":[1],"years,":[2],"underground":[3],"mining":[4],"automation":[5],"(e.g.,":[6],"the":[7,33,38,66,69,73,76,122,150,155,160,168,174,180,184,188,191,195],"heavy-duty":[8],"robots":[9],"carrying":[10],"rock":[11,70,151,177,197],"breaker":[12],"tools":[13],"for":[14,96,108,136],"secondary":[15],"breaking)":[16],"has":[17],"drawn":[18],"substantial":[19],"interest.":[20],"This":[21],"breaking":[22,185,198],"process":[23],"is":[24,61,94],"needed":[25,95],"only":[26],"when":[27],"over-sized":[28],"rocks":[29,45,79,116,138,214],"threaten":[30],"to":[31,64,80,129,173,179,212],"jam":[32],"mine":[34],"material":[35],"flow.":[36],"worst":[39],"case,":[40],"a":[41,52,57,87,106,126,203,216,229],"pile":[42,74],"of":[43,51,78,114,176,187],"overlapped":[44],"can":[46],"get":[47],"stuck":[48],"on":[49,159,215,225],"top":[50],"crusher's":[53],"grate":[54,217],"plate.":[55,218],"For":[56],"human":[58],"operator,":[59],"it":[60],"relatively":[62],"easy":[63],"make":[65],"decisions":[67],"about":[68],"locations":[71],"in":[72,117,139,167,194],"and":[75,89,111,147,154],"order":[77],"be":[81],"crushed.":[82],"an":[84],"autonomous":[85],"operation,":[86],"robust":[88],"fast":[90,109],"visual":[91],"perception":[92],"system":[93,192],"executing":[97],"robot":[98],"motion":[99],"commands.":[100],"this":[102],"paper,":[103],"we":[104,200],"propose":[105],"pipeline":[107,221],"detection":[110,227],"pose":[112],"estimation":[113],"individual":[115],"cluttered":[118],"scenes.":[119],"We":[120],"employ":[121],"state-of-art":[123],"YOLOv3":[124],"as":[125],"2D":[127,140],"detector":[128],"perform":[130],"3D":[131],"reconstruction":[132],"from":[133,210],"point":[134,162],"cloud":[135],"detected":[137,165],"regions":[141],"using":[142],"our":[143],"proposed":[144,220],"novel":[145],"method,":[146],"finally":[148],"estimating":[149],"centroid":[152],"positions":[153],"normal-to-surface":[156],"vectors":[157],"based":[158],"predicted":[161],"cloud.":[163],"The":[164,219],"centroids":[166],"scene":[169],"are":[170],"ordered":[171],"according":[172],"depth":[175],"surface":[178],"camera,":[181],"which":[182],"provides":[183],"sequence":[186],"rocks.":[189],"During":[190],"evaluation":[193],"real":[196],"experiments,":[199],"have":[201],"collected":[202],"new":[204],"dataset":[205],"with":[206,228],"4780":[207],"images":[208],"having":[209],"1":[211],"12":[213],"achieves":[222],"97.47%":[223],"precision":[224],"overall":[226],"real-time":[230],"speed":[231],"around":[232],"15Hz.":[233]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2}],"updated_date":"2026-08-26T07:47:46.906454","created_date":"2025-10-10T00:00:00"}
