{"id":"https://openalex.org/W4387914449","doi":"https://doi.org/10.1109/codit58514.2023.10284072","title":"Enhanced 6D Pose Estimation for Robotic Fruit Picking","display_name":"Enhanced 6D Pose Estimation for Robotic Fruit Picking","publication_year":2023,"publication_date":"2023-07-03","ids":{"openalex":"https://openalex.org/W4387914449","doi":"https://doi.org/10.1109/codit58514.2023.10284072"},"language":"en","primary_location":{"id":"doi:10.1109/codit58514.2023.10284072","is_oa":false,"landing_page_url":"https://doi.org/10.1109/codit58514.2023.10284072","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 9th International Conference on Control, Decision and Information Technologies (CoDIT)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.1109/CoDIT58514.2023.10284072","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5031786838","display_name":"Marco Costanzo","orcid":"https://orcid.org/0000-0001-8364-6728"},"institutions":[{"id":"https://openalex.org/I197809005","display_name":"University of Campania \"Luigi Vanvitelli\"","ror":"https://ror.org/02kqnpp86","country_code":"IT","type":"education","lineage":["https://openalex.org/I197809005"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Marco Costanzo","raw_affiliation_strings":["Universit&#x00E0; degli Studi della Campania Luigi Vanvitelli,Dipartimento di Ingegneria,Aversa,CE,Italy,81031"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universit&#x00E0; degli Studi della Campania Luigi Vanvitelli,Dipartimento di Ingegneria,Aversa,CE,Italy,81031","institution_ids":["https://openalex.org/I197809005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102516941","display_name":"Marco De Simone","orcid":null},"institutions":[{"id":"https://openalex.org/I197809005","display_name":"University of Campania \"Luigi Vanvitelli\"","ror":"https://ror.org/02kqnpp86","country_code":"IT","type":"education","lineage":["https://openalex.org/I197809005"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Marco De Simone","raw_affiliation_strings":["Universit&#x00E0; degli Studi della Campania Luigi Vanvitelli,Dipartimento di Ingegneria,Aversa,CE,Italy,81031"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universit&#x00E0; degli Studi della Campania Luigi Vanvitelli,Dipartimento di Ingegneria,Aversa,CE,Italy,81031","institution_ids":["https://openalex.org/I197809005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046612625","display_name":"Sara M. Federico","orcid":"https://orcid.org/0000-0002-5807-4876"},"institutions":[{"id":"https://openalex.org/I197809005","display_name":"University of Campania \"Luigi Vanvitelli\"","ror":"https://ror.org/02kqnpp86","country_code":"IT","type":"education","lineage":["https://openalex.org/I197809005"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Sara Federico","raw_affiliation_strings":["Universit&#x00E0; degli Studi della Campania Luigi Vanvitelli,Dipartimento di Ingegneria,Aversa,CE,Italy,81031"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universit&#x00E0; degli Studi della Campania Luigi Vanvitelli,Dipartimento di Ingegneria,Aversa,CE,Italy,81031","institution_ids":["https://openalex.org/I197809005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041446451","display_name":"Ciro Natale","orcid":"https://orcid.org/0000-0001-6550-0573"},"institutions":[{"id":"https://openalex.org/I197809005","display_name":"University of Campania \"Luigi Vanvitelli\"","ror":"https://ror.org/02kqnpp86","country_code":"IT","type":"education","lineage":["https://openalex.org/I197809005"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Ciro Natale","raw_affiliation_strings":["Universit&#x00E0; degli Studi della Campania Luigi Vanvitelli,Dipartimento di Ingegneria,Aversa,CE,Italy,81031"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universit&#x00E0; degli Studi della Campania Luigi Vanvitelli,Dipartimento di Ingegneria,Aversa,CE,Italy,81031","institution_ids":["https://openalex.org/I197809005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5016424724","display_name":"Salvatore Pirozzi","orcid":"https://orcid.org/0000-0002-1237-0389"},"institutions":[{"id":"https://openalex.org/I197809005","display_name":"University of Campania \"Luigi Vanvitelli\"","ror":"https://ror.org/02kqnpp86","country_code":"IT","type":"education","lineage":["https://openalex.org/I197809005"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Salvatore Pirozzi","raw_affiliation_strings":["Universit&#x00E0; degli Studi della Campania Luigi Vanvitelli,Dipartimento di Ingegneria,Aversa,CE,Italy,81031"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universit&#x00E0; degli Studi della Campania Luigi Vanvitelli,Dipartimento di Ingegneria,Aversa,CE,Italy,81031","institution_ids":["https://openalex.org/I197809005"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I197809005"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"901","last_page":"906"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":1.0,"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":1.0,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9993000030517578,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.993399977684021,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.8780250549316406},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7875694036483765},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.7709352970123291},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7079673409461975},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6722642183303833},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.662575364112854},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.593274712562561},{"id":"https://openalex.org/keywords/slippage","display_name":"Slippage","score":0.5895220637321472},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5407730340957642},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5329170227050781},{"id":"https://openalex.org/keywords/lift","display_name":"Lift (data mining)","score":0.5318118333816528},{"id":"https://openalex.org/keywords/cad","display_name":"CAD","score":0.5058300495147705},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5012478828430176},{"id":"https://openalex.org/keywords/3d-pose-estimation","display_name":"3D pose estimation","score":0.46298447251319885},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20391198992729187},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.15137344598770142},{"id":"https://openalex.org/keywords/engineering-drawing","display_name":"Engineering drawing","score":0.10618335008621216}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8780250549316406},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7875694036483765},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.7709352970123291},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7079673409461975},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6722642183303833},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.662575364112854},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.593274712562561},{"id":"https://openalex.org/C2776096238","wikidata":"https://www.wikidata.org/wiki/Q6130172","display_name":"Slippage","level":2,"score":0.5895220637321472},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5407730340957642},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5329170227050781},{"id":"https://openalex.org/C139002025","wikidata":"https://www.wikidata.org/wiki/Q3001212","display_name":"Lift (data mining)","level":2,"score":0.5318118333816528},{"id":"https://openalex.org/C194789388","wikidata":"https://www.wikidata.org/wiki/Q17855283","display_name":"CAD","level":2,"score":0.5058300495147705},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5012478828430176},{"id":"https://openalex.org/C36613465","wikidata":"https://www.wikidata.org/wiki/Q4636322","display_name":"3D pose estimation","level":3,"score":0.46298447251319885},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20391198992729187},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.15137344598770142},{"id":"https://openalex.org/C199639397","wikidata":"https://www.wikidata.org/wiki/Q1788588","display_name":"Engineering drawing","level":1,"score":0.10618335008621216},{"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/codit58514.2023.10284072","is_oa":false,"landing_page_url":"https://doi.org/10.1109/codit58514.2023.10284072","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 9th International Conference on Control, Decision and Information Technologies (CoDIT)","raw_type":"proceedings-article"},{"id":"pmh:oai:zenodo.org:10940445","is_oa":true,"landing_page_url":"https://doi.org/10.1109/CoDIT58514.2023.10284072","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferencePaper"}],"best_oa_location":{"id":"pmh:oai:zenodo.org:10940445","is_oa":true,"landing_page_url":"https://doi.org/10.1109/CoDIT58514.2023.10284072","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferencePaper"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6675617378","display_name":"AI-Powered Manipulation System for Advanced Robotic Service, Manufacturing and Prosthetics","funder_award_id":"101070136","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1972390602","https://openalex.org/W1991544872","https://openalex.org/W2085261163","https://openalex.org/W2149175962","https://openalex.org/W2910163509","https://openalex.org/W2915117230","https://openalex.org/W2963177347","https://openalex.org/W2963188159","https://openalex.org/W2963892972","https://openalex.org/W3004945106","https://openalex.org/W3010952915","https://openalex.org/W3159308287","https://openalex.org/W3199947443","https://openalex.org/W4287165115","https://openalex.org/W4289489637","https://openalex.org/W6687718950","https://openalex.org/W6745401828","https://openalex.org/W6754677871","https://openalex.org/W6795356393","https://openalex.org/W6801014119"],"related_works":["https://openalex.org/W2727798326","https://openalex.org/W3021551196","https://openalex.org/W4253893311","https://openalex.org/W3089306886","https://openalex.org/W2113785214","https://openalex.org/W2798721181","https://openalex.org/W3201205132","https://openalex.org/W4387967917","https://openalex.org/W4312694060","https://openalex.org/W4386075737"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,21,44,63,82,133],"novel":[4],"method":[5],"to":[6,48,84,113,149,158],"refine":[7],"the":[8,40,50,53,58,68,78,100,107,116,121,154,160,169],"6D":[9],"pose":[10,79,102],"estimation":[11,80,103],"inferred":[12],"by":[13],"an":[14],"instance-level":[15],"deep":[16],"neural":[17],"network":[18,59],"which":[19],"processes":[20],"single":[22,64],"RGB":[23],"image":[24],"and":[25,90,165],"that":[26],"has":[27],"been":[28],"trained":[29,61],"on":[30,62],"synthetic":[31],"images":[32],"only.":[33],"The":[34,74],"proposed":[35],"optimization":[36],"algorithm":[37],"usefully":[38],"exploits":[39],"depth":[41],"measurement":[42],"of":[43,52,67,87,115,175],"standard":[45,101],"RGB-D":[46],"camera":[47],"estimate":[49],"dimensions":[51,93,110],"considered":[54],"object,":[55],"even":[56],"though":[57],"is":[60,146],"CAD":[65,117],"model":[66],"same":[69,170],"object":[70],"with":[71,109,142,153,172],"given":[72],"dimensions.":[73],"improved":[75],"accuracy":[76],"in":[77,120],"allows":[81],"robot":[83],"grasp":[85,135],"apples":[86],"various":[88],"types":[89],"significantly":[91],"different":[92],"successfully;":[94],"this":[95],"was":[96],"not":[97],"possible":[98],"using":[99],"algorithm,":[104],"except":[105],"for":[106],"fruits":[108,126,161],"very":[111],"close":[112],"those":[114],"drawing":[118],"used":[119],"training":[122],"process.":[123],"Grasping":[124],"fresh":[125],"without":[127,162],"damaging":[128],"each":[129],"item":[130],"also":[131],"demands":[132],"suitable":[134],"force":[136,156],"control.":[137],"A":[138],"parallel":[139],"gripper":[140],"equipped":[141],"special":[143],"force/tactile":[144],"sensors":[145],"thus":[147],"adopted":[148],"achieve":[150],"safe":[151],"grasps":[152],"minimum":[155],"necessary":[157],"lift":[159],"any":[163,166],"slippage":[164],"deformation":[167],"at":[168],"time,":[171],"no":[173],"knowledge":[174],"their":[176],"weight.":[177]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
