{"id":"https://openalex.org/W4399769823","doi":"https://doi.org/10.1109/icara60736.2024.10552988","title":"Translucent Object Grasping Using Robot Vision","display_name":"Translucent Object Grasping Using Robot Vision","publication_year":2024,"publication_date":"2024-02-22","ids":{"openalex":"https://openalex.org/W4399769823","doi":"https://doi.org/10.1109/icara60736.2024.10552988"},"language":"en","primary_location":{"id":"doi:10.1109/icara60736.2024.10552988","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icara60736.2024.10552988","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 10th International Conference on Automation, Robotics and Applications (ICARA)","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/A5026425928","display_name":"Krishna Kodur","orcid":"https://orcid.org/0000-0001-7663-2790"},"institutions":[{"id":"https://openalex.org/I16269868","display_name":"Santa Clara University","ror":"https://ror.org/03ypqe447","country_code":"US","type":"education","lineage":["https://openalex.org/I16269868"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Krishna Kodur","raw_affiliation_strings":["Santa Clara University,Dept. of Electrical &#x0026; Computer Engineering,Santa Clara,CA,USA,95053"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Santa Clara University,Dept. of Electrical &#x0026; Computer Engineering,Santa Clara,CA,USA,95053","institution_ids":["https://openalex.org/I16269868"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065609205","display_name":"Manizheh Zand","orcid":"https://orcid.org/0000-0002-1745-8523"},"institutions":[{"id":"https://openalex.org/I16269868","display_name":"Santa Clara University","ror":"https://ror.org/03ypqe447","country_code":"US","type":"education","lineage":["https://openalex.org/I16269868"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Manizheh Zand","raw_affiliation_strings":["Santa Clara University,Dept. of Electrical &#x0026; Computer Engineering,Santa Clara,CA,USA,95053"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Santa Clara University,Dept. of Electrical &#x0026; Computer Engineering,Santa Clara,CA,USA,95053","institution_ids":["https://openalex.org/I16269868"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092705585","display_name":"Matthew Tognotti","orcid":null},"institutions":[{"id":"https://openalex.org/I16269868","display_name":"Santa Clara University","ror":"https://ror.org/03ypqe447","country_code":"US","type":"education","lineage":["https://openalex.org/I16269868"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matthew Tognotti","raw_affiliation_strings":["Santa Clara University,Dept. of Electrical &#x0026; Computer Engineering,Santa Clara,CA,USA,95053"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Santa Clara University,Dept. of Electrical &#x0026; Computer Engineering,Santa Clara,CA,USA,95053","institution_ids":["https://openalex.org/I16269868"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059487972","display_name":"Maria Kyrarini","orcid":"https://orcid.org/0000-0003-0968-2477"},"institutions":[{"id":"https://openalex.org/I16269868","display_name":"Santa Clara University","ror":"https://ror.org/03ypqe447","country_code":"US","type":"education","lineage":["https://openalex.org/I16269868"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Maria Kyrarini","raw_affiliation_strings":["Santa Clara University,Dept. of Electrical &#x0026; Computer Engineering,Santa Clara,CA,USA,95053"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Santa Clara University,Dept. of Electrical &#x0026; Computer Engineering,Santa Clara,CA,USA,95053","institution_ids":["https://openalex.org/I16269868"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I16269868"],"apc_list":null,"apc_paid":null,"fwci":0.8877,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.63299805,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"107","last_page":"111"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9977999925613403,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9958000183105469,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7879530191421509},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.71250319480896},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6930399537086487},{"id":"https://openalex.org/keywords/robot-vision","display_name":"Robot vision","score":0.5954514145851135},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5609583258628845},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5335640907287598},{"id":"https://openalex.org/keywords/machine-vision","display_name":"Machine vision","score":0.4267085790634155},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.359394907951355}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7879530191421509},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.71250319480896},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6930399537086487},{"id":"https://openalex.org/C2983761899","wikidata":"https://www.wikidata.org/wiki/Q604674","display_name":"Robot vision","level":4,"score":0.5954514145851135},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5609583258628845},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5335640907287598},{"id":"https://openalex.org/C5339829","wikidata":"https://www.wikidata.org/wiki/Q1425977","display_name":"Machine vision","level":2,"score":0.4267085790634155},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.359394907951355}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icara60736.2024.10552988","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icara60736.2024.10552988","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 10th International Conference on Automation, Robotics and Applications (ICARA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G490005414","display_name":"Collaborative Research: DARE: A Personalized Assistive Robotic System that assesses Cognitive Fatigue in Persons with Paralysis","funder_award_id":"2226165","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W2005786010","https://openalex.org/W2006905283","https://openalex.org/W2020696338","https://openalex.org/W2986303149","https://openalex.org/W3035198432","https://openalex.org/W3089874271","https://openalex.org/W3109192943","https://openalex.org/W3210311771","https://openalex.org/W3216908904","https://openalex.org/W4211028926","https://openalex.org/W4285190019","https://openalex.org/W4383337613"],"related_works":["https://openalex.org/W2122871747","https://openalex.org/W3114279067","https://openalex.org/W2318398720","https://openalex.org/W2072007712","https://openalex.org/W2118030816","https://openalex.org/W2928162577","https://openalex.org/W2081400338","https://openalex.org/W2068241324","https://openalex.org/W2013269986","https://openalex.org/W590253240"],"abstract_inverted_index":{"Grasping":[0],"translucent":[1,34,189],"objects,":[2],"such":[3,76],"as":[4,77,194],"open":[5,190],"containers,":[6,191],"poses":[7],"a":[8,63,195],"significant":[9],"challenge":[10,60],"when":[11],"using":[12],"RGB":[13],"and":[14,167,197,212],"Depth":[15],"(RGBD)":[16],"cameras,":[17],"primarily":[18],"due":[19],"to":[20,83,97,127,163,200],"the":[21,46,99,130,136,157,174,213,217],"presence":[22],"of":[23,45,132,176,185],"cavities":[24],"in":[25,39,139,222],"their":[26,125],"depth":[27],"values.":[28],"The":[29,170,205],"need":[30],"for":[31,52,113,123,129,150,159,215],"effectively":[32,155],"grasping":[33,85,183],"containers":[35],"is":[36,49,147,208,225],"especially":[37],"important":[38],"kitchen":[40],"environments,":[41],"where":[42],"easy":[43],"visibility":[44],"contents":[47],"inside":[48],"essential,":[50],"particularly":[51,148],"individuals":[53],"with":[54,71,152,180],"dementia.":[55],"This":[56],"paper":[57,141,224],"addresses":[58],"this":[59,114,140,177,223],"by":[61,102],"introducing":[62],"novel":[64,178],"method":[65,145],"that":[66,146],"combines":[67],"an":[68,72,143,181],"analytical":[69,144],"approach":[70,137],"object":[73,218],"detection":[74,219],"algorithm":[75,220],"You":[78],"Only":[79],"Look":[80],"Once":[81],"(YOLO)":[82],"improve":[84],"performance.":[86],"Traditional":[87],"approaches":[88],"often":[89],"rely":[90],"on":[91,188],"depth-filling":[92],"deep":[93,107,202],"neural":[94],"network":[95],"models":[96,126],"mitigate":[98],"issues":[100],"caused":[101],"these":[103],"cavities.":[104,169],"Although":[105],"various":[106],"learning":[108],"methods":[109],"have":[110],"been":[111],"developed":[112],"purpose,":[115],"they":[116],"typically":[117],"entail":[118],"extensive":[119,160],"data":[120,161],"collection":[121,162],"efforts":[122],"fine-tuning":[124],"work":[128],"objects":[131,151],"interest.":[133],"In":[134],"contrast,":[135],"presented":[138],"leverages":[142],"well-suited":[149],"simple":[153],"geometries,":[154],"eliminating":[156],"necessity":[158],"predict":[164],"grasp":[165],"points":[166],"fill":[168],"experimental":[171],"results":[172],"demonstrate":[173],"effectiveness":[175],"approach,":[179],"average":[182],"accuracy":[184],"94.55%":[186],"achieved":[187],"establishing":[192],"it":[193],"viable":[196],"practical":[198],"alternative":[199],"traditional":[201],"learning-based":[203],"methods.":[204],"source":[206],"code":[207],"available":[209,226],"at":[210,227],"Link11https://github.com/HMI2-Research-Group/Analytical_BestGrab":[211],"dataset":[214],"training":[216],"YOLO":[221],"link22https://github.com/HMI2-Research-Group/Kitchen-YOLO-Dataset.":[228]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
