{"id":"https://openalex.org/W2909234643","doi":"https://doi.org/10.1109/icarm.2018.8610761","title":"Object Detection for Texture-less Tubular Joints using Hierarchical CAD Tree","display_name":"Object Detection for Texture-less Tubular Joints using Hierarchical CAD Tree","publication_year":2018,"publication_date":"2018-07-01","ids":{"openalex":"https://openalex.org/W2909234643","doi":"https://doi.org/10.1109/icarm.2018.8610761","mag":"2909234643"},"language":"en","primary_location":{"id":"doi:10.1109/icarm.2018.8610761","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm.2018.8610761","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 3rd International Conference on Advanced Robotics and Mechatronics (ICARM)","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/A5011273828","display_name":"Syeda Mariam Ahmed","orcid":null},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Syeda Mariam Ahmed","raw_affiliation_strings":["Department of Mechanical Engineering, National University of Singapore"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National University of Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078181007","display_name":"Yan Zhi Tan","orcid":"https://orcid.org/0000-0002-4266-1363"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Yan Zhi Tan","raw_affiliation_strings":["Department of Mechanical Engineering, National University of Singapore"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National University of Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073468340","display_name":"Chee\u2013Meng Chew","orcid":"https://orcid.org/0000-0002-6396-4371"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Chee Meng Chew","raw_affiliation_strings":["Department of Mechanical Engineering, National University of Singapore"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National University of Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017493688","display_name":"Abdullah Al Mamun","orcid":"https://orcid.org/0000-0001-8597-8590"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Abdullah Al Mamun","raw_affiliation_strings":["Department of Mechanical Engineering, National University of Singapore"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National University of Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077618414","display_name":"Fook Seng Wong","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116904","display_name":"Technology Centre for Offshore and Marine, Singapore","ror":"https://ror.org/02gqf9e56","country_code":"SG","type":"facility","lineage":["https://openalex.org/I4210116904"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Fook Seng Wong","raw_affiliation_strings":["Keppel Offshore & Marine Technology Centre"],"affiliations":[{"raw_affiliation_string":"Keppel Offshore & Marine Technology Centre","institution_ids":["https://openalex.org/I4210116904"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5011273828"],"corresponding_institution_ids":["https://openalex.org/I165932596"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.10253756,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"8690","issue":null,"first_page":"793","last_page":"798"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994999766349792,"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":0.9994999766349792,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9984999895095825,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9905999898910522,"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/cad","display_name":"CAD","score":0.7481277585029602},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.6997998356819153},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.6520664095878601},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6036879420280457},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5513597726821899},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5373349189758301},{"id":"https://openalex.org/keywords/tree-structure","display_name":"Tree structure","score":0.5334086418151855},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5233237743377686},{"id":"https://openalex.org/keywords/node","display_name":"Node (physics)","score":0.47610601782798767},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.45277151465415955},{"id":"https://openalex.org/keywords/engineering-drawing","display_name":"Engineering drawing","score":0.34567710757255554},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.31690579652786255},{"id":"https://openalex.org/keywords/data-structure","display_name":"Data structure","score":0.24520450830459595},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2203696370124817},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1654070019721985},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.16365063190460205}],"concepts":[{"id":"https://openalex.org/C194789388","wikidata":"https://www.wikidata.org/wiki/Q17855283","display_name":"CAD","level":2,"score":0.7481277585029602},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.6997998356819153},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.6520664095878601},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6036879420280457},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5513597726821899},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5373349189758301},{"id":"https://openalex.org/C163797641","wikidata":"https://www.wikidata.org/wiki/Q2067937","display_name":"Tree structure","level":3,"score":0.5334086418151855},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5233237743377686},{"id":"https://openalex.org/C62611344","wikidata":"https://www.wikidata.org/wiki/Q1062658","display_name":"Node (physics)","level":2,"score":0.47610601782798767},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.45277151465415955},{"id":"https://openalex.org/C199639397","wikidata":"https://www.wikidata.org/wiki/Q1788588","display_name":"Engineering drawing","level":1,"score":0.34567710757255554},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.31690579652786255},{"id":"https://openalex.org/C162319229","wikidata":"https://www.wikidata.org/wiki/Q175263","display_name":"Data structure","level":2,"score":0.24520450830459595},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2203696370124817},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1654070019721985},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.16365063190460205},{"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarm.2018.8610761","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm.2018.8610761","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 3rd International Conference on Advanced Robotics and Mechatronics (ICARM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","score":0.4099999964237213,"id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320671","display_name":"National Research Foundation","ror":"https://ror.org/05s0g1g46"},{"id":"https://openalex.org/F4320320698","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W132147841","https://openalex.org/W1022526533","https://openalex.org/W1627400044","https://openalex.org/W1881711072","https://openalex.org/W1909903157","https://openalex.org/W1993267444","https://openalex.org/W2026225034","https://openalex.org/W2033574012","https://openalex.org/W2085334966","https://openalex.org/W2087063852","https://openalex.org/W2098764590","https://openalex.org/W2099606917","https://openalex.org/W2107235635","https://openalex.org/W2116428968","https://openalex.org/W2120419212","https://openalex.org/W2152864241","https://openalex.org/W2160643963","https://openalex.org/W2160821342","https://openalex.org/W2161168419","https://openalex.org/W2170764835","https://openalex.org/W2488101876","https://openalex.org/W2520803775","https://openalex.org/W3103919331","https://openalex.org/W6605377543","https://openalex.org/W6626613076","https://openalex.org/W6636759986","https://openalex.org/W6639312378","https://openalex.org/W6683253545","https://openalex.org/W6722693925","https://openalex.org/W6726463864"],"related_works":["https://openalex.org/W2334610590","https://openalex.org/W2320366403","https://openalex.org/W3204197061","https://openalex.org/W4251350712","https://openalex.org/W637098845","https://openalex.org/W2410116073","https://openalex.org/W3044972437","https://openalex.org/W4287707480","https://openalex.org/W2376211578","https://openalex.org/W2509728321"],"abstract_inverted_index":{"Object":[0],"detection":[1],"for":[2,12,99],"large":[3,33],"tubular":[4,16,123,143],"joints":[5,17,124,144],"is":[6,43,97,107],"one":[7],"of":[8,82,92,142,148],"the":[9,67,83,89,93,133],"major":[10],"challenges":[11],"robotic":[13,116],"welding.":[14],"These":[15],"are":[18,30],"texture-less":[19],"objects":[20],"with":[21,32],"a":[22,55,62,110,115,119,126],"shiny":[23],"and":[24,76,139],"strongly":[25],"reflective":[26],"surface.":[27],"Additionally,":[28],"they":[29],"attached":[31],"fixtures":[34],"resulting":[35],"in":[36,125],"dense":[37],"self-occlusion.":[38],"Due":[39],"to":[40,45,121],"this,":[41],"it":[42],"difficult":[44],"plug-and-play":[46],"existing":[47],"3D":[48,63],"object":[49],"recognition":[50],"pipelines.":[51],"This":[52,85],"paper":[53],"presents":[54],"hierarchical":[56,86],"CAD":[57,64],"tree":[58],"(HCT),":[59],"generated":[60],"using":[61,109],"model":[65],"at":[66],"root":[68],"node,":[69],"partial":[70],"views":[71],"as":[72,79],"successive":[73],"layer":[74],"nodes":[75,81,95],"segmented-partial":[77],"views,":[78],"leaf":[80,94],"tree.":[84],"approach":[87,135],"stores":[88],"assembly":[90],"information":[91],"that":[96,132],"used":[98],"our":[100],"hypothesis":[101],"verification":[102],"pipeline.":[103],"The":[104,129],"complete":[105],"method":[106],"tested":[108],"RGB-D":[111],"sensor":[112],"mounted":[113],"on":[114,118],"manipulator":[117],"gantry,":[120],"detect":[122,137],"shipyard":[127],"environment.":[128],"framework":[130],"demonstrates":[131],"proposed":[134],"can":[136],"horizontal":[138],"diagonal":[140],"configurations":[141],"despite":[145],"high":[146],"levels":[147],"occlusion.":[149]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
