{"id":"https://openalex.org/W2970681430","doi":"https://doi.org/10.1109/icinfa.2018.8812495","title":"Robotic Grasping of Novel Objects from RGB-D Images by Using Multi-Level Convolutional Neural Networks","display_name":"Robotic Grasping of Novel Objects from RGB-D Images by Using Multi-Level Convolutional Neural Networks","publication_year":2018,"publication_date":"2018-08-01","ids":{"openalex":"https://openalex.org/W2970681430","doi":"https://doi.org/10.1109/icinfa.2018.8812495","mag":"2970681430"},"language":"en","primary_location":{"id":"doi:10.1109/icinfa.2018.8812495","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icinfa.2018.8812495","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Information and Automation (ICIA)","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/A5019967957","display_name":"Qunchao Yu","orcid":null},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Qunchao Yu","raw_affiliation_strings":["Department of Automation, University of Science and Technology of China, Hefei, Anhui, P. R. China"],"affiliations":[{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei, Anhui, P. R. China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031221880","display_name":"Weiwei Shang","orcid":"https://orcid.org/0000-0001-7541-2198"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weiwei Shang","raw_affiliation_strings":["Department of Automation, University of Science and Technology of China, Hefei, Anhui, P. R. China"],"affiliations":[{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei, Anhui, P. R. China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040870169","display_name":"Zengzhi Zhao","orcid":null},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zengzhi Zhao","raw_affiliation_strings":["Department of Automation, University of Science and Technology of China, Hefei, Anhui, P. R. China"],"affiliations":[{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei, Anhui, P. R. China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047621347","display_name":"Shuang Cong","orcid":"https://orcid.org/0000-0001-8101-0128"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuang Cong","raw_affiliation_strings":["Department of Automation, University of Science and Technology of China, Hefei, Anhui, P. R. China"],"affiliations":[{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei, Anhui, P. R. China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087749601","display_name":"Yunjiang Lou","orcid":"https://orcid.org/0000-0001-8203-7795"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunjiang Lou","raw_affiliation_strings":["Department of Automation, University of Science and Technology of China, Hefei, Anhui, P. R. China"],"affiliations":[{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei, Anhui, P. R. China","institution_ids":["https://openalex.org/I126520041"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5019967957"],"corresponding_institution_ids":["https://openalex.org/I126520041"],"apc_list":null,"apc_paid":null,"fwci":1.1036,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.80128216,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"341","last_page":"346"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9696000218391418,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9613000154495239,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/rectangle","display_name":"Rectangle","score":0.9198062419891357},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7723140716552734},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.765943169593811},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6663608551025391},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5942767262458801},{"id":"https://openalex.org/keywords/usable","display_name":"USable","score":0.5673416256904602},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5449527502059937},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.5095158219337463},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.44169536232948303},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4051758944988251},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1895453929901123}],"concepts":[{"id":"https://openalex.org/C2781302577","wikidata":"https://www.wikidata.org/wiki/Q209","display_name":"Rectangle","level":2,"score":0.9198062419891357},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7723140716552734},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.765943169593811},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6663608551025391},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5942767262458801},{"id":"https://openalex.org/C2780615836","wikidata":"https://www.wikidata.org/wiki/Q2471869","display_name":"USable","level":2,"score":0.5673416256904602},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5449527502059937},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.5095158219337463},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.44169536232948303},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4051758944988251},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1895453929901123},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icinfa.2018.8812495","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icinfa.2018.8812495","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Information and Automation (ICIA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4099999964237213,"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1510186039","https://openalex.org/W1593727536","https://openalex.org/W1613163714","https://openalex.org/W1808974695","https://openalex.org/W1892339738","https://openalex.org/W1903029394","https://openalex.org/W1960182310","https://openalex.org/W1970885832","https://openalex.org/W1999156278","https://openalex.org/W2080279876","https://openalex.org/W2088043683","https://openalex.org/W2089630413","https://openalex.org/W2097117768","https://openalex.org/W2109255472","https://openalex.org/W2112796928","https://openalex.org/W2123435073","https://openalex.org/W2163605009","https://openalex.org/W2194775991","https://openalex.org/W2485911221","https://openalex.org/W2561523096","https://openalex.org/W2601066903","https://openalex.org/W2735636344","https://openalex.org/W2963446712","https://openalex.org/W6684191040","https://openalex.org/W6735544697"],"related_works":["https://openalex.org/W2242098268","https://openalex.org/W4244945894","https://openalex.org/W2982321410","https://openalex.org/W4224881918","https://openalex.org/W2003462717","https://openalex.org/W2802042052","https://openalex.org/W174828583","https://openalex.org/W1987609185","https://openalex.org/W2392004567","https://openalex.org/W2046296964"],"abstract_inverted_index":{"Inspired":[0],"by":[1,21,81],"human":[2],"grasping,":[3],"we":[4],"propose":[5],"an":[6],"efficient":[7],"robotic":[8,137],"grasping":[9,16,59,70,94,112,125,131,138,148,181],"detection":[10,139],"method":[11,140,175],"to":[12,45,66,90,107,121],"get":[13],"the":[14,47,54,58,68,92,123,135,144,147,152,168,173,179],"optimal":[15,124,180],"rectangle":[17,113,182],"from":[18],"RGB-D":[19],"images":[20],"developing":[22],"multi-level":[23,29],"Convolutional":[24],"Neural":[25],"Networks":[26],"(CNNs).":[27],"The":[28,40,61,85],"CNNs":[30],"consist":[31],"of":[32,57,146],"three":[33],"levels":[34],"with":[35,101,151],"different":[36],"structures":[37],"and":[38,51,77,96,167,183],"functions.":[39],"first":[41],"level":[42,63,87],"is":[43,64,88,118],"designed":[44,65,89],"locate":[46],"grasped":[48],"object":[49,187],"roughly,":[50],"then":[52],"determine":[53],"searching":[55],"range":[56],"rectangles.":[60],"second":[62],"obtain":[67,122],"preselected":[69,93,111],"rectangles,":[71],"rapidly":[72],"find":[73,177],"out":[74,178],"usable":[75],"ones":[76,80],"eliminate":[78],"unusable":[79],"a":[82,102,129,163],"small-scale":[83],"CNN.":[84],"third":[86],"reevaluate":[91],"rectangles":[95],"catch":[97],"much":[98],"more":[99],"features":[100],"large-scale":[103,130],"CNN,":[104],"so":[105],"as":[106],"evaluate":[108],"every":[109],"single":[110],"accurately.":[114],"A":[115],"selection":[116],"algorithm":[117],"presented":[119],"further":[120],"rectangle.":[126],"Tests":[127],"on":[128,156,162],"dataset":[132],"validate":[133],"that,":[134],"proposed":[136,174],"can":[141,176],"significantly":[142],"improve":[143],"accuracy":[145],"rectangle,":[149],"compared":[150],"existing":[153],"methods":[154],"based":[155],"CNNs.":[157],"Grasping":[158],"experiments":[159],"are":[160],"performed":[161],"5-DOF":[164],"Youbot":[165],"arm,":[166],"experimental":[169],"results":[170],"indicate":[171],"that":[172],"successfully":[184],"achieve":[185],"novel":[186],"grasping.":[188]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":3},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}