{"id":"https://openalex.org/W3166852035","doi":"https://doi.org/10.1109/icmew53276.2021.9455997","title":"A Dataset and Benchmark of Underwater Object Detection for Robot Picking","display_name":"A Dataset and Benchmark of Underwater Object Detection for Robot Picking","publication_year":2021,"publication_date":"2021-06-21","ids":{"openalex":"https://openalex.org/W3166852035","doi":"https://doi.org/10.1109/icmew53276.2021.9455997","mag":"3166852035"},"language":"en","primary_location":{"id":"doi:10.1109/icmew53276.2021.9455997","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icmew53276.2021.9455997","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Multimedia & Expo Workshops (ICMEW)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2106.05681","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5007611461","display_name":"Chongwei Liu","orcid":"https://orcid.org/0000-0003-4594-5262"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Chongwei Liu","raw_affiliation_strings":["Dalian University of Technology,DUT-RU International School of Information Science & Engineering"],"affiliations":[{"raw_affiliation_string":"Dalian University of Technology,DUT-RU International School of Information Science & Engineering","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100616471","display_name":"Haojie Li","orcid":"https://orcid.org/0000-0003-3882-2205"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haojie Li","raw_affiliation_strings":["Dalian University of Technology,DUT-RU International School of Information Science & Engineering","Dalian University of Technology, Dalian, China"],"affiliations":[{"raw_affiliation_string":"Dalian University of Technology,DUT-RU International School of Information Science & Engineering","institution_ids":["https://openalex.org/I27357992"]},{"raw_affiliation_string":"Dalian University of Technology, Dalian, China","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101995886","display_name":"Shuchang Wang","orcid":"https://orcid.org/0000-0002-5360-2748"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuchang Wang","raw_affiliation_strings":["Dalian University of Technology,DUT-RU International School of Information Science & Engineering"],"affiliations":[{"raw_affiliation_string":"Dalian University of Technology,DUT-RU International School of Information Science & Engineering","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101813167","display_name":"Ming Zhu","orcid":"https://orcid.org/0009-0005-5110-9094"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ming Zhu","raw_affiliation_strings":["Dalian University of Technology,DUT-RU International School of Information Science & Engineering"],"affiliations":[{"raw_affiliation_string":"Dalian University of Technology,DUT-RU International School of Information Science & Engineering","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100391417","display_name":"Dong Wang","orcid":"https://orcid.org/0000-0001-6946-1962"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dong Wang","raw_affiliation_strings":["Dalian University of Technology,DUT-RU International School of Information Science & Engineering"],"affiliations":[{"raw_affiliation_string":"Dalian University of Technology,DUT-RU International School of Information Science & Engineering","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057776894","display_name":"Xin Fan","orcid":"https://orcid.org/0000-0002-8991-4188"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin Fan","raw_affiliation_strings":["Dalian University of Technology,DUT-RU International School of Information Science & Engineering","Dalian University of Technology, Dalian, China"],"affiliations":[{"raw_affiliation_string":"Dalian University of Technology,DUT-RU International School of Information Science & Engineering","institution_ids":["https://openalex.org/I27357992"]},{"raw_affiliation_string":"Dalian University of Technology, Dalian, China","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100438119","display_name":"Zhihui Wang","orcid":"https://orcid.org/0000-0002-5011-9726"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhihui Wang","raw_affiliation_strings":["Dalian University of Technology,DUT-RU International School of Information Science & Engineering","Dalian University of Technology, Dalian, China"],"affiliations":[{"raw_affiliation_string":"Dalian University of Technology,DUT-RU International School of Information Science & Engineering","institution_ids":["https://openalex.org/I27357992"]},{"raw_affiliation_string":"Dalian University of Technology, Dalian, China","institution_ids":["https://openalex.org/I27357992"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5007611461"],"corresponding_institution_ids":["https://openalex.org/I27357992"],"apc_list":null,"apc_paid":null,"fwci":0.4844,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.64315817,"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":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9995999932289124,"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"}},"topics":[{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9995999932289124,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9921000003814697,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.989799976348877,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.9181389808654785},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.7732027769088745},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7683826684951782},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.6909158229827881},{"id":"https://openalex.org/keywords/workload","display_name":"Workload","score":0.6071191430091858},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5491006374359131},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5263693928718567},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.5208643078804016},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4858950972557068},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.47392114996910095},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.46961623430252075},{"id":"https://openalex.org/keywords/annotation","display_name":"Annotation","score":0.43197494745254517},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.2080758512020111}],"concepts":[{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.9181389808654785},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.7732027769088745},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7683826684951782},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.6909158229827881},{"id":"https://openalex.org/C2778476105","wikidata":"https://www.wikidata.org/wiki/Q628539","display_name":"Workload","level":2,"score":0.6071191430091858},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5491006374359131},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5263693928718567},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.5208643078804016},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4858950972557068},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.47392114996910095},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.46961623430252075},{"id":"https://openalex.org/C2776321320","wikidata":"https://www.wikidata.org/wiki/Q857525","display_name":"Annotation","level":2,"score":0.43197494745254517},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.2080758512020111},{"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/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"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/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icmew53276.2021.9455997","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icmew53276.2021.9455997","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Multimedia & Expo Workshops (ICMEW)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2106.05681","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2106.05681","pdf_url":"https://arxiv.org/pdf/2106.05681","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"},{"id":"mag:3166852035","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/2106.05681.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2106.05681","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2106.05681","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2106.05681","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2106.05681","pdf_url":"https://arxiv.org/pdf/2106.05681","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.5600000023841858}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1861492603","https://openalex.org/W2108598243","https://openalex.org/W2167090521","https://openalex.org/W2613718673","https://openalex.org/W2925359305","https://openalex.org/W2934198733","https://openalex.org/W2950141105","https://openalex.org/W2963299996","https://openalex.org/W2963351448","https://openalex.org/W2964093967","https://openalex.org/W2967515867","https://openalex.org/W2970575838","https://openalex.org/W2982770724","https://openalex.org/W2986357608","https://openalex.org/W2989676862","https://openalex.org/W3009172531","https://openalex.org/W3015543858","https://openalex.org/W3023388758","https://openalex.org/W3035396860","https://openalex.org/W3090063164","https://openalex.org/W3102701618","https://openalex.org/W3102710196","https://openalex.org/W3108849448","https://openalex.org/W3137695714","https://openalex.org/W6620707391","https://openalex.org/W6639102338","https://openalex.org/W6684945483","https://openalex.org/W6763485134","https://openalex.org/W6763676353","https://openalex.org/W6764322716","https://openalex.org/W6767109091","https://openalex.org/W6774786959","https://openalex.org/W6779586474"],"related_works":["https://openalex.org/W3176831374","https://openalex.org/W2909755049","https://openalex.org/W3048561642","https://openalex.org/W3152083889","https://openalex.org/W14993799","https://openalex.org/W2626886357","https://openalex.org/W2981440248","https://openalex.org/W2738290714","https://openalex.org/W3206580840","https://openalex.org/W2752997271","https://openalex.org/W3199510949","https://openalex.org/W2803420692","https://openalex.org/W2740096464","https://openalex.org/W2899565378","https://openalex.org/W3185929652","https://openalex.org/W3045514934","https://openalex.org/W2564734427","https://openalex.org/W3023225558","https://openalex.org/W3124372372","https://openalex.org/W2787779682"],"abstract_inverted_index":{"Underwater":[0,116],"object":[1],"detection":[2],"for":[3,161],"robot":[4],"picking":[5],"has":[6],"attracted":[7],"a":[8,57,113,120,135],"lot":[9],"of":[10,90,129,137,150,155],"interest.":[11],"However,":[12],"it":[13,28],"is":[14,82,171],"still":[15],"an":[16,70],"unsolved":[17],"problem":[18],"due":[19],"to":[20,69,86,173,177],"several":[21],"challenges.":[22,35],"We":[23],"take":[24],"steps":[25],"towards":[26],"making":[27],"more":[29,142],"realistic":[30],"by":[31],"addressing":[32],"the":[33,37,43,62,88,125,158,179],"following":[34],"Firstly,":[36],"currently":[38],"available":[39],"datasets":[40,95],"basically":[41],"lack":[42],"test":[44,59],"set":[45,60],"annotations,":[46],"causing":[47],"researchers":[48,76],"must":[49],"compare":[50,87],"their":[51],"method":[52],"with":[53,141],"other":[54,66,98],"SOTAs":[55,156],"on":[56,124],"self-divided":[58],"(from":[61],"training":[63],"set).":[64],"Training":[65],"methods":[67],"lead":[68],"increase":[71],"in":[72],"workload":[73],"and":[74,119,127,153,164],"different":[75,78,91],"divide":[77],"datasets,":[79],"resulting":[80],"there":[81],"no":[83],"unified":[84],"benchmark":[85,147],"performance":[89],"algorithms.":[92],"Secondly,":[93],"these":[94,109],"also":[96],"have":[97],"shortcomings,":[99],"e.g.,":[100],"too":[101],"many":[102],"similar":[103],"images":[104,140],"or":[105],"incomplete":[106],"labels.":[107],"Towards":[108],"challenges":[110],"we":[111],"introduce":[112],"dataset,":[114],"Detecting":[115],"Objects":[117],"(DUO),":[118],"corresponding":[121,146],"benchmark,":[122],"based":[123],"collection":[126,136],"re-annotation":[128],"all":[130],"relevant":[131],"datasets.":[132],"DUO":[133],"contains":[134],"diverse":[138],"underwater":[139],"rational":[143],"annotations.":[144],"The":[145],"provides":[148],"indicators":[149],"both":[151],"efficiency":[152],"accuracy":[154],"(under":[157],"MMDtection":[159],"framework)":[160],"academic":[162],"research":[163],"industrial":[165],"applications,":[166],"where":[167],"JETSON":[168],"AGX":[169],"XAVIER":[170],"used":[172],"assess":[174],"detector":[175],"speed":[176],"simulate":[178],"robot-embedded":[180],"environment.":[181]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}