{"id":"https://openalex.org/W2967869116","doi":"https://doi.org/10.1109/icra.2019.8793751","title":"Object Detection Approach for Robot Grasp Detection","display_name":"Object Detection Approach for Robot Grasp Detection","publication_year":2019,"publication_date":"2019-05-01","ids":{"openalex":"https://openalex.org/W2967869116","doi":"https://doi.org/10.1109/icra.2019.8793751","mag":"2967869116"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2019.8793751","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8793751","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","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/A5000623134","display_name":"Hakan Karao\u011fuz","orcid":"https://orcid.org/0000-0001-6671-9366"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Hakan Karaoguz","raw_affiliation_strings":["School of Electrical Engineering and Computer Science, Royal Institute of Technology KTH, SE-10044 Stockholm, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Computer Science, Royal Institute of Technology KTH, SE-10044 Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028082686","display_name":"Patric Jensfelt","orcid":"https://orcid.org/0000-0002-1170-7162"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Patric Jensfelt","raw_affiliation_strings":["School of Electrical Engineering and Computer Science, Royal Institute of Technology KTH, SE-10044 Stockholm, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Computer Science, Royal Institute of Technology KTH, SE-10044 Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I86987016"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":124,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4953","last_page":"4959"},"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9909999966621399,"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":0.9814000129699707,"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/grippers","display_name":"Grippers","score":0.8413493633270264},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.8113360404968262},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.8053103089332581},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7840401530265808},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.7356435060501099},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.7031568288803101},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.6693319082260132},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.66813063621521},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6578946113586426},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.591467022895813},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5405946969985962},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5205289125442505},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.4400699734687805},{"id":"https://openalex.org/keywords/transfer-of-learning","display_name":"Transfer of learning","score":0.43031007051467896},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.42863720655441284},{"id":"https://openalex.org/keywords/cognitive-neuroscience-of-visual-object-recognition","display_name":"Cognitive neuroscience of visual object recognition","score":0.41718822717666626},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.2883252501487732},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1384040117263794}],"concepts":[{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.8413493633270264},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8113360404968262},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8053103089332581},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7840401530265808},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.7356435060501099},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.7031568288803101},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.6693319082260132},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.66813063621521},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6578946113586426},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.591467022895813},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5405946969985962},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5205289125442505},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.4400699734687805},{"id":"https://openalex.org/C150899416","wikidata":"https://www.wikidata.org/wiki/Q1820378","display_name":"Transfer of learning","level":2,"score":0.43031007051467896},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.42863720655441284},{"id":"https://openalex.org/C64876066","wikidata":"https://www.wikidata.org/wiki/Q5141226","display_name":"Cognitive neuroscience of visual object recognition","level":3,"score":0.41718822717666626},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.2883252501487732},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1384040117263794},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"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/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2019.8793751","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8793751","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.7200000286102295,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W639708223","https://openalex.org/W1892339738","https://openalex.org/W1981667747","https://openalex.org/W1999156278","https://openalex.org/W2036637075","https://openalex.org/W2041376653","https://openalex.org/W2068127265","https://openalex.org/W2085949256","https://openalex.org/W2087379739","https://openalex.org/W2123435073","https://openalex.org/W2165698076","https://openalex.org/W2407521645","https://openalex.org/W2565639579","https://openalex.org/W2570343428","https://openalex.org/W2588205874","https://openalex.org/W2593539516","https://openalex.org/W2600030077","https://openalex.org/W2601066903","https://openalex.org/W2613718673","https://openalex.org/W2805051407","https://openalex.org/W2950800384","https://openalex.org/W2963326767","https://openalex.org/W3106228955","https://openalex.org/W3112422759","https://openalex.org/W3121991631","https://openalex.org/W6620707391","https://openalex.org/W6714138976","https://openalex.org/W6733165533","https://openalex.org/W6735544697"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W2743859443","https://openalex.org/W2326995835","https://openalex.org/W165915117","https://openalex.org/W2059402478","https://openalex.org/W4312985843","https://openalex.org/W2583647647","https://openalex.org/W2613999385","https://openalex.org/W4210583734","https://openalex.org/W3159512259"],"abstract_inverted_index":{"In":[0,26],"this":[1,17],"paper,":[2],"we":[3,19,41],"focus":[4],"on":[5,74,83],"the":[6,30,61,70],"robot":[7,86],"grasping":[8,32,81],"problem":[9],"with":[10,69],"parallel":[11,36],"grippers":[12],"using":[13],"image":[14],"data.":[15],"For":[16],"task,":[18],"propose":[20],"and":[21],"implement":[22],"an":[23],"end-to-end":[24],"approach.":[25],"order":[27],"to":[28,88],"detect":[29],"good":[31],"poses":[33],"for":[34,46],"a":[35,47,75,84],"gripper":[37],"from":[38],"RGB":[39],"images,":[40],"have":[42],"employed":[43],"transfer":[44],"learning":[45],"Convolutional":[48],"Neural":[49],"Network":[50],"(CNN)":[51],"based":[52],"object":[53],"detection":[54],"architecture.":[55],"Our":[56],"obtained":[57],"results":[58],"show":[59],"that,":[60],"adapted":[62],"network":[63],"either":[64],"outperforms":[65],"or":[66],"is":[67],"on-par":[68],"state-of-the":[71],"art":[72],"methods":[73],"benchmark":[76],"dataset.":[77],"We":[78],"also":[79],"performed":[80],"experiments":[82],"real":[85,92],"platform":[87],"evaluate":[89],"our":[90],"method's":[91],"world":[93],"performance.":[94]},"counts_by_year":[{"year":2025,"cited_by_count":21},{"year":2024,"cited_by_count":21},{"year":2023,"cited_by_count":30},{"year":2022,"cited_by_count":24},{"year":2021,"cited_by_count":17},{"year":2020,"cited_by_count":10},{"year":2019,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}