{"id":"https://openalex.org/W4383108845","doi":"https://doi.org/10.1109/icra48891.2023.10160779","title":"MonoGraspNet: 6-DoF Grasping with a Single RGB Image","display_name":"MonoGraspNet: 6-DoF Grasping with a Single RGB Image","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383108845","doi":"https://doi.org/10.1109/icra48891.2023.10160779"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160779","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160779","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","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/A5055662103","display_name":"Guangyao Zhai","orcid":"https://orcid.org/0000-0002-1527-5387"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Guangyao Zhai","raw_affiliation_strings":["Technical University of Munich (TUM),Munich,Germany","Technical University of Munich (TUM), Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich (TUM),Munich,Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Technical University of Munich (TUM), Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102782165","display_name":"Dianye Huang","orcid":"https://orcid.org/0000-0001-7719-6505"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dianye Huang","raw_affiliation_strings":["Technical University of Munich (TUM),Munich,Germany","Technical University of Munich (TUM), Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich (TUM),Munich,Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Technical University of Munich (TUM), Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043978423","display_name":"Shun\u2010Cheng Wu","orcid":"https://orcid.org/0000-0003-4219-3413"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Shun-Cheng Wu","raw_affiliation_strings":["Technical University of Munich (TUM),Munich,Germany","Technical University of Munich (TUM), Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich (TUM),Munich,Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Technical University of Munich (TUM), Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030648992","display_name":"Hyunjun Jung","orcid":"https://orcid.org/0000-0002-6717-1395"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"HyunJun Jung","raw_affiliation_strings":["Technical University of Munich (TUM),Munich,Germany","Technical University of Munich (TUM), Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich (TUM),Munich,Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Technical University of Munich (TUM), Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017575531","display_name":"Yan Di","orcid":"https://orcid.org/0000-0003-0671-8323"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Yan Di","raw_affiliation_strings":["Technical University of Munich (TUM),Munich,Germany","Technical University of Munich (TUM), Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich (TUM),Munich,Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Technical University of Munich (TUM), Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006401089","display_name":"Fabian Manhardt","orcid":"https://orcid.org/0000-0002-4577-4590"},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Fabian Manhardt","raw_affiliation_strings":["Google"],"affiliations":[{"raw_affiliation_string":"Google","institution_ids":["https://openalex.org/I1291425158"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041092666","display_name":"Federico Tombari","orcid":"https://orcid.org/0000-0001-5598-5212"},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]},{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"Federico Tombari","raw_affiliation_strings":["Technical University of Munich (TUM),Munich,Germany","Technical University of Munich (TUM), Munich, Germany","Google"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich (TUM),Munich,Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Technical University of Munich (TUM), Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Google","institution_ids":["https://openalex.org/I1291425158"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046896448","display_name":"Nassir Navab","orcid":"https://orcid.org/0000-0002-6032-5611"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]},{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"Nassir Navab","raw_affiliation_strings":["Technical University of Munich (TUM),Munich,Germany","Johns Hopkins University, Baltimore, MD, USA","Technical University of Munich (TUM), Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich (TUM),Munich,Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]},{"raw_affiliation_string":"Technical University of Munich (TUM), Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067135033","display_name":"Benjamin Busam","orcid":"https://orcid.org/0000-0002-0620-5774"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Benjamin Busam","raw_affiliation_strings":["Technical University of Munich (TUM),Munich,Germany","Technical University of Munich (TUM), Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich (TUM),Munich,Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Technical University of Munich (TUM), Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5055662103"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":7.5042,"has_fulltext":false,"cited_by_count":40,"citation_normalized_percentile":{"value":0.97922702,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"1708","last_page":"1714"},"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/T10868","display_name":"Soft Robotics and Applications","score":0.9947999715805054,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9861999750137329,"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/computer-science","display_name":"Computer science","score":0.7620465755462646},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7583276629447937},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7539927363395691},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.6310799717903137},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6067565083503723},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.5980412364006042},{"id":"https://openalex.org/keywords/bottleneck","display_name":"Bottleneck","score":0.5829165577888489},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5397833585739136},{"id":"https://openalex.org/keywords/margin","display_name":"Margin (machine learning)","score":0.5328733325004578},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.5180482864379883}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7620465755462646},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7583276629447937},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7539927363395691},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.6310799717903137},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6067565083503723},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.5980412364006042},{"id":"https://openalex.org/C2780513914","wikidata":"https://www.wikidata.org/wiki/Q18210350","display_name":"Bottleneck","level":2,"score":0.5829165577888489},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5397833585739136},{"id":"https://openalex.org/C774472","wikidata":"https://www.wikidata.org/wiki/Q6760393","display_name":"Margin (machine learning)","level":2,"score":0.5328733325004578},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.5180482864379883},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10160779","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160779","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":63,"referenced_works":["https://openalex.org/W1892339738","https://openalex.org/W2014755626","https://openalex.org/W2145083468","https://openalex.org/W2194775991","https://openalex.org/W2415243675","https://openalex.org/W2560609797","https://openalex.org/W2600030077","https://openalex.org/W2736762515","https://openalex.org/W2808521881","https://openalex.org/W2889969363","https://openalex.org/W2910976650","https://openalex.org/W2953106684","https://openalex.org/W2962736495","https://openalex.org/W2962821282","https://openalex.org/W2962875890","https://openalex.org/W2963037989","https://openalex.org/W2963121255","https://openalex.org/W2963150697","https://openalex.org/W2963323244","https://openalex.org/W2963326767","https://openalex.org/W2964241181","https://openalex.org/W2967068439","https://openalex.org/W2986303149","https://openalex.org/W2989604896","https://openalex.org/W3012573144","https://openalex.org/W3035198432","https://openalex.org/W3046136908","https://openalex.org/W3046754488","https://openalex.org/W3089874271","https://openalex.org/W3100922749","https://openalex.org/W3109023522","https://openalex.org/W3123293341","https://openalex.org/W3138516171","https://openalex.org/W3140402894","https://openalex.org/W3169622581","https://openalex.org/W3188579662","https://openalex.org/W3199238138","https://openalex.org/W3206683563","https://openalex.org/W3207187156","https://openalex.org/W3207349876","https://openalex.org/W3213974477","https://openalex.org/W4221155972","https://openalex.org/W4225807319","https://openalex.org/W4226032963","https://openalex.org/W4280589974","https://openalex.org/W4285190019","https://openalex.org/W4285219362","https://openalex.org/W4285505176","https://openalex.org/W4312973344","https://openalex.org/W6620707391","https://openalex.org/W6639569854","https://openalex.org/W6654288877","https://openalex.org/W6715635355","https://openalex.org/W6730898093","https://openalex.org/W6739778489","https://openalex.org/W6753494528","https://openalex.org/W6763422710","https://openalex.org/W6781542114","https://openalex.org/W6783508354","https://openalex.org/W6789211778","https://openalex.org/W6810227511","https://openalex.org/W6839728850","https://openalex.org/W6921724737"],"related_works":["https://openalex.org/W1657880117","https://openalex.org/W2163296013","https://openalex.org/W2595172197","https://openalex.org/W165915117","https://openalex.org/W2326995835","https://openalex.org/W2743859443","https://openalex.org/W2059402478","https://openalex.org/W2123347777","https://openalex.org/W2127970246","https://openalex.org/W4387804363"],"abstract_inverted_index":{"6-DoF":[0,82,119],"robotic":[1,174],"grasping":[2,18,83,97,120,134,136,154,167,183,201],"is":[3],"a":[4,109,113,163,181],"long-lasting":[5],"but":[6,29],"un-solved":[7],"problem.":[8],"Recent":[9],"methods":[10],"utilize":[11],"strong":[12],"3D":[13],"networks":[14],"to":[15,59,71,92,116],"extract":[16],"geometric":[17],"representations":[19],"from":[20],"depth":[21,57,75],"sensors,":[22],"demonstrating":[23],"superior":[24],"accuracy":[25],"on":[26,32],"common":[27,155],"objects":[28,37,52,156],"performing":[30],"unsatisfactorily":[31],"photometrically":[33,104,168],"challenging":[34,105,169],"objects,":[35],"e.g.,":[36],"in":[38,46,69,142,153,166,185],"transparent":[39],"or":[40,62],"reflective":[41],"materials.":[42],"The":[43],"bottleneck":[44],"lies":[45],"that":[47,87,146],"the":[48,60,73,79,100,118,159,186],"surface":[49],"of":[50,64,193],"these":[51],"can":[53,149],"not":[54],"reflect":[55],"accurate":[56,200],"due":[58],"absorption":[61],"refraction":[63],"light.":[65],"In":[66],"this":[67],"paper,":[68],"contrast":[70],"exploiting":[72],"inaccurate":[74],"data,":[76],"we":[77,177],"propose":[78],"first":[80],"RGB-only":[81],"pipeline":[84],"called":[85],"MonoGraspNet":[86,107],"utilizes":[88],"stable":[89],"2D":[90,129],"features":[91],"simultaneously":[93],"handle":[94],"arbitrary":[95],"object":[96],"and":[98,112,138,157,179],"overcome":[99],"problems":[101],"induced":[102],"by":[103,123,162],"objects.":[106,170],"leverages":[108],"keypoint":[110],"heatmap":[111],"normal":[114],"map":[115],"recover":[117],"poses":[121],"represented":[122],"our":[124,147],"novel":[125],"representation":[126],"parameterized":[127],"with":[128,131,197],"keypoints":[130],"corresponding":[132],"depth,":[133],"direction,":[135],"width,":[137],"angle.":[139],"Extensive":[140],"experiments":[141],"real":[143,187],"scenes":[144],"demonstrate":[145],"method":[148],"achieve":[150],"competitive":[151],"results":[152],"surpass":[158],"depth-based":[160],"competitor":[161],"large":[164],"margin":[165],"To":[171],"further":[172],"stimulate":[173],"manipulation":[175],"research,":[176],"annotate":[178],"open-source":[180],"multi-view":[182],"dataset":[184],"world":[188],"containing":[189],"44":[190],"sequence":[191],"collections":[192],"mixed":[194],"photometric":[195],"complexity":[196],"nearly":[198],"20M":[199],"labels.":[202]},"counts_by_year":[{"year":2025,"cited_by_count":17},{"year":2024,"cited_by_count":13},{"year":2023,"cited_by_count":10}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
