{"id":"https://openalex.org/W4401414106","doi":"https://doi.org/10.1109/icra57147.2024.10611401","title":"Close the Sim2real Gap via Physically-based Structured Light Synthetic Data Simulation","display_name":"Close the Sim2real Gap via Physically-based Structured Light Synthetic Data Simulation","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401414106","doi":"https://doi.org/10.1109/icra57147.2024.10611401"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10611401","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611401","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5072526024","display_name":"Kaixin Bai","orcid":"https://orcid.org/0000-0001-8579-0547"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kaixin Bai","raw_affiliation_strings":["Universit&#x00E4;t Hamburg,TAMS (Technical Aspects of Multimodal Systems),Department of Informatics,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universit&#x00E4;t Hamburg,TAMS (Technical Aspects of Multimodal Systems),Department of Informatics,Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101887881","display_name":"Lei Zhang","orcid":"https://orcid.org/0000-0003-0757-4018"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lei Zhang","raw_affiliation_strings":["Universit&#x00E4;t Hamburg,TAMS (Technical Aspects of Multimodal Systems),Department of Informatics,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universit&#x00E4;t Hamburg,TAMS (Technical Aspects of Multimodal Systems),Department of Informatics,Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101705037","display_name":"Zhaopeng Chen","orcid":"https://orcid.org/0000-0003-0375-9146"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhaopeng Chen","raw_affiliation_strings":["Agile Robots AG,Munich,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Agile Robots AG,Munich,Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025126700","display_name":"Fang Wan","orcid":"https://orcid.org/0000-0002-8658-1197"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fang Wan","raw_affiliation_strings":["Southern University of Science and Technology,School of Design,Shenzhen,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology,School of Design,Shenzhen,China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100326967","display_name":"Jianwei Zhang","orcid":"https://orcid.org/0000-0002-5491-1745"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jianwei Zhang","raw_affiliation_strings":["Universit&#x00E4;t Hamburg,TAMS (Technical Aspects of Multimodal Systems),Department of Informatics,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universit&#x00E4;t Hamburg,TAMS (Technical Aspects of Multimodal Systems),Department of Informatics,Germany","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.4414,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.89616205,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"17035","last_page":"17041"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11159","display_name":"Manufacturing Process and Optimization","score":0.9771999716758728,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T11159","display_name":"Manufacturing Process and Optimization","score":0.9771999716758728,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T10653","display_name":"Robot Manipulation and Learning","score":0.9711999893188477,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9707000255584717,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/computer-science","display_name":"Computer science","score":0.6244925856590271},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36231324076652527},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.3516971468925476}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6244925856590271},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36231324076652527},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.3516971468925476}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10611401","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611401","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W156975732","https://openalex.org/W2050513283","https://openalex.org/W2170940415","https://openalex.org/W2569602911","https://openalex.org/W2584009249","https://openalex.org/W2605102758","https://openalex.org/W2737368828","https://openalex.org/W2739974641","https://openalex.org/W2756627269","https://openalex.org/W2767011576","https://openalex.org/W2781137302","https://openalex.org/W2908739874","https://openalex.org/W2963177347","https://openalex.org/W2963729424","https://openalex.org/W2963890451","https://openalex.org/W2964239605","https://openalex.org/W2966885779","https://openalex.org/W2979574537","https://openalex.org/W2980114566","https://openalex.org/W2982634859","https://openalex.org/W3017378934","https://openalex.org/W3056171435","https://openalex.org/W3104104643","https://openalex.org/W3117642486","https://openalex.org/W3148399088","https://openalex.org/W3185716176","https://openalex.org/W4221143455","https://openalex.org/W4285158780","https://openalex.org/W4285286311","https://openalex.org/W4287165115","https://openalex.org/W4293010063","https://openalex.org/W4317383443","https://openalex.org/W6767089867","https://openalex.org/W6781542114","https://openalex.org/W6795356393"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052","https://openalex.org/W2382290278","https://openalex.org/W4395014643"],"abstract_inverted_index":{"Despite":[0],"the":[1,95,105],"substantial":[2],"progress":[3],"in":[4,9,19,89,111],"deep":[5,100,108],"learning,":[6],"its":[7],"adoption":[8],"industrial":[10,70,90,112],"robotics":[11],"projects":[12],"remains":[13],"limited,":[14],"primarily":[15],"due":[16],"to":[17],"challenges":[18],"data":[20],"acquisition":[21],"and":[22,33,52,73,84,98],"labeling.":[23],"Previous":[24],"sim2real":[25,86,96],"approaches":[26],"using":[27],"domain":[28],"randomization":[29],"require":[30],"extensive":[31],"scene":[32],"model":[34],"optimization.":[35],"To":[36],"address":[37],"these":[38],"issues,":[39],"we":[40,103],"introduce":[41],"an":[42,64],"innovative":[43],"physically-based":[44],"structured":[45],"light":[46],"simulation":[47],"system,":[48],"generating":[49],"both":[50],"RGB":[51],"physically":[53],"realistic":[54],"depth":[55],"images,":[56],"surpassing":[57],"previous":[58],"dataset":[59,66],"generation":[60],"tools.":[61],"We":[62],"create":[63],"RGBD":[65],"tailored":[67],"for":[68],"robotic":[69,91],"grasping":[71],"scenarios":[72],"evaluate":[74],"it":[75],"across":[76],"various":[77],"tasks,":[78],"including":[79],"object":[80],"detection,":[81],"instance":[82],"segmentation,":[83],"embedding":[85],"visual":[87],"perception":[88],"grasping.":[92],"By":[93],"reducing":[94],"gap":[97],"enhancing":[99],"learning":[101,109],"training,":[102],"facilitate":[104],"application":[106],"of":[107],"models":[110],"settings.":[113],"Project":[114],"details":[115],"are":[116],"available":[117],"at":[118],"https://baikaixin-public.github.io/structured_light_3D_synthesizer/":[119]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":6}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
