{"id":"https://openalex.org/W4386248617","doi":"https://doi.org/10.1109/icsse58758.2023.10227244","title":"A Real-time Affordance-based Object Pose Estimation Approach for Robotic Grasp Pose Estimation","display_name":"A Real-time Affordance-based Object Pose Estimation Approach for Robotic Grasp Pose Estimation","publication_year":2023,"publication_date":"2023-07-27","ids":{"openalex":"https://openalex.org/W4386248617","doi":"https://doi.org/10.1109/icsse58758.2023.10227244"},"language":"en","primary_location":{"id":"doi:10.1109/icsse58758.2023.10227244","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icsse58758.2023.10227244","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 International Conference on System Science and Engineering (ICSSE)","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/A5024924300","display_name":"Shang-Wen Wong","orcid":"https://orcid.org/0000-0002-5123-2333"},"institutions":[{"id":"https://openalex.org/I107470533","display_name":"Tamkang University","ror":"https://ror.org/04tft4718","country_code":"TW","type":"education","lineage":["https://openalex.org/I107470533"]}],"countries":["TW"],"is_corresponding":true,"raw_author_name":"Shang-Wen Wong","raw_affiliation_strings":["Tamkang University,Doctoral Program in Robotics College of Engineering,New Taipei City,Taiwan","Doctoral Program in Robotics College of Engineering, Tamkang University, New Taipei City, Taiwan"],"affiliations":[{"raw_affiliation_string":"Tamkang University,Doctoral Program in Robotics College of Engineering,New Taipei City,Taiwan","institution_ids":["https://openalex.org/I107470533"]},{"raw_affiliation_string":"Doctoral Program in Robotics College of Engineering, Tamkang University, New Taipei City, Taiwan","institution_ids":["https://openalex.org/I107470533"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072071779","display_name":"Yu\u2010Chen Chiu","orcid":"https://orcid.org/0000-0002-0129-8609"},"institutions":[{"id":"https://openalex.org/I107470533","display_name":"Tamkang University","ror":"https://ror.org/04tft4718","country_code":"TW","type":"education","lineage":["https://openalex.org/I107470533"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Yu-Chen Chiu","raw_affiliation_strings":["Tamkang University,Doctoral Program in Robotics College of Engineering,New Taipei City,Taiwan","Doctoral Program in Robotics College of Engineering, Tamkang University, New Taipei City, Taiwan"],"affiliations":[{"raw_affiliation_string":"Tamkang University,Doctoral Program in Robotics College of Engineering,New Taipei City,Taiwan","institution_ids":["https://openalex.org/I107470533"]},{"raw_affiliation_string":"Doctoral Program in Robotics College of Engineering, Tamkang University, New Taipei City, Taiwan","institution_ids":["https://openalex.org/I107470533"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032965319","display_name":"Chi\u2010Yi Tsai","orcid":"https://orcid.org/0000-0001-9872-4338"},"institutions":[{"id":"https://openalex.org/I107470533","display_name":"Tamkang University","ror":"https://ror.org/04tft4718","country_code":"TW","type":"education","lineage":["https://openalex.org/I107470533"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Chi-Yi Tsai","raw_affiliation_strings":["Tamkang University,Department of Electrical and Computer Engineering,New Taipei City,Taiwan","Department of Electrical and Computer Engineering, Tamkang University, New Taipei City, Taiwan"],"affiliations":[{"raw_affiliation_string":"Tamkang University,Department of Electrical and Computer Engineering,New Taipei City,Taiwan","institution_ids":["https://openalex.org/I107470533"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Tamkang University, New Taipei City, Taiwan","institution_ids":["https://openalex.org/I107470533"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5024924300"],"corresponding_institution_ids":["https://openalex.org/I107470533"],"apc_list":null,"apc_paid":null,"fwci":0.7285,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.70863698,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"614","last_page":"619"},"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":0.9891999959945679,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9836000204086304,"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/grasp","display_name":"GRASP","score":0.8983839750289917},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.8584294319152832},{"id":"https://openalex.org/keywords/affordance","display_name":"Affordance","score":0.8330612182617188},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7469960451126099},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7239825129508972},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6526163816452026},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6345033049583435},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5871568918228149},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.5730531811714172},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.4831256568431854},{"id":"https://openalex.org/keywords/3d-pose-estimation","display_name":"3D pose estimation","score":0.4343385100364685},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.42471885681152344},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.10883933305740356}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8983839750289917},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.8584294319152832},{"id":"https://openalex.org/C194995250","wikidata":"https://www.wikidata.org/wiki/Q531136","display_name":"Affordance","level":2,"score":0.8330612182617188},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7469960451126099},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7239825129508972},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6526163816452026},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6345033049583435},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5871568918228149},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.5730531811714172},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.4831256568431854},{"id":"https://openalex.org/C36613465","wikidata":"https://www.wikidata.org/wiki/Q4636322","display_name":"3D pose estimation","level":3,"score":0.4343385100364685},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.42471885681152344},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.10883933305740356},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icsse58758.2023.10227244","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icsse58758.2023.10227244","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 International Conference on System Science and Engineering (ICSSE)","raw_type":"proceedings-article"},{"id":"pmh:oai:tkuir.lib.tku.edu.tw:987654321/125442","is_oa":false,"landing_page_url":"https://tkuir.lib.tku.edu.tw/dspace/handle/987654321/125442","pdf_url":null,"source":{"id":"https://openalex.org/S4406922698","display_name":"Tamkang University Institutional Repository (TKUIR)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"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":null}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Decent work and economic growth","id":"https://metadata.un.org/sdg/8","score":0.4399999976158142}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322108","display_name":"Ministry of Science and Technology","ror":"https://ror.org/032e49973"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W2883780447","https://openalex.org/W2970710335","https://openalex.org/W3136875090","https://openalex.org/W4212865285","https://openalex.org/W4226225308","https://openalex.org/W4226413077","https://openalex.org/W4285102193","https://openalex.org/W4285149223","https://openalex.org/W4317877808","https://openalex.org/W4380450805","https://openalex.org/W6753767121","https://openalex.org/W6850458218"],"related_works":["https://openalex.org/W3014080459","https://openalex.org/W4386875794","https://openalex.org/W2951631158","https://openalex.org/W4288313544","https://openalex.org/W2976611405","https://openalex.org/W3021551196","https://openalex.org/W4253893311","https://openalex.org/W3089306886","https://openalex.org/W2113785214","https://openalex.org/W2798721181"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,12,66,92],"pose":[4,37,41,54,60],"estimation":[5,55,61],"system":[6,23,50,62,76],"for":[7],"robot":[8],"grasping":[9,98],"based":[10],"on":[11,44,65],"novel":[13],"Object":[14],"Affordance":[15],"Detection":[16],"and":[17,81,87],"Segmentation":[18],"(OADS)":[19],"network.":[20],"The":[21,57],"proposed":[22,49,58,75],"consists":[24],"of":[25],"four":[26],"modules:":[27],"(1)":[28],"OADS":[29,46],"network;":[30],"(2)":[31],"point":[32],"cloud":[33],"extraction;":[34],"(3)":[35],"object":[36,53,97],"estimation;":[38],"(4)":[39],"grasp":[40,59],"estimation.":[42],"Based":[43],"the":[45,48,74],"network,":[47],"achieves":[51,77],"affordance-based":[52],"results.":[56],"is":[63],"evaluated":[64],"laboratory-made":[67],"dual-arm":[68,102],"robot.":[69,103],"Experimental":[70],"results":[71],"show":[72],"that":[73],"high":[78,82,93],"detection":[79,86],"rate":[80,95],"accuracy":[83],"in":[84,96],"affordance":[85],"segmentation":[88],"tasks,":[89],"leading":[90],"to":[91],"success":[94],"tasks":[99],"with":[100],"lab-made":[101]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
