{"id":"https://openalex.org/W3003994715","doi":"https://doi.org/10.1109/iros40897.2019.8967685","title":"GlassLoc: Plenoptic Grasp Pose Detection in Transparent Clutter","display_name":"GlassLoc: Plenoptic Grasp Pose Detection in Transparent Clutter","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W3003994715","doi":"https://doi.org/10.1109/iros40897.2019.8967685","mag":"3003994715"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8967685","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8967685","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5112373330","display_name":"Zheming Zhou","orcid":"https://orcid.org/0000-0002-7549-1778"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Zheming Zhou","raw_affiliation_strings":["Robotics Institute, University of Michigan,Department of Electrical Engineering and Computer Science,Ann Arbor,MI,USA,48109-2121","Department of Electrical Engineering and Computer Science, Robotics Institute, University of Michigan, Ann Arbor, MI, USA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, University of Michigan,Department of Electrical Engineering and Computer Science,Ann Arbor,MI,USA,48109-2121","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, Robotics Institute, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053993261","display_name":"Tianyang Pan","orcid":"https://orcid.org/0000-0002-8295-1234"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tianyang Pan","raw_affiliation_strings":["Robotics Institute, University of Michigan,Department of Electrical Engineering and Computer Science,Ann Arbor,MI,USA,48109-2121","Department of Electrical Engineering and Computer Science, Robotics Institute, University of Michigan, Ann Arbor, MI, USA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, University of Michigan,Department of Electrical Engineering and Computer Science,Ann Arbor,MI,USA,48109-2121","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, Robotics Institute, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100567494","display_name":"Shiyu Wu","orcid":null},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shiyu Wu","raw_affiliation_strings":["Robotics Institute, University of Michigan,Department of Electrical Engineering and Computer Science,Ann Arbor,MI,USA,48109-2121","Department of Electrical Engineering and Computer Science, Robotics Institute, University of Michigan, Ann Arbor, MI, USA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, University of Michigan,Department of Electrical Engineering and Computer Science,Ann Arbor,MI,USA,48109-2121","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, Robotics Institute, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103173214","display_name":"Haonan Chang","orcid":"https://orcid.org/0000-0001-5733-4536"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Haonan Chang","raw_affiliation_strings":["Robotics Institute, University of Michigan,Department of Electrical Engineering and Computer Science,Ann Arbor,MI,USA,48109-2121","Department of Electrical Engineering and Computer Science, Robotics Institute, University of Michigan, Ann Arbor, MI, USA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, University of Michigan,Department of Electrical Engineering and Computer Science,Ann Arbor,MI,USA,48109-2121","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, Robotics Institute, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071106238","display_name":"Odest Chadwicke Jenkins","orcid":"https://orcid.org/0000-0003-3750-7334"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Odest Chadwicke Jenkins","raw_affiliation_strings":["Robotics Institute, University of Michigan,Department of Electrical Engineering and Computer Science,Ann Arbor,MI,USA,48109-2121","Department of Electrical Engineering and Computer Science, Robotics Institute, University of Michigan, Ann Arbor, MI, USA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, University of Michigan,Department of Electrical Engineering and Computer Science,Ann Arbor,MI,USA,48109-2121","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, Robotics Institute, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5112373330"],"corresponding_institution_ids":["https://openalex.org/I27837315"],"apc_list":null,"apc_paid":null,"fwci":2.0169,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.87338202,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"4776","last_page":"4783"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"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":0.9998000264167786,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994999766349792,"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/T12549","display_name":"Image and Object Detection Techniques","score":0.9932000041007996,"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/clutter","display_name":"Clutter","score":0.8920219540596008},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.757693886756897},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.7515696287155151},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7248033285140991},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6798684000968933},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6059044599533081},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4937344491481781},{"id":"https://openalex.org/keywords/viewpoints","display_name":"Viewpoints","score":0.4785069525241852},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.11877298355102539}],"concepts":[{"id":"https://openalex.org/C132094186","wikidata":"https://www.wikidata.org/wiki/Q641585","display_name":"Clutter","level":3,"score":0.8920219540596008},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.757693886756897},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.7515696287155151},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7248033285140991},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6798684000968933},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6059044599533081},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4937344491481781},{"id":"https://openalex.org/C2776035091","wikidata":"https://www.wikidata.org/wiki/Q7928819","display_name":"Viewpoints","level":2,"score":0.4785069525241852},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.11877298355102539},{"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/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros40897.2019.8967685","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8967685","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.5199999809265137,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1503925285","https://openalex.org/W1577509784","https://openalex.org/W1818002383","https://openalex.org/W1892339738","https://openalex.org/W1914596733","https://openalex.org/W1977077642","https://openalex.org/W1999156278","https://openalex.org/W2006199805","https://openalex.org/W2058761328","https://openalex.org/W2063366997","https://openalex.org/W2067122986","https://openalex.org/W2076398395","https://openalex.org/W2107027687","https://openalex.org/W2112796928","https://openalex.org/W2200825767","https://openalex.org/W2205340216","https://openalex.org/W2296360731","https://openalex.org/W2297633669","https://openalex.org/W2396198684","https://openalex.org/W2561341811","https://openalex.org/W2576665611","https://openalex.org/W2594336302","https://openalex.org/W2600030077","https://openalex.org/W2605206714","https://openalex.org/W2736534894","https://openalex.org/W2809494891","https://openalex.org/W2963654160","https://openalex.org/W2963760000","https://openalex.org/W4252793817"],"related_works":["https://openalex.org/W2385368906","https://openalex.org/W2902924992","https://openalex.org/W2626642044","https://openalex.org/W2388758053","https://openalex.org/W93537448","https://openalex.org/W2619807045","https://openalex.org/W2949734191","https://openalex.org/W2017333877","https://openalex.org/W4233821346","https://openalex.org/W2282742543"],"abstract_inverted_index":{"Transparent":[0],"objects":[1,39,83,114],"are":[2,66],"prevalent":[3],"across":[4],"many":[5],"environments":[6],"of":[7,43,56,81,112,143,158],"interest":[8],"for":[9,20,30,48,77,150],"dexterous":[10],"robotic":[11],"manipulation.":[12],"Such":[13],"transparent":[14,38,82,85,113,159],"material":[15],"leads":[16],"to":[17,53,69,108],"considerable":[18],"uncertainty":[19],"robot":[21],"perception":[22],"and":[23,25,62,125,153],"manipulation,":[24],"remains":[26],"an":[27],"open":[28],"challenge":[29],"robotics.":[31],"This":[32],"problem":[33],"is":[34,51,146],"exacerbated":[35],"when":[36],"multiple":[37,120],"cluster":[40],"into":[41],"piles":[42,55],"clutter.":[44,163],"In":[45],"household":[46],"environments,":[47],"example,":[49],"it":[50],"common":[52],"encounter":[54],"glassware":[57,160],"in":[58,84,94,161],"kitchens,":[59],"dining":[60],"rooms,":[61],"reception":[63],"areas,":[64],"which":[65],"essentially":[67],"invisible":[68],"modern":[70],"robots.":[71],"We":[72,104,123],"present":[73],"the":[74,106,110,127],"GlassLoc":[75,90,128],"algorithm":[76,129,145],"grasp":[78,151],"pose":[79],"detection":[80,152],"clutter":[86],"using":[87],"plenoptic":[88,121],"sensing.":[89],"classifies":[91],"graspable":[92],"locations":[93],"space":[95,118],"informed":[96],"by":[97],"a":[98,116,131,137,156],"Depth":[99],"Likelihood":[100],"Volume":[101],"(DLV)":[102],"descriptor.":[103],"extend":[105],"DLV":[107],"infer":[109],"occupancy":[111],"over":[115],"given":[117],"from":[119],"viewpoints.":[122],"demonstrate":[124],"evaluate":[126],"on":[130],"Michigan":[132],"Progress":[133],"Fetch":[134],"mounted":[135],"with":[136,155],"first":[138],"generation":[139],"Lytro.":[140],"The":[141],"effectiveness":[142],"our":[144],"evaluated":[147],"through":[148],"experiments":[149],"execution":[154],"variety":[157],"minor":[162]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":3}],"updated_date":"2026-03-28T08:17:26.163206","created_date":"2025-10-10T00:00:00"}