{"id":"https://openalex.org/W4389665976","doi":"https://doi.org/10.1109/iros55552.2023.10342307","title":"Real-Time Simultaneous Multi-Object 3D Shape Reconstruction, 6DoF Pose Estimation and Dense Grasp Prediction","display_name":"Real-Time Simultaneous Multi-Object 3D Shape Reconstruction, 6DoF Pose Estimation and Dense Grasp Prediction","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389665976","doi":"https://doi.org/10.1109/iros55552.2023.10342307"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10342307","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10342307","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5027938306","display_name":"Shubham Agrawal","orcid":"https://orcid.org/0000-0002-0990-9785"},"institutions":[{"id":"https://openalex.org/I4210101778","display_name":"Samsung (United States)","ror":"https://ror.org/01bfbvm65","country_code":"US","type":"company","lineage":["https://openalex.org/I2250650973","https://openalex.org/I4210101778"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shubham Agrawal","raw_affiliation_strings":["Samsung AI Center,New York","Samsung AI Center, New York"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Samsung AI Center,New York","institution_ids":["https://openalex.org/I4210101778"]},{"raw_affiliation_string":"Samsung AI Center, New York","institution_ids":["https://openalex.org/I4210101778"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058244281","display_name":"Nikhil Chavan-Dafle","orcid":"https://orcid.org/0000-0002-9284-503X"},"institutions":[{"id":"https://openalex.org/I4210101778","display_name":"Samsung (United States)","ror":"https://ror.org/01bfbvm65","country_code":"US","type":"company","lineage":["https://openalex.org/I2250650973","https://openalex.org/I4210101778"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nikhil Chavan-Dafle","raw_affiliation_strings":["Samsung AI Center,New York","Samsung AI Center, New York"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Samsung AI Center,New York","institution_ids":["https://openalex.org/I4210101778"]},{"raw_affiliation_string":"Samsung AI Center, New York","institution_ids":["https://openalex.org/I4210101778"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046294532","display_name":"Isaac Kasahara","orcid":"https://orcid.org/0000-0003-3964-1465"},"institutions":[{"id":"https://openalex.org/I4210101778","display_name":"Samsung (United States)","ror":"https://ror.org/01bfbvm65","country_code":"US","type":"company","lineage":["https://openalex.org/I2250650973","https://openalex.org/I4210101778"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Isaac Kasahara","raw_affiliation_strings":["Samsung AI Center,New York","Samsung AI Center, New York"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Samsung AI Center,New York","institution_ids":["https://openalex.org/I4210101778"]},{"raw_affiliation_string":"Samsung AI Center, New York","institution_ids":["https://openalex.org/I4210101778"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071740221","display_name":"Selim Engin","orcid":null},"institutions":[{"id":"https://openalex.org/I4210101778","display_name":"Samsung (United States)","ror":"https://ror.org/01bfbvm65","country_code":"US","type":"company","lineage":["https://openalex.org/I2250650973","https://openalex.org/I4210101778"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Selim Engin","raw_affiliation_strings":["Samsung AI Center,New York","Samsung AI Center, New York"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Samsung AI Center,New York","institution_ids":["https://openalex.org/I4210101778"]},{"raw_affiliation_string":"Samsung AI Center, New York","institution_ids":["https://openalex.org/I4210101778"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000951599","display_name":"Jinwook Huh","orcid":"https://orcid.org/0000-0002-1550-6632"},"institutions":[{"id":"https://openalex.org/I4210101778","display_name":"Samsung (United States)","ror":"https://ror.org/01bfbvm65","country_code":"US","type":"company","lineage":["https://openalex.org/I2250650973","https://openalex.org/I4210101778"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jinwook Huh","raw_affiliation_strings":["Samsung AI Center,New York","Samsung AI Center, New York"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Samsung AI Center,New York","institution_ids":["https://openalex.org/I4210101778"]},{"raw_affiliation_string":"Samsung AI Center, New York","institution_ids":["https://openalex.org/I4210101778"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033839227","display_name":"Volkan Isler","orcid":"https://orcid.org/0000-0002-0868-5441"},"institutions":[{"id":"https://openalex.org/I4210101778","display_name":"Samsung (United States)","ror":"https://ror.org/01bfbvm65","country_code":"US","type":"company","lineage":["https://openalex.org/I2250650973","https://openalex.org/I4210101778"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Volkan Isler","raw_affiliation_strings":["Samsung AI Center,New York","Samsung AI Center, New York"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Samsung AI Center,New York","institution_ids":["https://openalex.org/I4210101778"]},{"raw_affiliation_string":"Samsung AI Center, New York","institution_ids":["https://openalex.org/I4210101778"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4210101778"],"apc_list":null,"apc_paid":null,"fwci":4.0914,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.95841202,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"3184","last_page":"3191"},"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9966999888420105,"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/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9950000047683716,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.9164799451828003},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7911850810050964},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7800438404083252},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7731812000274658},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.7083128690719604},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.6323590874671936},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.6237462162971497},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5720045566558838},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.5699010491371155},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.5132905840873718},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1191997230052948}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9164799451828003},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7911850810050964},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7800438404083252},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7731812000274658},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.7083128690719604},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.6323590874671936},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.6237462162971497},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5720045566558838},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.5699010491371155},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.5132905840873718},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1191997230052948},{"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/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/iros55552.2023.10342307","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10342307","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5099999904632568,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W569478347","https://openalex.org/W639708223","https://openalex.org/W1794703952","https://openalex.org/W1932888261","https://openalex.org/W2109163007","https://openalex.org/W2524140598","https://openalex.org/W2600030077","https://openalex.org/W2962737955","https://openalex.org/W2962778872","https://openalex.org/W2963150697","https://openalex.org/W2963177347","https://openalex.org/W2963188159","https://openalex.org/W2963627347","https://openalex.org/W2963892972","https://openalex.org/W2963926543","https://openalex.org/W2964239644","https://openalex.org/W2966615203","https://openalex.org/W2986303149","https://openalex.org/W3089966216","https://openalex.org/W3106763294","https://openalex.org/W3107992529","https://openalex.org/W3175388581","https://openalex.org/W3205933337","https://openalex.org/W3207187156","https://openalex.org/W4226322645","https://openalex.org/W4234552385","https://openalex.org/W4312242724","https://openalex.org/W4312266040","https://openalex.org/W4383108538","https://openalex.org/W4383108845","https://openalex.org/W4383109459","https://openalex.org/W4389665902","https://openalex.org/W4394671432","https://openalex.org/W6620707391","https://openalex.org/W6687483927","https://openalex.org/W6687484953","https://openalex.org/W6754677871","https://openalex.org/W6763422710","https://openalex.org/W6766377360","https://openalex.org/W6785308759","https://openalex.org/W6789211778"],"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/W2123347777","https://openalex.org/W4387804363","https://openalex.org/W2019547100","https://openalex.org/W2477150073","https://openalex.org/W3021551196"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,88],"present":[4],"a":[5,18,23,54],"realtime":[6],"method":[7,26,65,92],"for":[8,35],"simultaneous":[9],"object-level":[10],"scene":[11,33],"understanding":[12],"and":[13,34,53,75,85],"grasp":[14,76,86],"prediction.":[15],"Specifically,":[16],"given":[17],"single":[19],"RGBD":[20],"image":[21],"of":[22,57,63,82],"scene,":[24],"our":[25,64,91],"localizes":[27],"all":[28],"the":[29,32,40,50,98],"objects":[30],"in":[31],"each":[36],"object,":[37],"it":[38,71],"generates":[39],"following:":[41],"full":[42],"3D":[43],"shape,":[44],"scale,":[45],"pose":[46],"with":[47],"respect":[48],"to":[49,97],"camera":[51],"frame,":[52],"dense":[55],"set":[56],"feasible":[58],"grasps.":[59],"The":[60],"main":[61],"advantage":[62],"is":[66],"its":[67],"computation":[68],"speed":[69],"as":[70],"avoids":[72],"sequential":[73],"perception":[74],"planning.":[77],"With":[78],"detailed":[79],"quantitative":[80],"analysis":[81],"reconstruction":[83],"quality":[84],"accuracy,":[87],"show":[89],"that":[90],"delivers":[93],"competitive":[94],"performance":[95],"compared":[96],"state-of-the-art":[99],"methods,":[100],"while":[101],"providing":[102],"fast":[103],"inference":[104],"at":[105],"30":[106],"frames":[107],"per":[108],"second":[109],"speed.":[110]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}