{"id":"https://openalex.org/W4405786644","doi":"https://doi.org/10.1109/iros58592.2024.10802546","title":"Coarse-to-Fine Detection of Multiple Seams for Robotic Welding","display_name":"Coarse-to-Fine Detection of Multiple Seams for Robotic Welding","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405786644","doi":"https://doi.org/10.1109/iros58592.2024.10802546"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802546","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802546","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5110485036","display_name":"Pengkun Wei","orcid":null},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Pengkun Wei","raw_affiliation_strings":["Shandong University,School of Control Science and Engineering,Jinan,China,250061"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shandong University,School of Control Science and Engineering,Jinan,China,250061","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002433695","display_name":"Shuo Cheng","orcid":"https://orcid.org/0000-0002-4477-9875"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuo Cheng","raw_affiliation_strings":["Shandong University,School of Control Science and Engineering,Jinan,China,250061"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shandong University,School of Control Science and Engineering,Jinan,China,250061","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086871465","display_name":"Dayou Li","orcid":null},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dayou Li","raw_affiliation_strings":["Shandong University,School of Control Science and Engineering,Jinan,China,250061"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shandong University,School of Control Science and Engineering,Jinan,China,250061","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047100124","display_name":"Ran Song","orcid":"https://orcid.org/0000-0002-1344-4415"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ran Song","raw_affiliation_strings":["Shandong University,School of Control Science and Engineering,Jinan,China,250061"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shandong University,School of Control Science and Engineering,Jinan,China,250061","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100730686","display_name":"Yipeng Zhang","orcid":"https://orcid.org/0000-0003-0309-2265"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yipeng Zhang","raw_affiliation_strings":["University of California,Department of Electrical and Computer Engineering,Los Angeles,CA,United States of America"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California,Department of Electrical and Computer Engineering,Los Angeles,CA,United States of America","institution_ids":["https://openalex.org/I161318765"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100441781","display_name":"Wei Zhang","orcid":"https://orcid.org/0000-0003-3094-9711"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Zhang","raw_affiliation_strings":["Shandong University,School of Control Science and Engineering,Jinan,China,250061"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shandong University,School of Control Science and Engineering,Jinan,China,250061","institution_ids":["https://openalex.org/I154099455"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.7458,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.6815344,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"7138","last_page":"7144"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10834","display_name":"Welding Techniques and Residual Stresses","score":0.9987000226974487,"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"}},"topics":[{"id":"https://openalex.org/T10834","display_name":"Welding Techniques and Residual Stresses","score":0.9987000226974487,"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"}},{"id":"https://openalex.org/T12111","display_name":"Industrial Vision Systems and Defect Detection","score":0.9782999753952026,"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/T10705","display_name":"Additive Manufacturing Materials and Processes","score":0.9718999862670898,"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":0.5545434951782227},{"id":"https://openalex.org/keywords/welding","display_name":"Welding","score":0.4738505184650421},{"id":"https://openalex.org/keywords/mining-engineering","display_name":"Mining engineering","score":0.3310587406158447},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.2981436252593994},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19212767481803894},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.10138300061225891}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5545434951782227},{"id":"https://openalex.org/C19474535","wikidata":"https://www.wikidata.org/wiki/Q131172","display_name":"Welding","level":2,"score":0.4738505184650421},{"id":"https://openalex.org/C16674752","wikidata":"https://www.wikidata.org/wiki/Q1370637","display_name":"Mining engineering","level":1,"score":0.3310587406158447},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.2981436252593994},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19212767481803894},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.10138300061225891}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10802546","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802546","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.49000000953674316,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335581","display_name":"Young Scientists Fund","ror":null},{"id":"https://openalex.org/F4320337504","display_name":"Research and Development","ror":"https://ror.org/027s68j25"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W2061641694","https://openalex.org/W2078615653","https://openalex.org/W2605648900","https://openalex.org/W2911923560","https://openalex.org/W2919002236","https://openalex.org/W2947613466","https://openalex.org/W3003906226","https://openalex.org/W3044115425","https://openalex.org/W3084533396","https://openalex.org/W3150937970","https://openalex.org/W3193802927","https://openalex.org/W3207618800","https://openalex.org/W4283457795","https://openalex.org/W4292984517","https://openalex.org/W4312693801","https://openalex.org/W4313054244","https://openalex.org/W4313593953","https://openalex.org/W4318832642","https://openalex.org/W4323767275","https://openalex.org/W4386065943","https://openalex.org/W4390874575"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"Efficiently":[0],"detecting":[1],"target":[2],"weld":[3,55,81,96,139],"seams":[4,34,56,97],"while":[5],"ensuring":[6],"sub-millimeter":[7],"accuracy":[8],"has":[9,19],"always":[10],"been":[11],"an":[12],"important":[13],"challenge":[14],"in":[15,22,42,144],"autonomous":[16],"welding,":[17],"which":[18],"significant":[20],"application":[21],"industrial":[23,155],"practice.":[24],"Previous":[25],"works":[26],"mostly":[27],"focused":[28],"on":[29,131],"recognizing":[30],"and":[31,62,83,122,137,161],"localizing":[32,79],"welding":[33],"one":[35],"by":[36,77,111],"one,":[37],"leading":[38],"to":[39,71,89,118],"inferior":[40],"efficiency":[41,121,160],"modeling":[43],"the":[44,73,80,84,91,95,99,158,165],"workpiece.":[45],"This":[46],"paper":[47],"proposes":[48],"a":[49,113],"novel":[50],"framework":[51],"capable":[52],"of":[53,75,94,101,164],"multiple":[54],"extraction":[57,93],"using":[58,103,112],"both":[59,120,135],"RGB":[60,67],"images":[61],"3D":[63],"point":[64,85],"clouds.":[65],"The":[66,125,148],"image":[68],"is":[69,87,108],"used":[70,88],"obtain":[72],"region":[74,100,104],"interest":[76,102],"approximately":[78],"seams,":[82,140],"cloud":[86],"achieve":[90],"fine-edge":[92],"within":[98],"growth.":[105],"Our":[106],"method":[107,127],"further":[109],"accelerated":[110],"pre-trained":[114],"deep":[115],"learning":[116],"model":[117],"ensure":[119],"generalization":[123],"ability.":[124],"proposed":[126],"was":[128],"comprehensively":[129],"tested":[130],"various":[132],"workpieces":[133],"featuring":[134],"linear":[136],"curved":[138],"as":[141,143],"well":[142],"physical":[145],"experiment":[146],"systems.":[147],"results":[149],"showcase":[150],"considerable":[151],"potential":[152],"for":[153],"real-world":[154,166],"applications,":[156],"emphasizing":[157],"method\u2019s":[159],"effectiveness.":[162],"Videos":[163],"experiments":[167],"can":[168],"be":[169],"found":[170],"at":[171],"https://youtu.be/pq162HSP2D4.":[172]},"counts_by_year":[{"year":2025,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
