{"id":"https://openalex.org/W4210922806","doi":"https://doi.org/10.1109/lra.2022.3149026","title":"A Sim-to-Real Object Recognition and Localization Framework for Industrial Robotic Bin Picking","display_name":"A Sim-to-Real Object Recognition and Localization Framework for Industrial Robotic Bin Picking","publication_year":2022,"publication_date":"2022-02-07","ids":{"openalex":"https://openalex.org/W4210922806","doi":"https://doi.org/10.1109/lra.2022.3149026"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3149026","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3149026","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5101763340","display_name":"Xianzhi Li","orcid":"https://orcid.org/0000-0002-0231-720X"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":true,"raw_author_name":"Xianzhi Li","raw_affiliation_strings":["Department of Computer Science and Engineering, The Chinese University of Hong Kong, Hong kong"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, The Chinese University of Hong Kong, Hong kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101558896","display_name":"Rui Cao","orcid":"https://orcid.org/0000-0001-5657-7325"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Rui Cao","raw_affiliation_strings":["Department of Computer Science and Engineering, The Chinese University of Hong Kong, Hong kong"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, The Chinese University of Hong Kong, Hong kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041884779","display_name":"Yidan Feng","orcid":"https://orcid.org/0000-0001-7208-0458"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yidan Feng","raw_affiliation_strings":["Department of Computer Science and Engineering, The Chinese University of Hong Kong, Hong kong"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, The Chinese University of Hong Kong, Hong kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100437922","display_name":"Kai Chen","orcid":"https://orcid.org/0000-0001-5727-385X"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Kai Chen","raw_affiliation_strings":["Department of Computer Science and Engineering, The Chinese University of Hong Kong, Hong kong"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, The Chinese University of Hong Kong, Hong kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079414852","display_name":"Biqi Yang","orcid":"https://orcid.org/0009-0007-5956-7350"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Biqi Yang","raw_affiliation_strings":["Department of Computer Science and Engineering, The Chinese University of Hong Kong, Hong kong"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, The Chinese University of Hong Kong, Hong kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054382056","display_name":"Chi\u2010Wing Fu","orcid":"https://orcid.org/0000-0002-5238-593X"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Chi-Wing Fu","raw_affiliation_strings":["Department of Computer Science and Engineering, The Chinese University of Hong Kong, Hong kong"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, The Chinese University of Hong Kong, Hong kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101587408","display_name":"Yichuan Li","orcid":"https://orcid.org/0000-0001-8473-5378"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yichuan Li","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong kong"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090516040","display_name":"Qi Dou","orcid":"https://orcid.org/0000-0002-3416-9950"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Qi Dou","raw_affiliation_strings":["Department of Computer Science and Engineering, The Chinese University of Hong Kong, Hong kong"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, The Chinese University of Hong Kong, Hong kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100707660","display_name":"Yunhui Liu","orcid":"https://orcid.org/0000-0002-3625-6679"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yun-Hui Liu","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong kong"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032708386","display_name":"Pheng\u2010Ann Heng","orcid":"https://orcid.org/0000-0003-3055-5034"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Pheng-Ann Heng","raw_affiliation_strings":["Department of Computer Science and Engineering, The Chinese University of Hong Kong, Hong kong"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, The Chinese University of Hong Kong, Hong kong","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":10,"corresponding_author_ids":["https://openalex.org/A5101763340"],"corresponding_institution_ids":["https://openalex.org/I177725633"],"apc_list":null,"apc_paid":null,"fwci":6.0614,"has_fulltext":false,"cited_by_count":51,"citation_normalized_percentile":{"value":0.97052879,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"7","issue":"2","first_page":"3961","last_page":"3968"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9957000017166138,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9861999750137329,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.7495531439781189},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.7162432074546814},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7122847437858582},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6136040687561035},{"id":"https://openalex.org/keywords/bin","display_name":"Bin","score":0.5853777527809143},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5129875540733337},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.5078402161598206},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.4952971041202545},{"id":"https://openalex.org/keywords/synthetic-data","display_name":"Synthetic data","score":0.4716709554195404},{"id":"https://openalex.org/keywords/cognitive-neuroscience-of-visual-object-recognition","display_name":"Cognitive neuroscience of visual object recognition","score":0.4286867082118988},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.36836421489715576},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.33922260999679565},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.08306971192359924}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7495531439781189},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.7162432074546814},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7122847437858582},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6136040687561035},{"id":"https://openalex.org/C156273044","wikidata":"https://www.wikidata.org/wiki/Q4913766","display_name":"Bin","level":2,"score":0.5853777527809143},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5129875540733337},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.5078402161598206},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.4952971041202545},{"id":"https://openalex.org/C160920958","wikidata":"https://www.wikidata.org/wiki/Q7662746","display_name":"Synthetic data","level":2,"score":0.4716709554195404},{"id":"https://openalex.org/C64876066","wikidata":"https://www.wikidata.org/wiki/Q5141226","display_name":"Cognitive neuroscience of visual object recognition","level":3,"score":0.4286867082118988},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.36836421489715576},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.33922260999679565},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.08306971192359924},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2022.3149026","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3149026","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6100000143051147,"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":50,"referenced_works":["https://openalex.org/W69354350","https://openalex.org/W132147841","https://openalex.org/W1574474051","https://openalex.org/W1677409904","https://openalex.org/W1909903157","https://openalex.org/W1968129666","https://openalex.org/W1969805947","https://openalex.org/W1969868017","https://openalex.org/W2050966058","https://openalex.org/W2058761328","https://openalex.org/W2077416582","https://openalex.org/W2101199297","https://openalex.org/W2125337786","https://openalex.org/W2128017662","https://openalex.org/W2147009927","https://openalex.org/W2151103935","https://openalex.org/W2160754664","https://openalex.org/W2161168419","https://openalex.org/W2162601563","https://openalex.org/W2200124539","https://openalex.org/W2523625385","https://openalex.org/W2565538716","https://openalex.org/W2604236302","https://openalex.org/W2768379550","https://openalex.org/W2768879211","https://openalex.org/W2777195424","https://openalex.org/W2883820570","https://openalex.org/W2895439318","https://openalex.org/W2962888833","https://openalex.org/W2963150697","https://openalex.org/W2963177347","https://openalex.org/W2963188159","https://openalex.org/W2963756608","https://openalex.org/W2964239605","https://openalex.org/W2964249569","https://openalex.org/W2968635090","https://openalex.org/W2979750740","https://openalex.org/W2986382673","https://openalex.org/W3003215308","https://openalex.org/W3004356397","https://openalex.org/W3034986117","https://openalex.org/W3035662013","https://openalex.org/W3087529874","https://openalex.org/W3089979088","https://openalex.org/W3100901148","https://openalex.org/W3104553818","https://openalex.org/W3107372911","https://openalex.org/W3131948714","https://openalex.org/W6739901393","https://openalex.org/W6763422710"],"related_works":["https://openalex.org/W2107701374","https://openalex.org/W2950072893","https://openalex.org/W1616588898","https://openalex.org/W4249504934","https://openalex.org/W2183416055","https://openalex.org/W1963628591","https://openalex.org/W2568867011","https://openalex.org/W1994114538","https://openalex.org/W2413205705","https://openalex.org/W4387272257"],"abstract_inverted_index":{"We":[0,69,87],"present":[1],"a":[2,80],"generic":[3],"and":[4,13,17,41,47,79,89,100,122],"robust":[5],"sim-to-real":[6],"deep-learning-based":[7],"framework,":[8],"namely":[9],"S2R-Pick,":[10],"for":[11,28,33,76,85,105],"fast":[12],"accurate":[14],"object":[15,77],"recognition":[16,78],"localization":[18],"in":[19],"industrial":[20,34],"robotic":[21],"bin":[22,35],"picking.":[23],"Unlike":[24],"existing":[25],"works":[26],"designed":[27],"general":[29],"everyday":[30],"environments,":[31],"objects":[32],"picking":[36],"are":[37],"often":[38],"texture-less,":[39],"metallic,":[40],"also":[42],"suffer":[43],"from":[44],"severe":[45],"occlusion":[46],"cluttering.":[48],"In":[49],"this":[50],"work,":[51],"we":[52],"first":[53],"develop":[54],"an":[55,72],"automated":[56],"synthetic":[57,98],"data":[58,65,99],"generation":[59],"pipeline":[60],"to":[61,111],"produce":[62],"large-scale":[63],"photo-realistic":[64],"with":[66],"precise":[67],"annotations.":[68],"then":[70],"formulate":[71],"instance":[73],"segmentation":[74],"network":[75,84],"6D":[81],"pose":[82],"estimation":[83],"localization.":[86],"cascade":[88],"train":[90],"the":[91,120],"two":[92],"networks":[93],"only":[94],"on":[95,114],"our":[96,125],"generated":[97],"can":[101],"directly":[102],"transfer":[103],"them":[104,113],"processing":[106],"real":[107,115],"inputs":[108],"without":[109],"needing":[110],"retrain":[112],"samples.":[116],"Extensive":[117],"experiments":[118],"show":[119],"effectiveness":[121],"superiority":[123],"of":[124],"framework":[126],"over":[127],"state-of-the-art":[128],"methods.":[129]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":16},{"year":2023,"cited_by_count":16},{"year":2022,"cited_by_count":5}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}