{"id":"https://openalex.org/W4405022309","doi":"https://doi.org/10.1109/lra.2024.3511410","title":"FFBGNet: Full-Flow Bidirectional Feature Fusion Grasp Detection Network Based on Hybrid Architecture","display_name":"FFBGNet: Full-Flow Bidirectional Feature Fusion Grasp Detection Network Based on Hybrid Architecture","publication_year":2024,"publication_date":"2024-12-04","ids":{"openalex":"https://openalex.org/W4405022309","doi":"https://doi.org/10.1109/lra.2024.3511410"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3511410","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3511410","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/A5100621580","display_name":"Qin Wan","orcid":"https://orcid.org/0000-0001-9031-0157"},"institutions":[{"id":"https://openalex.org/I27688046","display_name":"Hunan Institute of Engineering","ror":"https://ror.org/03zj2rn70","country_code":"CN","type":"education","lineage":["https://openalex.org/I27688046"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Qin Wan","raw_affiliation_strings":["College of Electric and Information Engineering, Hunan Institute of Engineering, Xiangtan, China"],"raw_orcid":"https://orcid.org/0000-0001-9031-0157","affiliations":[{"raw_affiliation_string":"College of Electric and Information Engineering, Hunan Institute of Engineering, Xiangtan, China","institution_ids":["https://openalex.org/I27688046"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103661021","display_name":"Shu Ning","orcid":"https://orcid.org/0009-0001-2195-1302"},"institutions":[{"id":"https://openalex.org/I27688046","display_name":"Hunan Institute of Engineering","ror":"https://ror.org/03zj2rn70","country_code":"CN","type":"education","lineage":["https://openalex.org/I27688046"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shunxing Ning","raw_affiliation_strings":["College of Electric and Information Engineering, Hunan Institute of Engineering, Xiangtan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Electric and Information Engineering, Hunan Institute of Engineering, Xiangtan, China","institution_ids":["https://openalex.org/I27688046"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035969755","display_name":"Haoran Tan","orcid":"https://orcid.org/0000-0003-4127-8896"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]},{"id":"https://openalex.org/I4210144102","display_name":"Wuhu Hit Robot Technology Research Institute","ror":"https://ror.org/049w4dp92","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210144102"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haoran Tan","raw_affiliation_strings":["College of Electrical and Information Engineering and National Engineering Research Center for Robot Visual Perception and Control Technology, Hunan University, Changsha, China","College of Electrical and Information Engineering and the National Engineering Research Center for Robot Visual Perception and Control Technology"],"raw_orcid":"https://orcid.org/0000-0003-4127-8896","affiliations":[{"raw_affiliation_string":"College of Electrical and Information Engineering and National Engineering Research Center for Robot Visual Perception and Control Technology, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]},{"raw_affiliation_string":"College of Electrical and Information Engineering and the National Engineering Research Center for Robot Visual Perception and Control Technology","institution_ids":["https://openalex.org/I4210144102"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025640070","display_name":"Yaonan Wang","orcid":"https://orcid.org/0000-0002-0519-6458"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]},{"id":"https://openalex.org/I4210144102","display_name":"Wuhu Hit Robot Technology Research Institute","ror":"https://ror.org/049w4dp92","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210144102"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yaonan Wang","raw_affiliation_strings":["College of Electrical and Information Engineering and National Engineering Research Center for Robot Visual Perception and Control Technology, Hunan University, Changsha, China","College of Electrical and Information Engineering and the National Engineering Research Center for Robot Visual Perception and Control Technology"],"raw_orcid":"https://orcid.org/0000-0002-0519-6458","affiliations":[{"raw_affiliation_string":"College of Electrical and Information Engineering and National Engineering Research Center for Robot Visual Perception and Control Technology, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]},{"raw_affiliation_string":"College of Electrical and Information Engineering and the National Engineering Research Center for Robot Visual Perception and Control Technology","institution_ids":["https://openalex.org/I4210144102"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070351398","display_name":"Xiaogang Duan","orcid":null},"institutions":[{"id":"https://openalex.org/I4210108149","display_name":"Changzhou Academy of Intelli-Ag Equipment (China)","ror":"https://ror.org/01j8cv720","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210108149"]},{"id":"https://openalex.org/I4210153682","display_name":"Intelligent Health (United Kingdom)","ror":"https://ror.org/0576zak10","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210153682"]}],"countries":["CN","GB"],"is_corresponding":false,"raw_author_name":"Xiaogang Duan","raw_affiliation_strings":["Hunan Zhongnan Intelligent Equipment Company Ltd., Changsha, China","Hunan Zhongnan Intelligent Equipment Co., Ltd, Changsha, China"],"raw_orcid":"https://orcid.org/0009-0002-1011-5875","affiliations":[{"raw_affiliation_string":"Hunan Zhongnan Intelligent Equipment Company Ltd., Changsha, China","institution_ids":["https://openalex.org/I4210153682"]},{"raw_affiliation_string":"Hunan Zhongnan Intelligent Equipment Co., Ltd, Changsha, China","institution_ids":["https://openalex.org/I4210108149"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100382377","display_name":"Zhi Li","orcid":"https://orcid.org/0009-0003-1092-3503"},"institutions":[{"id":"https://openalex.org/I27688046","display_name":"Hunan Institute of Engineering","ror":"https://ror.org/03zj2rn70","country_code":"CN","type":"education","lineage":["https://openalex.org/I27688046"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhi Li","raw_affiliation_strings":["College of Electric and Information Engineering, Hunan Institute of Engineering, Xiangtan, China"],"raw_orcid":"https://orcid.org/0009-0003-1092-3503","affiliations":[{"raw_affiliation_string":"College of Electric and Information Engineering, Hunan Institute of Engineering, Xiangtan, China","institution_ids":["https://openalex.org/I27688046"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yang Yang","orcid":"https://orcid.org/0009-0003-8716-957X"},"institutions":[{"id":"https://openalex.org/I4210108149","display_name":"Changzhou Academy of Intelli-Ag Equipment (China)","ror":"https://ror.org/01j8cv720","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210108149"]},{"id":"https://openalex.org/I4210153682","display_name":"Intelligent Health (United Kingdom)","ror":"https://ror.org/0576zak10","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210153682"]}],"countries":["CN","GB"],"is_corresponding":false,"raw_author_name":"Yang Yang","raw_affiliation_strings":["Hunan Zhongnan Intelligent Equipment Company Ltd., Changsha, China","Hunan Zhongnan Intelligent Equipment Co., Ltd, Changsha, China"],"raw_orcid":"https://orcid.org/0009-0003-8716-957X","affiliations":[{"raw_affiliation_string":"Hunan Zhongnan Intelligent Equipment Company Ltd., Changsha, China","institution_ids":["https://openalex.org/I4210153682"]},{"raw_affiliation_string":"Hunan Zhongnan Intelligent Equipment Co., Ltd, Changsha, China","institution_ids":["https://openalex.org/I4210108149"]}]},{"author_position":"last","author":{"id":null,"display_name":"Jianhua Qiu","orcid":"https://orcid.org/0009-0000-2756-8761"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]},{"id":"https://openalex.org/I4210144102","display_name":"Wuhu Hit Robot Technology Research Institute","ror":"https://ror.org/049w4dp92","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210144102"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianhua Qiu","raw_affiliation_strings":["College of Electrical and Information Engineering and National Engineering Research Center for Robot Visual Perception and Control Technology, Hunan University, Changsha, China","College of Electrical and Information Engineering and the National Engineering Research Center for Robot Visual Perception and Control Technology"],"raw_orcid":"https://orcid.org/0009-0000-2756-8761","affiliations":[{"raw_affiliation_string":"College of Electrical and Information Engineering and National Engineering Research Center for Robot Visual Perception and Control Technology, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]},{"raw_affiliation_string":"College of Electrical and Information Engineering and the National Engineering Research Center for Robot Visual Perception and Control Technology","institution_ids":["https://openalex.org/I4210144102"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5100621580"],"corresponding_institution_ids":["https://openalex.org/I27688046"],"apc_list":null,"apc_paid":null,"fwci":0.9934,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.81395261,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"10","issue":"2","first_page":"971","last_page":"978"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9732000231742859,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9732000231742859,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9106000065803528,"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":0.6789870262145996},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6545426845550537},{"id":"https://openalex.org/keywords/architecture","display_name":"Architecture","score":0.5979527235031128},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5429205298423767},{"id":"https://openalex.org/keywords/flow","display_name":"Flow (mathematics)","score":0.5072817206382751},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.46792033314704895},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3412012457847595},{"id":"https://openalex.org/keywords/computer-architecture","display_name":"Computer architecture","score":0.33765897154808044},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07761701941490173},{"id":"https://openalex.org/keywords/art","display_name":"Art","score":0.06687203049659729},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.06097376346588135}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.6789870262145996},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6545426845550537},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.5979527235031128},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5429205298423767},{"id":"https://openalex.org/C38349280","wikidata":"https://www.wikidata.org/wiki/Q1434290","display_name":"Flow (mathematics)","level":2,"score":0.5072817206382751},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.46792033314704895},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3412012457847595},{"id":"https://openalex.org/C118524514","wikidata":"https://www.wikidata.org/wiki/Q173212","display_name":"Computer architecture","level":1,"score":0.33765897154808044},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07761701941490173},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.06687203049659729},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.06097376346588135},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3511410","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3511410","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":[],"awards":[{"id":"https://openalex.org/G2894388584","display_name":null,"funder_award_id":"62476084","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5315400316","display_name":null,"funder_award_id":"2024JJ7107","funder_id":"https://openalex.org/F4320322843","funder_display_name":"Natural Science Foundation of\u00a0Hunan Province"},{"id":"https://openalex.org/G7296668844","display_name":null,"funder_award_id":"2023JJ10015","funder_id":"https://openalex.org/F4320322843","funder_display_name":"Natural Science Foundation of\u00a0Hunan Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322843","display_name":"Natural Science Foundation of\u00a0Hunan Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1510186039","https://openalex.org/W1820657498","https://openalex.org/W1892339738","https://openalex.org/W1999156278","https://openalex.org/W2106628124","https://openalex.org/W2123435073","https://openalex.org/W2201912979","https://openalex.org/W2524140598","https://openalex.org/W2736762515","https://openalex.org/W2808521881","https://openalex.org/W2914944935","https://openalex.org/W2953669419","https://openalex.org/W2963326767","https://openalex.org/W2967869116","https://openalex.org/W3004284873","https://openalex.org/W3026627579","https://openalex.org/W3056171435","https://openalex.org/W3091957880","https://openalex.org/W3130885760","https://openalex.org/W3157238290","https://openalex.org/W4210316419","https://openalex.org/W4210633449","https://openalex.org/W4221167790","https://openalex.org/W4281933091","https://openalex.org/W4323897157","https://openalex.org/W4360615633","https://openalex.org/W4362723113","https://openalex.org/W4377716582","https://openalex.org/W4393140004"],"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/W2038503502"],"abstract_inverted_index":{"Effectively":[0],"integrating":[1],"the":[2,58,62,76,82,86,90,94,127,152,168,171],"complementary":[3],"information":[4,55,84,92,116],"from":[5,39,93],"RGB-D":[6,40],"images":[7,88],"presents":[8],"a":[9,20,31,52,98,155],"significant":[10],"challenge":[11],"in":[12,57,85,148,162],"robotic":[13],"grasping.":[14],"In":[15],"this":[16],"letter,":[17],"we":[18,43,119],"propose":[19],"full-flow":[21],"bidirectional":[22],"feature":[23,113],"fusion":[24,49,66],"grasp":[25,37],"detection":[26,134],"network":[27],"(FFBGNet)":[28],"based":[29],"on":[30,126],"hybrid":[32,99],"architecture":[33,100],"to":[34,69,109],"generate":[35],"accurate":[36],"poses":[38],"images.":[41,96],"First,":[42],"construct":[44],"an":[45],"efficient":[46],"Cross-Modal":[47],"Feature":[48],"module":[50,101],"as":[51],"bridge":[53],"for":[54,102],"interaction":[56],"full":[59],"flow":[60],"of":[61,136,170],"two":[63,77],"branches,":[64],"where":[65],"is":[67,107],"applied":[68],"each":[70],"encoding":[71],"and":[72,89,104,114,122,129,141],"decoding":[73],"layer.":[74],"Then,":[75],"branches":[78],"can":[79],"fully":[80],"leverage":[81],"appearance":[83],"RGB":[87],"geometry":[91],"depth":[95],"Second,":[97],"CNNs":[103],"Transformer":[105],"parallel":[106],"developed":[108],"achieve":[110],"better":[111],"local":[112],"global":[115],"representations.":[117],"Finally,":[118],"conduct":[120],"qualitative":[121],"quantitative":[123],"comparative":[124],"experiments":[125],"Cornell":[128],"Jacquard":[130],"datasets,":[131],"achieving":[132],"grasping":[133,150],"accuracies":[135],"99.2<inline-formula":[137],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[138,143,157],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[139,144,158],"notation=\"LaTeX\">${\\%}$</tex-math></inline-formula>":[140,159],"96.5<inline-formula":[142],"notation=\"LaTeX\">${\\%}$</tex-math></inline-formula>,":[145],"respectively.":[146],"Simultaneously,":[147],"physical":[149],"experiments,":[151],"FFBGNet":[153],"achieves":[154],"96.7<inline-formula":[156],"success":[160],"rate":[161],"cluttered":[163],"scenes,":[164],"which":[165],"further":[166],"demonstrates":[167],"reliability":[169],"proposed":[172],"method.":[173]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
