{"id":"https://openalex.org/W4386883383","doi":"https://doi.org/10.1109/rcar58764.2023.10249938","title":"Multi-class 4-DoF Carton Box Detection for Heterogeneous Robotic Container Unloading","display_name":"Multi-class 4-DoF Carton Box Detection for Heterogeneous Robotic Container Unloading","publication_year":2023,"publication_date":"2023-07-17","ids":{"openalex":"https://openalex.org/W4386883383","doi":"https://doi.org/10.1109/rcar58764.2023.10249938"},"language":"en","primary_location":{"id":"doi:10.1109/rcar58764.2023.10249938","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar58764.2023.10249938","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Real-time Computing and Robotics (RCAR)","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/A5070097565","display_name":"Shuo Yang","orcid":"https://orcid.org/0000-0002-3126-8021"},"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 Yang","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/A5109792804","display_name":"Chenkun Zhao","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":"Chenkun Zhao","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/A5101298969","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/A5100724405","display_name":"Yibin Li","orcid":"https://orcid.org/0000-0001-9484-149X"},"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":"Yibin 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":"last","author":{"id":"https://openalex.org/A5100756628","display_name":"Wei Zhang","orcid":"https://orcid.org/0000-0001-5556-3896"},"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":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.1881,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.5787949,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11814","display_name":"Advanced Manufacturing and Logistics Optimization","score":0.9972000122070312,"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"}},"topics":[{"id":"https://openalex.org/T11814","display_name":"Advanced Manufacturing and Logistics Optimization","score":0.9972000122070312,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9837999939918518,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9746999740600586,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/container","display_name":"Container (type theory)","score":0.7724766731262207},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7476382851600647},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6644361019134521},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.6173040270805359},{"id":"https://openalex.org/keywords/class","display_name":"Class (philosophy)","score":0.5404165387153625},{"id":"https://openalex.org/keywords/reliability","display_name":"Reliability (semiconductor)","score":0.5387023687362671},{"id":"https://openalex.org/keywords/categorical-variable","display_name":"Categorical variable","score":0.5228314995765686},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5115023851394653},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5062412619590759},{"id":"https://openalex.org/keywords/sequence","display_name":"Sequence (biology)","score":0.47290074825286865},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.44746360182762146},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.42649608850479126},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3677728474140167},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.17408835887908936},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15064460039138794},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.08051052689552307},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.07894283533096313}],"concepts":[{"id":"https://openalex.org/C2781018962","wikidata":"https://www.wikidata.org/wiki/Q5164884","display_name":"Container (type theory)","level":2,"score":0.7724766731262207},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7476382851600647},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6644361019134521},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.6173040270805359},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.5404165387153625},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.5387023687362671},{"id":"https://openalex.org/C5274069","wikidata":"https://www.wikidata.org/wiki/Q2285707","display_name":"Categorical variable","level":2,"score":0.5228314995765686},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5115023851394653},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5062412619590759},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.47290074825286865},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.44746360182762146},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.42649608850479126},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3677728474140167},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.17408835887908936},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15064460039138794},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.08051052689552307},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.07894283533096313},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/rcar58764.2023.10249938","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar58764.2023.10249938","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320324174","display_name":"Natural Science Foundation of Shandong Province","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":35,"referenced_works":["https://openalex.org/W1536680647","https://openalex.org/W1861492603","https://openalex.org/W1982522767","https://openalex.org/W1988437092","https://openalex.org/W2108598243","https://openalex.org/W2113735881","https://openalex.org/W2205414745","https://openalex.org/W2214186834","https://openalex.org/W2504335775","https://openalex.org/W2557141869","https://openalex.org/W2566378635","https://openalex.org/W2593539516","https://openalex.org/W2795289540","https://openalex.org/W2807083086","https://openalex.org/W2952122856","https://openalex.org/W2959746342","https://openalex.org/W2990212703","https://openalex.org/W2991359031","https://openalex.org/W2991363140","https://openalex.org/W3032606616","https://openalex.org/W3033300643","https://openalex.org/W3046953966","https://openalex.org/W3090672362","https://openalex.org/W3092468841","https://openalex.org/W3101799466","https://openalex.org/W3106228955","https://openalex.org/W3109055651","https://openalex.org/W3116741807","https://openalex.org/W3160660963","https://openalex.org/W3177105943","https://openalex.org/W3192265752","https://openalex.org/W4200291756","https://openalex.org/W4309118862","https://openalex.org/W4312686090","https://openalex.org/W4316660701"],"related_works":["https://openalex.org/W4386799044","https://openalex.org/W2773208253","https://openalex.org/W2560646951","https://openalex.org/W4297454206","https://openalex.org/W65104662","https://openalex.org/W1871748041","https://openalex.org/W2362286668","https://openalex.org/W1979840322","https://openalex.org/W2301094596","https://openalex.org/W2896880939"],"abstract_inverted_index":{"Container":[0],"unloading":[1,52,64,77,118],"is":[2,20,84,120],"one":[3],"of":[4,79,97,100,137],"the":[5,41,45,50,57,76,94,112,130,133],"most":[6],"challenging":[7],"tasks":[8,65],"in":[9,32,35,49],"depalletizing":[10],"applications":[11],"and":[12,28,44,66,102,129,135],"has":[13],"not":[14],"been":[15],"well":[16],"addressed.":[17],"Because":[18],"it":[19],"non-trivial":[21],"to":[22,92],"accurately":[23],"detect":[24],"irregularly":[25],"packed":[26],"boxes":[27,31,101],"efficiently":[29],"unload":[30],"confined":[33],"spaces,":[34],"this":[36],"paper,":[37],"we":[38,55,105],"investigate":[39],"both":[40],"detection":[42,61,69],"step":[43,48],"motion":[46,108],"planning":[47],"container":[51,63],"task.":[53],"First,":[54],"introduce":[56],"multi-class":[58],"4-DoF":[59],"box":[60],"into":[62],"build":[67],"a":[68,81,115],"method":[70],"based":[71],"on":[72,111],"YOLOv5.":[73],"To":[74],"generate":[75],"sequence":[78],"boxes,":[80],"heuristic":[82],"rule":[83],"proposed":[85,113],"by":[86],"using":[87],"human":[88],"prior":[89],"knowledge.":[90],"And":[91],"match":[93],"categorical":[95],"attributes":[96],"different":[98],"types":[99],"task":[103],"setups,":[104],"design":[106],"suitable":[107],"trajectories.":[109],"Based":[110],"methods,":[114],"complete":[116],"robotic":[117,139],"system":[119,125],"developed.":[121],"We":[122],"evaluate":[123],"our":[124,138],"via":[126],"real-world":[127],"experiments":[128],"results":[131],"indicate":[132],"efficiency":[134],"reliability":[136],"system.":[140],"The":[141],"video":[142],"demonstration":[143],"can":[144],"be":[145],"found":[146],"at:":[147],"https://youtu.be/nYvCbNoYi5Y.":[148]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
