{"id":"https://openalex.org/W4382203221","doi":"https://doi.org/10.1109/tcds.2023.3289987","title":"Two-Stage Grasp Detection Method for Robotics Using Point Clouds and Deep Hierarchical Feature Learning Network","display_name":"Two-Stage Grasp Detection Method for Robotics Using Point Clouds and Deep Hierarchical Feature Learning Network","publication_year":2023,"publication_date":"2023-06-27","ids":{"openalex":"https://openalex.org/W4382203221","doi":"https://doi.org/10.1109/tcds.2023.3289987"},"language":"en","primary_location":{"id":"doi:10.1109/tcds.2023.3289987","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcds.2023.3289987","pdf_url":null,"source":{"id":"https://openalex.org/S2488537894","display_name":"IEEE Transactions on Cognitive and Developmental Systems","issn_l":"2379-8920","issn":["2379-8920","2379-8939"],"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 Transactions on Cognitive and Developmental Systems","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/A5100359300","display_name":"Xiaofeng Liu","orcid":"https://orcid.org/0000-0003-1310-6739"},"institutions":[{"id":"https://openalex.org/I163340411","display_name":"Hohai University","ror":"https://ror.org/01wd4xt90","country_code":"CN","type":"education","lineage":["https://openalex.org/I163340411"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xiaofeng Liu","raw_affiliation_strings":["Key Laboratory of Maritime Intelligent Cyberspace Technology, Hohai University, Ministry of Education, Changzhou, China","School of Artifical Intelligence and Automation, Hohai University, Changzhou, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Maritime Intelligent Cyberspace Technology, Hohai University, Ministry of Education, Changzhou, China","institution_ids":["https://openalex.org/I163340411"]},{"raw_affiliation_string":"School of Artifical Intelligence and Automation, Hohai University, Changzhou, China","institution_ids":["https://openalex.org/I163340411"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024879672","display_name":"Congyu Huang","orcid":"https://orcid.org/0000-0002-8917-1222"},"institutions":[{"id":"https://openalex.org/I163340411","display_name":"Hohai University","ror":"https://ror.org/01wd4xt90","country_code":"CN","type":"education","lineage":["https://openalex.org/I163340411"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Congyu Huang","raw_affiliation_strings":["College of Internet of Things Engineering, Hohai University, Changzhou, China"],"affiliations":[{"raw_affiliation_string":"College of Internet of Things Engineering, Hohai University, Changzhou, China","institution_ids":["https://openalex.org/I163340411"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080670840","display_name":"Jie Li","orcid":"https://orcid.org/0000-0002-2977-8559"},"institutions":[{"id":"https://openalex.org/I163340411","display_name":"Hohai University","ror":"https://ror.org/01wd4xt90","country_code":"CN","type":"education","lineage":["https://openalex.org/I163340411"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Li","raw_affiliation_strings":["Key Laboratory of Maritime Intelligent Cyberspace Technology, Hohai University, Ministry of Education, Changzhou, China","School of Artifical Intelligence and Automation, Hohai University, Changzhou, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Maritime Intelligent Cyberspace Technology, Hohai University, Ministry of Education, Changzhou, China","institution_ids":["https://openalex.org/I163340411"]},{"raw_affiliation_string":"School of Artifical Intelligence and Automation, Hohai University, Changzhou, China","institution_ids":["https://openalex.org/I163340411"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087787651","display_name":"Weiwei Wan","orcid":"https://orcid.org/0000-0002-0058-2819"},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"Osaka University","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Weiwei Wan","raw_affiliation_strings":["Graduate School of Engineering Science, Osaka University, Osaka, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering Science, Osaka University, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019906827","display_name":"Chenguang Yang","orcid":"https://orcid.org/0000-0001-5255-5559"},"institutions":[{"id":"https://openalex.org/I178535277","display_name":"University of the West of England","ror":"https://ror.org/02nwg5t34","country_code":"GB","type":"education","lineage":["https://openalex.org/I178535277"]},{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Chenguang Yang","raw_affiliation_strings":["Bristol Robotics Laboratory, University of the West of England, Bristol, U.K"],"affiliations":[{"raw_affiliation_string":"Bristol Robotics Laboratory, University of the West of England, Bristol, U.K","institution_ids":["https://openalex.org/I4210161128","https://openalex.org/I178535277"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100359300"],"corresponding_institution_ids":["https://openalex.org/I163340411"],"apc_list":null,"apc_paid":null,"fwci":1.1251,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.77468034,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"16","issue":"2","first_page":"720","last_page":"731"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9901000261306763,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9886999726295471,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8453270196914673},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.8357189893722534},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7960164546966553},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6483341455459595},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5960019826889038},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.5152790546417236},{"id":"https://openalex.org/keywords/stage","display_name":"Stage (stratigraphy)","score":0.48882409930229187},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.44189926981925964},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.43070217967033386},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3675291836261749},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.36685463786125183}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8453270196914673},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8357189893722534},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7960164546966553},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6483341455459595},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5960019826889038},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.5152790546417236},{"id":"https://openalex.org/C146357865","wikidata":"https://www.wikidata.org/wiki/Q1123245","display_name":"Stage (stratigraphy)","level":2,"score":0.48882409930229187},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.44189926981925964},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.43070217967033386},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3675291836261749},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.36685463786125183},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcds.2023.3289987","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcds.2023.3289987","pdf_url":null,"source":{"id":"https://openalex.org/S2488537894","display_name":"IEEE Transactions on Cognitive and Developmental Systems","issn_l":"2379-8920","issn":["2379-8920","2379-8939"],"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 Transactions on Cognitive and Developmental Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.5199999809265137,"display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G1774469180","display_name":null,"funder_award_id":"2018AAA0100803","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G1831201353","display_name":null,"funder_award_id":"62203150","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2886257925","display_name":null,"funder_award_id":"2021M701051","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"},{"id":"https://openalex.org/G4823643176","display_name":null,"funder_award_id":"62276090","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W46565623","https://openalex.org/W1503925285","https://openalex.org/W1505952289","https://openalex.org/W1630678085","https://openalex.org/W1892339738","https://openalex.org/W1999156278","https://openalex.org/W2063189785","https://openalex.org/W2085949256","https://openalex.org/W2152864241","https://openalex.org/W2155892387","https://openalex.org/W2414685554","https://openalex.org/W2560609797","https://openalex.org/W2586510000","https://openalex.org/W2600030077","https://openalex.org/W2736534894","https://openalex.org/W2754322505","https://openalex.org/W2803759966","https://openalex.org/W2887191391","https://openalex.org/W2889805803","https://openalex.org/W2889969363","https://openalex.org/W2910474428","https://openalex.org/W2913739612","https://openalex.org/W2962737955","https://openalex.org/W2967068439","https://openalex.org/W2978329087","https://openalex.org/W2996175471","https://openalex.org/W3010875776","https://openalex.org/W3016422353","https://openalex.org/W3026108605","https://openalex.org/W3035198432","https://openalex.org/W3091619233","https://openalex.org/W3120238879","https://openalex.org/W3128685514","https://openalex.org/W4210316419","https://openalex.org/W4213322786","https://openalex.org/W4226413077","https://openalex.org/W4289656330","https://openalex.org/W4317038473","https://openalex.org/W6636808768","https://openalex.org/W6641632922","https://openalex.org/W6733104680","https://openalex.org/W6739778489","https://openalex.org/W6903373631"],"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/W2477150073","https://openalex.org/W2019547100","https://openalex.org/W2515493494"],"abstract_inverted_index":{"When":[0],"human":[1],"beings":[2],"see":[3],"different":[4,199],"objects,":[5],"they":[6],"can":[7,94],"quickly":[8],"make":[9],"correct":[10],"grasping":[11],"strategies":[12],"through":[13],"brain":[14],"decisions.":[15],"However,":[16],"grasp,":[17],"as":[18,47,62],"the":[19,87,104,121,124,138,143,148,151,157,162],"first":[20,81],"step":[21],"of":[22,98,108,115,123,192],"most":[23],"manipulation":[24],"tasks,":[25],"is":[26,76,118,130,153],"still":[27,56],"an":[28],"open":[29],"issue":[30],"in":[31,78,181],"robotics.":[32],"Although":[33],"many":[34],"detection":[35,74,176],"methods":[36,54],"have":[37],"been":[38],"proposed":[39],"to":[40,58,85,110,120,137,155],"take":[41],"RGB-D":[42],"images":[43],"or":[44],"point":[45,83,116,164],"clouds":[46,84,117],"input":[48],"and":[49,65,106,169,184,190],"output":[50],"grasp":[51,73,126,134,139,158,175],"candidates,":[52],"these":[53],"are":[55],"limited":[57],"algorithm":[59,177],"robustness,":[60],"such":[61],"network":[63,152],"performance":[64,180],"graspable":[66],"objects.":[67],"In":[68,147],"this":[69],"article,":[70],"a":[71],"two-stage":[72],"method":[75],"proposed,":[77],"which":[79,93],"we":[80],"use":[82],"train":[86],"deep":[88],"hierarchical":[89],"feature":[90],"learning":[91],"network,":[92],"better":[95],"capture":[96],"features":[97],"grasped":[99],"points.":[100],"We":[101],"also":[102,195],"consider":[103],"distribution":[105],"discrimination":[107],"grasps":[109],"construct":[111],"samples.":[112],"The":[113,128,166,188],"score":[114],"related":[119],"quality":[122,129],"relevant":[125],"sample.":[127],"given":[131],"by":[132],"several":[133],"metrics":[135],"applied":[136],"samples":[140],"obtained":[141],"from":[142,161],"YCB":[144],"data":[145],"set.":[146],"second":[149],"stage,":[150],"used":[154],"evaluate":[156],"candidates":[159],"sampled":[160],"preprocessed":[163],"clouds.":[165],"extensive":[167],"simulation":[168],"real-scene":[170],"experiment":[171],"show":[172],"that":[173],"our":[174,193],"achieves":[178],"satisfactory":[179],"both":[182],"single":[183],"multiple":[185],"objects":[186],"situations.":[187],"generalization":[189],"scalability":[191],"model":[194],"perform":[196],"well":[197],"under":[198],"conditions.":[200]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3}],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-10-10T00:00:00"}