{"id":"https://openalex.org/W3157238290","doi":"https://doi.org/10.1109/tie.2021.3075836","title":"A Practical Robotic Grasping Method by Using 6-D Pose Estimation With Protective Correction","display_name":"A Practical Robotic Grasping Method by Using 6-D Pose Estimation With Protective Correction","publication_year":2021,"publication_date":"2021-05-03","ids":{"openalex":"https://openalex.org/W3157238290","doi":"https://doi.org/10.1109/tie.2021.3075836","mag":"3157238290"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2021.3075836","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2021.3075836","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","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/A5100323420","display_name":"Hui Zhang","orcid":"https://orcid.org/0000-0002-1803-3148"},"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"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Hui Zhang","raw_affiliation_strings":["School of Robotics, and the National Engineering Laboratory for Robot Visual Perception and Control Technology, Hunan University, Changsha, China"],"affiliations":[{"raw_affiliation_string":"School of Robotics, and the National Engineering Laboratory for Robot Visual Perception and Control Technology, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043413498","display_name":"Zhicong Liang","orcid":"https://orcid.org/0000-0003-3585-8595"},"institutions":[{"id":"https://openalex.org/I56934997","display_name":"Changsha University of Science and Technology","ror":"https://ror.org/03yph8055","country_code":"CN","type":"education","lineage":["https://openalex.org/I56934997"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhicong Liang","raw_affiliation_strings":["College of Electrical and Information Engineering, Changsha University of Science and Technology, Changsha, China"],"affiliations":[{"raw_affiliation_string":"College of Electrical and Information Engineering, Changsha University of Science and Technology, Changsha, China","institution_ids":["https://openalex.org/I56934997"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100369946","display_name":"Chen Li","orcid":"https://orcid.org/0000-0003-4884-8505"},"institutions":[{"id":"https://openalex.org/I56934997","display_name":"Changsha University of Science and Technology","ror":"https://ror.org/03yph8055","country_code":"CN","type":"education","lineage":["https://openalex.org/I56934997"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chen Li","raw_affiliation_strings":["College of Electrical and Information Engineering, Changsha University of Science and Technology, Changsha, China"],"affiliations":[{"raw_affiliation_string":"College of Electrical and Information Engineering, Changsha University of Science and Technology, Changsha, China","institution_ids":["https://openalex.org/I56934997"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084391120","display_name":"Hang Zhong","orcid":"https://orcid.org/0000-0001-5893-5026"},"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"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hang Zhong","raw_affiliation_strings":["College of Electrical and Information Engineering, Hunan University, Changsha, China"],"affiliations":[{"raw_affiliation_string":"College of Electrical and Information Engineering, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053959131","display_name":"Li Liu","orcid":"https://orcid.org/0000-0003-3192-0160"},"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"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Li Liu","raw_affiliation_strings":["College of Electrical and Information Engineering, Hunan University, Changsha, China"],"affiliations":[{"raw_affiliation_string":"College of Electrical and Information Engineering, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046393276","display_name":"Chenyang Zhao","orcid":"https://orcid.org/0000-0002-9096-4094"},"institutions":[{"id":"https://openalex.org/I56934997","display_name":"Changsha University of Science and Technology","ror":"https://ror.org/03yph8055","country_code":"CN","type":"education","lineage":["https://openalex.org/I56934997"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chenyang Zhao","raw_affiliation_strings":["College of Electrical and Information Engineering, Changsha University of Science and Technology, Changsha, China"],"affiliations":[{"raw_affiliation_string":"College of Electrical and Information Engineering, Changsha University of Science and Technology, Changsha, China","institution_ids":["https://openalex.org/I56934997"]}]},{"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"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yaonan Wang","raw_affiliation_strings":["College of Electrical and Information Engineering, Hunan University, Changsha, China"],"affiliations":[{"raw_affiliation_string":"College of Electrical and Information Engineering, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100731724","display_name":"Q. M. Jonathan Wu","orcid":"https://orcid.org/0000-0002-5208-7975"},"institutions":[{"id":"https://openalex.org/I74413500","display_name":"University of Windsor","ror":"https://ror.org/01gw3d370","country_code":"CA","type":"education","lineage":["https://openalex.org/I74413500"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Q. M. Jonathan Wu","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Windsor, Windsor, ON, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Windsor, Windsor, ON, Canada","institution_ids":["https://openalex.org/I74413500"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5100323420"],"corresponding_institution_ids":["https://openalex.org/I16609230"],"apc_list":null,"apc_paid":null,"fwci":4.7008,"has_fulltext":false,"cited_by_count":47,"citation_normalized_percentile":{"value":0.9528886,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"69","issue":"4","first_page":"3876","last_page":"3886"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9789999723434448,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9355000257492065,"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/pose","display_name":"Pose","score":0.9078527688980103},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.8104276061058044},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7435076832771301},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7159337401390076},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6363418102264404},{"id":"https://openalex.org/keywords/3d-pose-estimation","display_name":"3D pose estimation","score":0.5764890909194946},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5722954273223877},{"id":"https://openalex.org/keywords/code","display_name":"Code (set theory)","score":0.5495530366897583},{"id":"https://openalex.org/keywords/translation","display_name":"Translation (biology)","score":0.4856504201889038},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.47928375005722046},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.44229066371917725},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.428869366645813},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.19192630052566528},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13041329383850098},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.10727843642234802}],"concepts":[{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.9078527688980103},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8104276061058044},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7435076832771301},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7159337401390076},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6363418102264404},{"id":"https://openalex.org/C36613465","wikidata":"https://www.wikidata.org/wiki/Q4636322","display_name":"3D pose estimation","level":3,"score":0.5764890909194946},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5722954273223877},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.5495530366897583},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.4856504201889038},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.47928375005722046},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.44229066371917725},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.428869366645813},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.19192630052566528},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13041329383850098},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.10727843642234802},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C105580179","wikidata":"https://www.wikidata.org/wiki/Q188928","display_name":"Messenger RNA","level":3,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2021.3075836","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2021.3075836","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","score":0.47999998927116394,"display_name":"Industry, innovation and infrastructure"}],"awards":[{"id":"https://openalex.org/G7012298873","display_name":null,"funder_award_id":"kq1907087","funder_id":"https://openalex.org/F4320336753","funder_display_name":"Changsha Science and Technology Project"},{"id":"https://openalex.org/G7745736485","display_name":null,"funder_award_id":"61971071","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G874031418","display_name":null,"funder_award_id":"6202780012","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/F4320336753","display_name":"Changsha Science and Technology Project","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":48,"referenced_works":["https://openalex.org/W132147841","https://openalex.org/W639708223","https://openalex.org/W1533501036","https://openalex.org/W1591870335","https://openalex.org/W1855641990","https://openalex.org/W1892339738","https://openalex.org/W1967378103","https://openalex.org/W1969868017","https://openalex.org/W2021756757","https://openalex.org/W2101199297","https://openalex.org/W2104694532","https://openalex.org/W2124386111","https://openalex.org/W2194775991","https://openalex.org/W2328191957","https://openalex.org/W2344474200","https://openalex.org/W2345308174","https://openalex.org/W2415243675","https://openalex.org/W2472269674","https://openalex.org/W2488101876","https://openalex.org/W2529170537","https://openalex.org/W2600447016","https://openalex.org/W2604236302","https://openalex.org/W2605102758","https://openalex.org/W2768879211","https://openalex.org/W2882985702","https://openalex.org/W2891427406","https://openalex.org/W2927210599","https://openalex.org/W2944843851","https://openalex.org/W2950921159","https://openalex.org/W2962737955","https://openalex.org/W2963139856","https://openalex.org/W2963177347","https://openalex.org/W2963188159","https://openalex.org/W2963756608","https://openalex.org/W2963881378","https://openalex.org/W2982693298","https://openalex.org/W2989915422","https://openalex.org/W2994615081","https://openalex.org/W3003704657","https://openalex.org/W3034986117","https://openalex.org/W3035355652","https://openalex.org/W3056171435","https://openalex.org/W3104104643","https://openalex.org/W3106165820","https://openalex.org/W4206771003","https://openalex.org/W6745947945","https://openalex.org/W6754638614","https://openalex.org/W6754677871"],"related_works":["https://openalex.org/W3021551196","https://openalex.org/W4253893311","https://openalex.org/W3089306886","https://openalex.org/W2113785214","https://openalex.org/W2798721181","https://openalex.org/W3201205132","https://openalex.org/W4387967917","https://openalex.org/W4312694060","https://openalex.org/W4386075737","https://openalex.org/W4382141741"],"abstract_inverted_index":{"The":[0,162],"pose":[1,29,64,85,99,119],"estimation":[2,30,65,86],"is":[3,35,77,164],"the":[4,17,24,28,41,62,72,81,91,97,116,131,144,151],"critical":[5],"technology":[6,18],"in":[7,31,105],"industrial":[8],"robot.":[9],"Nowadays,":[10],"many":[11],"machine":[12],"vision-based":[13],"approaches":[14],"have":[15],"applied":[16],"and":[19,46,88,127,150],"achieved":[20],"excellent":[21],"results.":[22],"However,":[23],"rapid":[25],"detection":[26,155],"of":[27,43,141],"complex":[32],"multiscene":[33],"environments":[34],"still":[36],"a":[37,55],"challenge,":[38],"due":[39],"to":[40,79,95,107,159],"interference":[42],"multiangle":[44],"light":[45],"multibackground.":[47],"To":[48],"address":[49],"these":[50],"issues,":[51],"this":[52,70],"article":[53],"proposes":[54],"practical":[56],"robotic":[57],"grasping":[58,118,133,138],"method":[59,134],"by":[60,75,112,124],"using":[61],"6-D":[63],"with":[66],"protective":[67,122],"correction.":[68],"In":[69],"method,":[71],"synthetic":[73],"dataset":[74],"self-production":[76],"used":[78],"train":[80],"improved":[82],"deep":[83],"object":[84,102],"network":[87,152],"then":[89],"use":[90],"standard":[92],"perspective-n-point":[93],"algorithm":[94,120],"estimate":[96],"6-DoF":[98],"for":[100,121,143,153],"each":[101],"instance.":[103],"Meanwhile,":[104],"order":[106],"prevent":[108],"grasp":[109],"collisions":[110],"cause":[111],"misrecognition,":[113],"we":[114],"propose":[115],"corrected":[117],"correction":[123],"measured":[125],"translation":[126],"predicted":[128],"translation.":[129],"Finally,":[130],"proposed":[132],"has":[135,157],"an":[136],"average":[137],"success":[139],"rate":[140],"83.3%":[142],"three":[145],"objects":[146],"under":[147],"normal":[148],"light,":[149],"single-image":[154],"speed":[156],"been":[158],"1.490":[160],"frames/s.":[161],"code":[163],"available":[165],"at":[166],"<uri":[167],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[168],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">https://github.com/aimiplus/Practical_Robotic_Grasping_Method</uri>":[169],".":[170]},"counts_by_year":[{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":14},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":1}],"updated_date":"2026-03-27T14:29:43.386196","created_date":"2025-10-10T00:00:00"}
