{"id":"https://openalex.org/W3217480528","doi":"https://doi.org/10.1109/tim.2021.3129875","title":"Robotic Objects Detection and Grasping in Clutter Based on Cascaded Deep Convolutional Neural Network","display_name":"Robotic Objects Detection and Grasping in Clutter Based on Cascaded Deep Convolutional Neural Network","publication_year":2021,"publication_date":"2021-11-30","ids":{"openalex":"https://openalex.org/W3217480528","doi":"https://doi.org/10.1109/tim.2021.3129875","mag":"3217480528"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2021.3129875","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2021.3129875","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"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 Instrumentation and Measurement","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/A5100407529","display_name":"Dong Liu","orcid":"https://orcid.org/0000-0003-3988-7879"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Dong Liu","raw_affiliation_strings":["School of Mechanical Engineering, Dalian University of Technology, Dalian, China"],"raw_orcid":"https://orcid.org/0000-0003-3988-7879","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Dalian University of Technology, Dalian, China","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084662898","display_name":"Xiantong Tao","orcid":"https://orcid.org/0000-0002-0655-2450"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiantong Tao","raw_affiliation_strings":["School of Mechanical Engineering, Dalian University of Technology, Dalian, China"],"raw_orcid":"https://orcid.org/0000-0002-0655-2450","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Dalian University of Technology, Dalian, China","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070309730","display_name":"Liheng Yuan","orcid":null},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liheng Yuan","raw_affiliation_strings":["School of Mechanical Engineering, Dalian University of Technology, Dalian, China"],"raw_orcid":"https://orcid.org/0000-0002-7380-7329","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Dalian University of Technology, Dalian, China","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101793945","display_name":"Yu Du","orcid":"https://orcid.org/0000-0002-7208-2688"},"institutions":[{"id":"https://openalex.org/I7350606","display_name":"Dalian Jiaotong University","ror":"https://ror.org/05gp45n31","country_code":"CN","type":"education","lineage":["https://openalex.org/I7350606"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Du","raw_affiliation_strings":["School of Mechanical Engineering, Dalian Jiaotong University, Dalian, China"],"raw_orcid":"https://orcid.org/0000-0002-7208-2688","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Dalian Jiaotong University, Dalian, China","institution_ids":["https://openalex.org/I7350606"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083968188","display_name":"Ming Cong","orcid":"https://orcid.org/0000-0002-8305-9352"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ming Cong","raw_affiliation_strings":["School of Mechanical Engineering, Dalian University of Technology, Dalian, China"],"raw_orcid":"https://orcid.org/0000-0002-8305-9352","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Dalian University of Technology, Dalian, China","institution_ids":["https://openalex.org/I27357992"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100407529"],"corresponding_institution_ids":["https://openalex.org/I27357992"],"apc_list":null,"apc_paid":null,"fwci":4.8566,"has_fulltext":false,"cited_by_count":45,"citation_normalized_percentile":{"value":0.95621386,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"71","issue":null,"first_page":"1","last_page":"10"},"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":0.9563000202178955,"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/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9332000017166138,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"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":0.9425990581512451},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.8224748969078064},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.745903491973877},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6514611840248108},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6370320916175842},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.6288126111030579},{"id":"https://openalex.org/keywords/clutter","display_name":"Clutter","score":0.6072181463241577},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5447389483451843},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.4184833765029907},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.4172575771808624},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.32927799224853516},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.0739508867263794},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07302036881446838}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9425990581512451},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8224748969078064},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.745903491973877},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6514611840248108},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6370320916175842},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.6288126111030579},{"id":"https://openalex.org/C132094186","wikidata":"https://www.wikidata.org/wiki/Q641585","display_name":"Clutter","level":3,"score":0.6072181463241577},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5447389483451843},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.4184833765029907},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4172575771808624},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.32927799224853516},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.0739508867263794},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07302036881446838},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"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/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/tim.2021.3129875","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2021.3129875","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"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 Instrumentation and Measurement","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2438973931","display_name":null,"funder_award_id":"2021JH6/10500144","funder_id":"https://openalex.org/F4320336629","funder_display_name":"Special Project of Central Government for Local Science and Technology Development of Hubei Province"},{"id":"https://openalex.org/G4271958271","display_name":null,"funder_award_id":"61873045","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/F4320336629","display_name":"Special Project of Central Government for Local Science and Technology Development of Hubei Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1522301498","https://openalex.org/W1820657498","https://openalex.org/W1892339738","https://openalex.org/W1999156278","https://openalex.org/W2036637075","https://openalex.org/W2094801294","https://openalex.org/W2118262422","https://openalex.org/W2123435073","https://openalex.org/W2146563043","https://openalex.org/W2150382645","https://openalex.org/W2161071618","https://openalex.org/W2201912979","https://openalex.org/W2560609797","https://openalex.org/W2600030077","https://openalex.org/W2806070179","https://openalex.org/W2953669419","https://openalex.org/W2962746398","https://openalex.org/W2962821282","https://openalex.org/W2962875890","https://openalex.org/W2963033241","https://openalex.org/W2963326767","https://openalex.org/W3008725296","https://openalex.org/W3017086313","https://openalex.org/W3130885760","https://openalex.org/W3133178156","https://openalex.org/W4211241511","https://openalex.org/W6631190155","https://openalex.org/W6631943919"],"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/W2515493494"],"abstract_inverted_index":{"The":[0,47,135,172],"complex":[1],"and":[2,50,66,131,155,170,184,188],"changeable":[3],"robotic":[4,116],"operating":[5],"environment":[6],"will":[7],"often":[8],"cause":[9],"the":[10,17,30,51,64,68,81,86,103,108,115,140,146,160],"low":[11],"success":[12],"rate":[13],"or":[14],"failure":[15],"of":[16,56,88,91],"robot":[18,147],"grasping.":[19],"This":[20],"article":[21],"proposes":[22],"a":[23],"grasp":[24,40,52,71,82,104,110,168],"pose":[25],"detection":[26,69],"method":[27,142,173],"based":[28],"on":[29],"cascaded":[31],"convolutional":[32],"neural":[33],"network,":[34],"which":[35],"can":[36,143,174],"be":[37,175],"applied":[38,176],"to":[39,78,159,177],"unknown":[41],"irregular":[42,150],"objects":[43,57,151],"under":[44],"unstructured":[45],"environment.":[46],"grasping":[48,92,94,118,179],"feature":[49],"position":[53],"candidate":[54],"bounding-boxes":[55],"are":[58,124],"extracted":[59],"by":[60],"Mask-RCNN.":[61],"To":[62,84],"guarantee":[63],"generalization":[65],"improve":[67],"rate,":[70],"angle":[72],"estimation":[73],"network":[74,97],"Y-Net":[75],"is":[76,99,112],"proposed":[77,100,141],"accurately":[79],"obtain":[80],"angle.":[83],"solve":[85],"problem":[87],"insufficient":[89],"accuracy":[90,169],"position,":[93],"feasibility":[95],"evaluation":[96],"Q-Net":[98],"for":[101,114,149],"acquiring":[102],"quality":[105],"distribution.":[106],"Finally,":[107],"optimal":[109],"posture":[111,148],"obtained":[113],"object":[117,178],"task":[119],"in":[120,126,167,181],"cluttered":[121,182],"scenes.":[122],"Experiments":[123],"validated":[125],"Cornell":[127],"datasets,":[128,130],"Jacquard":[129],"real":[132],"environments,":[133],"respectively.":[134],"experimental":[136],"results":[137],"show":[138],"that":[139],"quickly":[144],"calculate":[145],"with":[152],"random":[153],"poses":[154],"different":[156],"shapes.":[157],"Compared":[158],"previous":[161],"methods,":[162],"it":[163],"has":[164,185],"considerable":[165],"improvement":[166],"speed.":[171],"scenarios":[180],"scenes":[183],"strong":[186],"stability":[187],"robustness.":[189]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":19},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":7}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}