{"id":"https://openalex.org/W4289656330","doi":"https://doi.org/10.1109/tim.2022.3196130","title":"Lightweight Pixel-Wise Generative Robot Grasping Detection Based on RGB-D Dense Fusion","display_name":"Lightweight Pixel-Wise Generative Robot Grasping Detection Based on RGB-D Dense Fusion","publication_year":2022,"publication_date":"2022-01-01","ids":{"openalex":"https://openalex.org/W4289656330","doi":"https://doi.org/10.1109/tim.2022.3196130"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2022.3196130","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2022.3196130","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/A5041685561","display_name":"Hongkun Tian","orcid":"https://orcid.org/0000-0002-2347-8862"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Hongkun Tian","raw_affiliation_strings":["School of Mechanical Engineering and Automation, the National Frontiers Science Center for Industrial Intelligence and Systems Optimization, and the Key Laboratory of Data Analytics and Optimization for Smart Industry, Ministry of Education, Northeastern University, Shenyang, China","National Frontiers Science Center for Industrial Intelligence and Systems Optimization(Northeastern University), China","School of Mechanical Engineering and Automation, Northeastern University, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, the National Frontiers Science Center for Industrial Intelligence and Systems Optimization, and the Key Laboratory of Data Analytics and Optimization for Smart Industry, Ministry of Education, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]},{"raw_affiliation_string":"National Frontiers Science Center for Industrial Intelligence and Systems Optimization(Northeastern University), China","institution_ids":["https://openalex.org/I9224756"]},{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010927997","display_name":"Kechen Song","orcid":"https://orcid.org/0000-0002-7636-3460"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kechen Song","raw_affiliation_strings":["School of Mechanical Engineering and Automation, the National Frontiers Science Center for Industrial Intelligence and Systems Optimization, and the Key Laboratory of Data Analytics and Optimization for Smart Industry, Ministry of Education, Northeastern University, Shenyang, China","School of Mechanical Engineering and Automation, Northeastern University, Shenyang, China","National Frontiers Science Center for Industrial Intelligence and Systems Optimization(Northeastern University), China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, the National Frontiers Science Center for Industrial Intelligence and Systems Optimization, and the Key Laboratory of Data Analytics and Optimization for Smart Industry, Ministry of Education, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]},{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]},{"raw_affiliation_string":"National Frontiers Science Center for Industrial Intelligence and Systems Optimization(Northeastern University), China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055290886","display_name":"Song Li","orcid":null},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Song Li","raw_affiliation_strings":["School of Mechanical Engineering and Automation, the National Frontiers Science Center for Industrial Intelligence and Systems Optimization, and the Key Laboratory of Data Analytics and Optimization for Smart Industry, Ministry of Education, Northeastern University, Shenyang, China","School of Mechanical Engineering and Automation, Northeastern University, Shenyang, China","National Frontiers Science Center for Industrial Intelligence and Systems Optimization(Northeastern University), China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, the National Frontiers Science Center for Industrial Intelligence and Systems Optimization, and the Key Laboratory of Data Analytics and Optimization for Smart Industry, Ministry of Education, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]},{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]},{"raw_affiliation_string":"National Frontiers Science Center for Industrial Intelligence and Systems Optimization(Northeastern University), China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022564470","display_name":"Shuai Ma","orcid":"https://orcid.org/0000-0002-0325-9347"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuai Ma","raw_affiliation_strings":["School of Mechanical Engineering and Automation, the National Frontiers Science Center for Industrial Intelligence and Systems Optimization, and the Key Laboratory of Data Analytics and Optimization for Smart Industry, Ministry of Education, Northeastern University, Shenyang, China","National Frontiers Science Center for Industrial Intelligence and Systems Optimization(Northeastern University), China","School of Mechanical Engineering and Automation, Northeastern University, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, the National Frontiers Science Center for Industrial Intelligence and Systems Optimization, and the Key Laboratory of Data Analytics and Optimization for Smart Industry, Ministry of Education, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]},{"raw_affiliation_string":"National Frontiers Science Center for Industrial Intelligence and Systems Optimization(Northeastern University), China","institution_ids":["https://openalex.org/I9224756"]},{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043667109","display_name":"Yunhui Yan","orcid":"https://orcid.org/0000-0001-7121-2367"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunhui Yan","raw_affiliation_strings":["School of Mechanical Engineering and Automation, the National Frontiers Science Center for Industrial Intelligence and Systems Optimization, and the Key Laboratory of Data Analytics and Optimization for Smart Industry, Ministry of Education, Northeastern University, Shenyang, China","National Frontiers Science Center for Industrial Intelligence and Systems Optimization(Northeastern University), China","School of Mechanical Engineering and Automation, Northeastern University, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, the National Frontiers Science Center for Industrial Intelligence and Systems Optimization, and the Key Laboratory of Data Analytics and Optimization for Smart Industry, Ministry of Education, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]},{"raw_affiliation_string":"National Frontiers Science Center for Industrial Intelligence and Systems Optimization(Northeastern University), China","institution_ids":["https://openalex.org/I9224756"]},{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5041685561"],"corresponding_institution_ids":["https://openalex.org/I9224756"],"apc_list":null,"apc_paid":null,"fwci":5.3473,"has_fulltext":false,"cited_by_count":46,"citation_normalized_percentile":{"value":0.96358054,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"71","issue":null,"first_page":"1","last_page":"12"},"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":0.9786999821662903,"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/T12111","display_name":"Industrial Vision Systems and Defect Detection","score":0.9506999850273132,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.8081057071685791},{"id":"https://openalex.org/keywords/discriminative-model","display_name":"Discriminative model","score":0.7608721256256104},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7125086784362793},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.7073529958724976},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7006296515464783},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.6737174391746521},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.656646192073822},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.5724562406539917},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4975297749042511},{"id":"https://openalex.org/keywords/generative-model","display_name":"Generative model","score":0.44051697850227356},{"id":"https://openalex.org/keywords/fusion-mechanism","display_name":"Fusion mechanism","score":0.4347406327724457},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.42840105295181274},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.41782790422439575},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.32129091024398804},{"id":"https://openalex.org/keywords/generative-grammar","display_name":"Generative grammar","score":0.2939932346343994}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8081057071685791},{"id":"https://openalex.org/C97931131","wikidata":"https://www.wikidata.org/wiki/Q5282087","display_name":"Discriminative model","level":2,"score":0.7608721256256104},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7125086784362793},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.7073529958724976},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7006296515464783},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.6737174391746521},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.656646192073822},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.5724562406539917},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4975297749042511},{"id":"https://openalex.org/C167966045","wikidata":"https://www.wikidata.org/wiki/Q5532625","display_name":"Generative model","level":3,"score":0.44051697850227356},{"id":"https://openalex.org/C173414695","wikidata":"https://www.wikidata.org/wiki/Q5510276","display_name":"Fusion mechanism","level":4,"score":0.4347406327724457},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.42840105295181274},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.41782790422439575},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.32129091024398804},{"id":"https://openalex.org/C39890363","wikidata":"https://www.wikidata.org/wiki/Q36108","display_name":"Generative grammar","level":2,"score":0.2939932346343994},{"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/C103038307","wikidata":"https://www.wikidata.org/wiki/Q6556360","display_name":"Lipid bilayer fusion","level":3,"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/tim.2022.3196130","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2022.3196130","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":[{"score":0.7099999785423279,"display_name":"Reduced inequalities","id":"https://metadata.un.org/sdg/10"}],"awards":[{"id":"https://openalex.org/G2311391187","display_name":null,"funder_award_id":"B16009","funder_id":"https://openalex.org/F4320327912","funder_display_name":"Higher Education Discipline Innovation Project"},{"id":"https://openalex.org/G6235082000","display_name":null,"funder_award_id":"51805078","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7259283300","display_name":null,"funder_award_id":"N2103011","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320327912","display_name":"Higher Education Discipline Innovation Project","ror":null},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W1820657498","https://openalex.org/W1892339738","https://openalex.org/W1999156278","https://openalex.org/W2123435073","https://openalex.org/W2183341477","https://openalex.org/W2412782625","https://openalex.org/W2523315006","https://openalex.org/W2736762515","https://openalex.org/W2752782242","https://openalex.org/W2773072043","https://openalex.org/W2824754393","https://openalex.org/W2953669419","https://openalex.org/W2962821282","https://openalex.org/W2962875890","https://openalex.org/W2963326767","https://openalex.org/W2963840672","https://openalex.org/W2978706708","https://openalex.org/W3000909746","https://openalex.org/W3004284873","https://openalex.org/W3013482323","https://openalex.org/W3048356206","https://openalex.org/W3056171435","https://openalex.org/W3090627744","https://openalex.org/W3095706026","https://openalex.org/W3104104643","https://openalex.org/W3124166613","https://openalex.org/W3127367339","https://openalex.org/W3128482623","https://openalex.org/W3130885760","https://openalex.org/W3179504572","https://openalex.org/W3217480528","https://openalex.org/W4200113845","https://openalex.org/W4200142613","https://openalex.org/W4205106798","https://openalex.org/W4213363696","https://openalex.org/W4246193833","https://openalex.org/W6696085341","https://openalex.org/W6743731764","https://openalex.org/W6790486856"],"related_works":["https://openalex.org/W2093104230","https://openalex.org/W4390874210","https://openalex.org/W4384918963","https://openalex.org/W2128027845","https://openalex.org/W4386184937","https://openalex.org/W4394728283","https://openalex.org/W1493875009","https://openalex.org/W2105231718","https://openalex.org/W4388844349","https://openalex.org/W2019680624"],"abstract_inverted_index":{"Grasping":[0],"detection":[1,18],"is":[2,86,112,131,160],"one":[3],"of":[4,37,55,60,98,104,144,157,170],"the":[5,52,96,102,171],"essential":[6],"tasks":[7],"for":[8,162,182,186,191],"robots":[9],"to":[10,51,88],"achieve":[11],"automation":[12],"and":[13,24,40,57,82,110,138,146,152,155,189],"intelligence.":[14],"The":[15,129,166],"existing":[16,74,198],"grasp":[17],"mainly":[19,77],"relies":[20],"on":[21,79,125,135,150],"data-driven":[22],"discriminative":[23,33],"generative":[25,127],"strategies.":[26],"Generative":[27],"strategies":[28,34],"have":[29],"significant":[30],"advantages":[31,66],"over":[32,67],"in":[35,46],"terms":[36],"efficiency.":[38],"RGB":[39,70],"Depth":[41],"data":[42,48],"are":[43,148],"widely":[44],"used":[45],"grasping":[47,99],"sources":[49],"due":[50],"sufficient":[53],"amount":[54],"information":[56,90],"low":[58],"cost":[59],"acquisition.":[61],"RGB-D":[62,120],"fusion":[63,81,122],"has":[64,76,196],"shown":[65],"only":[68,158],"using":[69],"or":[71],"Depth.":[72],"However,":[73],"research":[75],"focused":[78],"early":[80],"late":[83],"fusion,":[84],"which":[85],"challenging":[87],"utilize":[89],"from":[91],"both":[92,105],"modalities":[93],"fully.":[94],"Improving":[95],"accuracy":[97],"while":[100,107],"leveraging":[101],"knowledge":[103],"modalities,":[106],"ensuring":[108],"lightweight":[109],"real-time":[111],"crucial.":[113],"Therefore,":[114],"this":[115],"paper":[116],"proposes":[117],"a":[118,126],"pixel-wise":[119],"dense":[121],"method":[123],"based":[124],"strategy.":[128],"technique":[130],"doubly":[132],"experimentally":[133],"validated":[134],"public":[136],"datasets":[137],"real":[139],"robot":[140],"platform.":[141],"Accuracy":[142],"rates":[143],"98.9%":[145],"94.0%":[147,181],"achieved":[149,161],"Cornell":[151],"Jacquard":[153],"datasets,":[154],"efficiency":[156],"15ms":[159],"single":[163],"image":[164],"processing.":[165],"average":[167],"success":[168],"rate":[169],"AUBO":[172],"i5":[173],"robotic":[174],"platform":[175],"with":[176],"DHAG-95":[177],"parallel":[178],"gripper":[179],"reached":[180],"single-object":[183],"scenes,":[184,188],"86.7%":[185],"three-object":[187],"84%":[190],"five-object":[192],"scenes.":[193],"Our":[194],"approach":[195],"outperformed":[197],"state-of-the-art":[199],"methods.":[200]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":17},{"year":2023,"cited_by_count":13},{"year":2022,"cited_by_count":1}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}