{"id":"https://openalex.org/W4408124953","doi":"https://doi.org/10.1109/tmc.2025.3547371","title":"FuseGrasp: Radar-Camera Fusion for Robotic Grasping of Transparent Objects","display_name":"FuseGrasp: Radar-Camera Fusion for Robotic Grasping of Transparent Objects","publication_year":2025,"publication_date":"2025-03-03","ids":{"openalex":"https://openalex.org/W4408124953","doi":"https://doi.org/10.1109/tmc.2025.3547371"},"language":"en","primary_location":{"id":"doi:10.1109/tmc.2025.3547371","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tmc.2025.3547371","pdf_url":null,"source":{"id":"https://openalex.org/S69141925","display_name":"IEEE Transactions on Mobile Computing","issn_l":"1536-1233","issn":["1536-1233","1558-0660","2161-9875"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320439","host_organization_name":"IEEE Computer Society","host_organization_lineage":["https://openalex.org/P4310320439","https://openalex.org/P4310319808"],"host_organization_lineage_names":["IEEE Computer Society","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 Mobile Computing","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/A5107701771","display_name":"Hongyu Deng","orcid":null},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Hongyu Deng","raw_affiliation_strings":["Department of Information Engineering, The Chinese University of Hong Kong, Hong Kong, China","Department of Information Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China"],"raw_orcid":"https://orcid.org/0009-0003-5935-9050","affiliations":[{"raw_affiliation_string":"Department of Information Engineering, The Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Information Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100552155","display_name":"Tianfan Xue","orcid":"https://orcid.org/0000-0001-5031-6618"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Tianfan Xue","raw_affiliation_strings":["Department of Information Engineering, The Chinese University of Hong Kong, Hong Kong, China","Department of Information Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Information Engineering, The Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Information Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100327671","display_name":"He Chen","orcid":"https://orcid.org/0000-0001-8886-9680"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"He Chen","raw_affiliation_strings":["Department of Information Engineering, The Chinese University of Hong Kong, Hong Kong, China","Department of Information Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China"],"raw_orcid":"https://orcid.org/0000-0001-8886-9680","affiliations":[{"raw_affiliation_string":"Department of Information Engineering, The Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Information Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I177725633"],"apc_list":null,"apc_paid":null,"fwci":6.7251,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.95237426,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":97},"biblio":{"volume":"24","issue":"8","first_page":"7028","last_page":"7041"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.9560999870300293,"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"}},"topics":[{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.9560999870300293,"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"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9205999970436096,"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/computer-science","display_name":"Computer science","score":0.773688793182373},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6630396246910095},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5770161747932434},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.44644051790237427},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.43671518564224243},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.4321832060813904},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.173363596200943}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.773688793182373},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6630396246910095},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5770161747932434},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.44644051790237427},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.43671518564224243},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.4321832060813904},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.173363596200943},{"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/tmc.2025.3547371","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tmc.2025.3547371","pdf_url":null,"source":{"id":"https://openalex.org/S69141925","display_name":"IEEE Transactions on Mobile Computing","issn_l":"1536-1233","issn":["1536-1233","1558-0660","2161-9875"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320439","host_organization_name":"IEEE Computer Society","host_organization_lineage":["https://openalex.org/P4310320439","https://openalex.org/P4310319808"],"host_organization_lineage_names":["IEEE Computer Society","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 Mobile Computing","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":51,"referenced_works":["https://openalex.org/W1968148105","https://openalex.org/W1985885848","https://openalex.org/W2001188690","https://openalex.org/W2015155523","https://openalex.org/W2030171418","https://openalex.org/W2106630032","https://openalex.org/W2109606373","https://openalex.org/W2146675811","https://openalex.org/W2413354348","https://openalex.org/W2790332193","https://openalex.org/W2794739174","https://openalex.org/W2908820953","https://openalex.org/W2920459301","https://openalex.org/W2962793652","https://openalex.org/W2963037989","https://openalex.org/W3018353706","https://openalex.org/W3021789920","https://openalex.org/W3025486642","https://openalex.org/W3034233533","https://openalex.org/W3034241071","https://openalex.org/W3035235920","https://openalex.org/W3041937076","https://openalex.org/W3088603624","https://openalex.org/W3089874271","https://openalex.org/W3109995084","https://openalex.org/W3116493117","https://openalex.org/W3130885760","https://openalex.org/W3171847116","https://openalex.org/W3175987492","https://openalex.org/W3198891199","https://openalex.org/W3206423893","https://openalex.org/W3207984187","https://openalex.org/W3208472616","https://openalex.org/W3212193748","https://openalex.org/W3214378007","https://openalex.org/W4200049115","https://openalex.org/W4200492212","https://openalex.org/W4285190019","https://openalex.org/W4293584584","https://openalex.org/W4295046749","https://openalex.org/W4306179727","https://openalex.org/W4380873639","https://openalex.org/W4383109669","https://openalex.org/W4383337613","https://openalex.org/W4385371319","https://openalex.org/W4386065453","https://openalex.org/W4387212750","https://openalex.org/W4387790087","https://openalex.org/W6631807848","https://openalex.org/W6802704039","https://openalex.org/W6859336203"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Transparent":[0],"objects":[1,55],"are":[2],"prevalent":[3],"in":[4,30,206],"everyday":[5],"environments,":[6],"but":[7],"their":[8],"distinct":[9],"physical":[10],"properties":[11],"pose":[12],"significant":[13],"challenges":[14],"for":[15,134,227],"camera-guided":[16],"robotic":[17,84,204,232],"arms.":[18],"Current":[19],"research":[20],"is":[21,126],"mainly":[22],"dependent":[23],"on":[24,156,168],"camera-only":[25],"approaches,":[26],"which":[27,67],"often":[28],"falter":[29],"suboptimal":[31],"conditions,":[32],"such":[33,186],"as":[34,175,187],"low-light":[35],"environments.":[36],"In":[37],"response":[38],"to":[39,51,71,86,104,129],"this":[40,139],"challenge,":[41],"we":[42,152],"present":[43],"FuseGrasp,":[44],"the":[45,53,59,78,116,181,192,203,219,240],"first":[46,153],"radar-camera":[47],"fusion":[48],"system":[49,96],"tailored":[50],"enhance":[52],"transparent":[54,69,93,135,163,184,228,243],"manipulation.":[56],"FuseGrasp":[57,124,155,178,216,237],"exploits":[58],"weak":[60],"penetrating":[61],"property":[62],"of":[63,82,92,119,162,183,196,221,242],"millimeter-wave":[64],"(mmWave)":[65],"signals,":[66],"causes":[68],"materials":[70],"appear":[72],"opaque,":[73],"and":[74,107,114,145,224],"combines":[75],"it":[76,167],"with":[77],"precise":[79],"motion":[80],"control":[81],"a":[83,98,157,169,176],"arm":[85,205],"acquire":[87],"high-quality":[88],"mmWave":[89,197],"radar":[90,106,131],"images":[91],"objects.":[94,136,229],"The":[95],"employs":[97],"carefully":[99],"designed":[100],"deep":[101],"neural":[102],"network":[103],"fuse":[105],"camera":[108],"imagery,":[109],"thereby":[110],"improving":[111],"depth":[112,222],"completion":[113],"elevating":[115],"success":[117],"rate":[118],"object":[120],"grasping.":[121],"Nevertheless,":[122],"training":[123,150],"effectively":[125],"non-trivial,":[127],"due":[128],"limited":[130],"image":[132],"datasets":[133],"We":[137],"address":[138],"issue":[140],"utilizing":[141],"large":[142,158],"RGB-D":[143,160],"dataset,":[144],"propose":[146],"an":[147],"effective":[148],"two-stage":[149],"approach:":[151],"pre-train":[154],"public":[159],"dataset":[161],"objects,":[164,185],"then":[165],"fine-tune":[166],"self-built":[170],"small":[171],"RGB-D-Radar":[172],"dataset.":[173],"Furthermore,":[174],"byproduct,":[177],"can":[179],"determine":[180],"composition":[182],"glass":[188],"or":[189],"plastic,":[190],"leveraging":[191],"material":[193,225],"identification":[194,200,226],"capability":[195],"radar.":[198],"This":[199],"result":[201],"facilitates":[202],"modulating":[207],"its":[208],"grip":[209],"force":[210],"appropriately.":[211],"Extensive":[212],"testing":[213],"reveals":[214],"that":[215,236],"significantly":[217],"improves":[218],"accuracy":[220],"reconstruction":[223],"Moreover,":[230],"real-world":[231],"trials":[233],"have":[234],"confirmed":[235],"markedly":[238],"enhances":[239],"handling":[241],"items.":[244]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2025-12-21T01:58:51.020947","created_date":"2025-10-10T00:00:00"}