{"id":"https://openalex.org/W2650354119","doi":"https://doi.org/10.1177/0278364917713117","title":"RGB-D object detection and semantic segmentation for autonomous manipulation in clutter","display_name":"RGB-D object detection and semantic segmentation for autonomous manipulation in clutter","publication_year":2017,"publication_date":"2017-06-20","ids":{"openalex":"https://openalex.org/W2650354119","doi":"https://doi.org/10.1177/0278364917713117","mag":"2650354119"},"language":"en","primary_location":{"id":"doi:10.1177/0278364917713117","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364917713117","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1810.00818","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5023789533","display_name":"Max Schwarz","orcid":"https://orcid.org/0000-0002-9942-6604"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Max Schwarz","raw_affiliation_strings":["University of Bonn, Germany"],"affiliations":[{"raw_affiliation_string":"University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074566324","display_name":"Anton Milan","orcid":"https://orcid.org/0000-0002-9719-3616"},"institutions":[{"id":"https://openalex.org/I5681781","display_name":"University of Adelaide","ror":"https://ror.org/00892tw58","country_code":"AU","type":"education","lineage":["https://openalex.org/I5681781"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Anton Milan","raw_affiliation_strings":["University of Adelaide, Australia"],"affiliations":[{"raw_affiliation_string":"University of Adelaide, Australia","institution_ids":["https://openalex.org/I5681781"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007129803","display_name":"Arul Selvam Periyasamy","orcid":"https://orcid.org/0000-0002-9320-3928"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Arul Selvam Periyasamy","raw_affiliation_strings":["University of Bonn, Germany"],"affiliations":[{"raw_affiliation_string":"University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5027761977","display_name":"Sven Behnke","orcid":"https://orcid.org/0000-0002-5040-7525"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sven Behnke","raw_affiliation_strings":["University of Bonn, Germany"],"affiliations":[{"raw_affiliation_string":"University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5023789533"],"corresponding_institution_ids":["https://openalex.org/I135140700"],"apc_list":null,"apc_paid":null,"fwci":247.6277,"has_fulltext":false,"cited_by_count":165,"citation_normalized_percentile":{"value":0.99979099,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"37","issue":"4-5","first_page":"437","last_page":"451"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9987999796867371,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9987999796867371,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9983999729156494,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9944000244140625,"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/clutter","display_name":"Clutter","score":0.8192839622497559},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.8139355182647705},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7888263463973999},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.7455264925956726},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6577284336090088},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.6567059755325317},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5821437835693359},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5579349398612976},{"id":"https://openalex.org/keywords/complement","display_name":"Complement (music)","score":0.5190376043319702},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.5046762228012085},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.4486543834209442},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.08528363704681396},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.07867884635925293}],"concepts":[{"id":"https://openalex.org/C132094186","wikidata":"https://www.wikidata.org/wiki/Q641585","display_name":"Clutter","level":3,"score":0.8192839622497559},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8139355182647705},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7888263463973999},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.7455264925956726},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6577284336090088},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.6567059755325317},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5821437835693359},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5579349398612976},{"id":"https://openalex.org/C112313634","wikidata":"https://www.wikidata.org/wiki/Q7886648","display_name":"Complement (music)","level":5,"score":0.5190376043319702},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.5046762228012085},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.4486543834209442},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.08528363704681396},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.07867884635925293},{"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","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/C127716648","wikidata":"https://www.wikidata.org/wiki/Q104053","display_name":"Phenotype","level":3,"score":0.0},{"id":"https://openalex.org/C188082640","wikidata":"https://www.wikidata.org/wiki/Q1780899","display_name":"Complementation","level":4,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1177/0278364917713117","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364917713117","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:1810.00818","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1810.00818","pdf_url":"https://arxiv.org/pdf/1810.00818","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1810.00818","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1810.00818","pdf_url":"https://arxiv.org/pdf/1810.00818","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/13","score":0.7699999809265137,"display_name":"Climate action"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":71,"referenced_works":["https://openalex.org/W54887220","https://openalex.org/W639708223","https://openalex.org/W753847829","https://openalex.org/W1487583988","https://openalex.org/W1522301498","https://openalex.org/W1523493493","https://openalex.org/W1536680647","https://openalex.org/W1556747618","https://openalex.org/W1563017489","https://openalex.org/W1565402342","https://openalex.org/W1593727536","https://openalex.org/W1601963269","https://openalex.org/W1686810756","https://openalex.org/W1903029394","https://openalex.org/W1905882502","https://openalex.org/W1910657905","https://openalex.org/W1912649600","https://openalex.org/W1923184257","https://openalex.org/W1923697677","https://openalex.org/W1945608308","https://openalex.org/W1968129666","https://openalex.org/W1969805947","https://openalex.org/W2005775757","https://openalex.org/W2040438273","https://openalex.org/W2076363786","https://openalex.org/W2097117768","https://openalex.org/W2102605133","https://openalex.org/W2117539524","https://openalex.org/W2130942839","https://openalex.org/W2141504882","https://openalex.org/W2143612262","https://openalex.org/W2153388956","https://openalex.org/W2158744868","https://openalex.org/W2161168419","https://openalex.org/W2163605009","https://openalex.org/W2193145675","https://openalex.org/W2194775991","https://openalex.org/W2205414745","https://openalex.org/W2277195237","https://openalex.org/W2301578624","https://openalex.org/W2320788478","https://openalex.org/W2341294985","https://openalex.org/W2357520300","https://openalex.org/W2466591533","https://openalex.org/W2476527662","https://openalex.org/W2522254393","https://openalex.org/W2529170537","https://openalex.org/W2533256670","https://openalex.org/W2554423287","https://openalex.org/W2563705555","https://openalex.org/W2593390416","https://openalex.org/W2595840341","https://openalex.org/W2597851033","https://openalex.org/W2599765304","https://openalex.org/W2613718673","https://openalex.org/W2738156096","https://openalex.org/W2901136733","https://openalex.org/W2949888546","https://openalex.org/W2953106684","https://openalex.org/W2963542991","https://openalex.org/W2963678509","https://openalex.org/W2963758027","https://openalex.org/W2963881378","https://openalex.org/W2964066795","https://openalex.org/W2964121744","https://openalex.org/W2964137828","https://openalex.org/W3022861191","https://openalex.org/W3106250896","https://openalex.org/W3122396238","https://openalex.org/W4308909683","https://openalex.org/W4394669457"],"related_works":["https://openalex.org/W2130674020","https://openalex.org/W2093748878","https://openalex.org/W2333771223","https://openalex.org/W2120056845","https://openalex.org/W2949096641","https://openalex.org/W2970686063","https://openalex.org/W4320729701","https://openalex.org/W4254103348","https://openalex.org/W3210378990","https://openalex.org/W3034745255"],"abstract_inverted_index":{"Autonomous":[0],"robotic":[1,72],"manipulation":[2,49],"in":[3,15,29,96,98,103,110],"clutter":[4],"is":[5],"challenging.":[6],"A":[7],"large":[8],"variety":[9],"of":[10],"objects":[11],"must":[12],"be":[13,127],"perceived":[14],"complex":[16],"scenes,":[17],"where":[18,91],"they":[19],"are":[20,51],"partially":[21],"occluded":[22],"and":[23,45,101,107,119,125],"embedded":[24],"among":[25],"many":[26],"distractors,":[27],"often":[28],"restricted":[30],"spaces.":[31],"To":[32],"tackle":[33],"these":[34],"challenges,":[35],"we":[36,58],"developed":[37,59],"a":[38,60],"deep-learning":[39],"approach":[40,78],"that":[41,116],"combines":[42],"object":[43,117,132],"detection":[44,118],"semantic":[46,120],"segmentation.":[47],"The":[48,113],"scenes":[50],"captured":[52,84,109],"with":[53],"RGB-D":[54],"cameras,":[55],"for":[56,85],"which":[57],"depth":[61],"fusion":[62],"method.":[63],"Employing":[64],"pretrained":[65],"features":[66],"makes":[67],"learning":[68],"from":[69],"small":[70],"annotated":[71],"datasets":[73],"possible.":[74],"We":[75],"evaluate":[76],"our":[77,92],"on":[79],"two":[80],"challenging":[81],"datasets:":[82],"one":[83,108],"the":[86,99,104],"Amazon":[87],"Picking":[88,105],"Challenge":[89],"2016,":[90],"team":[93],"NimbRo":[94],"came":[95],"second":[97],"Stowing":[100],"third":[102],"task;":[106],"disaster-response":[111],"scenarios.":[112],"experiments":[114],"show":[115],"segmentation":[121],"complement":[122],"each":[123],"other":[124],"can":[126],"combined":[128],"to":[129],"yield":[130],"reliable":[131],"perception.":[133]},"counts_by_year":[{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":27},{"year":2022,"cited_by_count":20},{"year":2021,"cited_by_count":25},{"year":2020,"cited_by_count":26},{"year":2019,"cited_by_count":26},{"year":2018,"cited_by_count":21},{"year":2017,"cited_by_count":3}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
