{"id":"https://openalex.org/W4396972780","doi":"https://doi.org/10.3389/frobt.2024.1222465","title":"CEPB dataset: a photorealistic dataset to foster the research on bin picking in cluttered environments","display_name":"CEPB dataset: a photorealistic dataset to foster the research on bin picking in cluttered environments","publication_year":2024,"publication_date":"2024-05-16","ids":{"openalex":"https://openalex.org/W4396972780","doi":"https://doi.org/10.3389/frobt.2024.1222465","pmid":"https://pubmed.ncbi.nlm.nih.gov/38817888"},"language":"en","primary_location":{"id":"doi:10.3389/frobt.2024.1222465","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2024.1222465","pdf_url":"https://www.frontiersin.org/articles/10.3389/frobt.2024.1222465/pdf?isPublishedV2=False","source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.frontiersin.org/articles/10.3389/frobt.2024.1222465/pdf?isPublishedV2=False","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5021769360","display_name":"Paolo Tripicchio","orcid":"https://orcid.org/0000-0003-3225-2782"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Paolo Tripicchio","raw_affiliation_strings":["Department of Excellence in Robotics and AI, Institute of Mechanical Intelligence, Scuola Superiore Sant'anna, Pisa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Excellence in Robotics and AI, Institute of Mechanical Intelligence, Scuola Superiore Sant'anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011817358","display_name":"Salvatore D\u2019Avella","orcid":"https://orcid.org/0000-0001-7065-8789"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Salvatore D\u2019Avella","raw_affiliation_strings":["Department of Excellence in Robotics and AI, Institute of Mechanical Intelligence, Scuola Superiore Sant\u2019anna, Pisa, Italy","Department of Excellence in Robotics and AI, Institute of Mechanical Intelligence, Scuola Superiore Sant'anna, Pisa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Excellence in Robotics and AI, Institute of Mechanical Intelligence, Scuola Superiore Sant\u2019anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"Department of Excellence in Robotics and AI, Institute of Mechanical Intelligence, Scuola Superiore Sant'anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086535808","display_name":"Carlo Alberto Avizzano","orcid":"https://orcid.org/0000-0001-5802-541X"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Carlo Alberto Avizzano","raw_affiliation_strings":["Department of Excellence in Robotics and AI, Institute of Mechanical Intelligence, Scuola Superiore Sant'anna, Pisa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Excellence in Robotics and AI, Institute of Mechanical Intelligence, Scuola Superiore Sant'anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1900,"currency":"USD","value_usd":1900},"apc_paid":{"value":1900,"currency":"USD","value_usd":1900},"fwci":1.1652,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.77525763,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"11","issue":null,"first_page":"1222465","last_page":"1222465"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9894999861717224,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9843000173568726,"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":0.8656138181686401},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.828144907951355},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7346203327178955},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.5996520519256592},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.5204663276672363},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.5182718634605408},{"id":"https://openalex.org/keywords/clutter","display_name":"Clutter","score":0.49021750688552856},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.448636919260025},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3229720890522003}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8656138181686401},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.828144907951355},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7346203327178955},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.5996520519256592},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.5204663276672363},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.5182718634605408},{"id":"https://openalex.org/C132094186","wikidata":"https://www.wikidata.org/wiki/Q641585","display_name":"Clutter","level":3,"score":0.49021750688552856},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.448636919260025},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3229720890522003},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","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}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3389/frobt.2024.1222465","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2024.1222465","pdf_url":"https://www.frontiersin.org/articles/10.3389/frobt.2024.1222465/pdf?isPublishedV2=False","source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},{"id":"pmid:38817888","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/38817888","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in robotics and AI","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:11137189","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/11137189","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Front Robot AI","raw_type":"Text"},{"id":"pmh:oai:doaj.org/article:fb54184a481a46c2bf079a7441ca00cd","is_oa":true,"landing_page_url":"https://doaj.org/article/fb54184a481a46c2bf079a7441ca00cd","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Frontiers in Robotics and AI, Vol 11 (2024)","raw_type":"article"},{"id":"pmh:oai:www.iris.sssup.it:11382/566973","is_oa":true,"landing_page_url":"https://hdl.handle.net/11382/566973","pdf_url":null,"source":{"id":"https://openalex.org/S4377196376","display_name":"CINECA IRIS Institutional Research Information System (Sant'Anna School of Advanced Studies)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I162290304","host_organization_name":"Scuola Superiore Sant'Anna","host_organization_lineage":["https://openalex.org/I162290304"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"doi:10.3389/frobt.2024.1222465","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2024.1222465","pdf_url":"https://www.frontiersin.org/articles/10.3389/frobt.2024.1222465/pdf?isPublishedV2=False","source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4396972780.pdf"},"referenced_works_count":30,"referenced_works":["https://openalex.org/W1505952289","https://openalex.org/W1526868886","https://openalex.org/W1531147756","https://openalex.org/W2112961542","https://openalex.org/W2132836675","https://openalex.org/W2186222003","https://openalex.org/W2221752211","https://openalex.org/W2529170537","https://openalex.org/W2580726517","https://openalex.org/W2884367402","https://openalex.org/W2927638312","https://openalex.org/W2963188159","https://openalex.org/W2964137828","https://openalex.org/W3004271040","https://openalex.org/W3035355652","https://openalex.org/W3203935482","https://openalex.org/W4221004928","https://openalex.org/W4287165115","https://openalex.org/W4302023500","https://openalex.org/W4312342641","https://openalex.org/W4312876407","https://openalex.org/W4320002827","https://openalex.org/W4321483885","https://openalex.org/W4387350450","https://openalex.org/W6605377543","https://openalex.org/W6746864265","https://openalex.org/W6750172412","https://openalex.org/W6754227600","https://openalex.org/W6754677871","https://openalex.org/W6801988286"],"related_works":["https://openalex.org/W2130674020","https://openalex.org/W2093748878","https://openalex.org/W2333771223","https://openalex.org/W2120056845","https://openalex.org/W1981531423","https://openalex.org/W4394861761","https://openalex.org/W2035264131","https://openalex.org/W1679012645","https://openalex.org/W2964084369","https://openalex.org/W4390721878"],"abstract_inverted_index":{"Several":[0],"datasets":[1],"have":[2],"been":[3],"proposed":[4],"in":[5,21,30,45,55,104],"the":[6,26,46,60,67,141,148,151,158,162,189,197,201],"literature,":[7],"focusing":[8],"on":[9],"object":[10,50,168],"detection":[11,51],"and":[12,52,97,126,143,157,176],"pose":[13,27,53],"estimation.":[14],"The":[15,73,138],"majority":[16],"of":[17,28,49,63,89,100,147,161],"them":[18,178],"are":[19,170],"interested":[20],"recognizing":[22],"isolated":[23],"objects":[24,29,99],"or":[25],"well-organized":[31],"scenarios.":[32],"This":[33],"work":[34],"introduces":[35],"a":[36],"novel":[37,202],"dataset":[38,74],"that":[39],"aims":[40],"to":[41,172,195],"stress":[42],"vision":[43],"algorithms":[44],"difficult":[47],"task":[48],"estimation":[54],"highly":[56],"cluttered":[57,92,182],"scenes":[58,93],"concerning":[59],"specific":[61],"case":[62],"bin":[64],"picking":[65,107],"for":[66,134],"Cluttered":[68],"Environment":[69],"Picking":[70],"Benchmark":[71],"(CEPB).":[72],"provides":[75],"about":[76],"1.5M":[77],"virtually":[78],"generated":[79],"photo-realistic":[80],"images":[81,117,169],"(RGB":[82],"+":[83,85,87,155],"depth":[84],"normals":[86],"segmentation)":[88],"50K":[90],"annotated":[91],"mixing":[94],"rigid,":[95],"soft,":[96],"deformable":[98],"varying":[101],"sizes":[102],"used":[103],"existing":[105],"robotic":[106],"benchmarks":[108],"together":[109],"with":[110,179,188],"their":[111],"3D":[112,144],"models":[113],"(40":[114],"objects).":[115],"Such":[116],"include":[118],"three":[119,123],"different":[120],"camera":[121],"positions,":[122],"light":[124],"conditions,":[125],"multiple":[127],"High":[128],"Dynamic":[129],"Range":[130],"Imaging":[131],"(HDRI)":[132],"maps":[133],"domain":[135],"randomization":[136],"purposes.":[137],"annotations":[139],"contain":[140],"2D":[142],"bounding":[145],"boxes":[146],"involved":[149],"objects,":[150],"centroids'":[152],"poses":[153],"(translation":[154],"quaternion),":[156],"visibility":[159],"percentage":[160],"objects'":[163],"surfaces.":[164],"Nearly":[165],"10K":[166],"separated":[167],"presented":[171],"perform":[173],"simple":[174],"tests":[175],"compare":[177],"more":[180],"complex":[181],"scenarios":[183],"tests.":[184],"A":[185],"baseline":[186],"performed":[187],"DOPE":[190],"neural":[191],"network":[192],"is":[193],"reported":[194],"highlight":[196],"challenges":[198],"introduced":[199],"by":[200],"dataset.":[203]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}