{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,6]],"date-time":"2026-05-06T15:55:17Z","timestamp":1778082917415,"version":"3.51.4"},"reference-count":45,"publisher":"Wiley","issue":"5","license":[{"start":{"date-parts":[[2024,3,29]],"date-time":"2024-03-29T00:00:00Z","timestamp":1711670400000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100004193","name":"Nanjing University of Aeronautics and Astronautics","doi-asserted-by":"publisher","award":["xcxjh20221509"],"award-info":[{"award-number":["xcxjh20221509"]}],"id":[{"id":"10.13039\/501100004193","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["advanced.onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Advanced Intelligent Systems"],"published-print":{"date-parts":[[2024,5]]},"abstract":"<jats:p>In this article, the arbitrary\u2010oriented object detection problem with application in robotic grasping is addressed. A novel Jensen\u2013Shannon divergence (JSD)\u2013 You Only Look Once (YOLO) model is proposed, which enables real\u2010time grasp detection with high performance. The one\u2010stage object detection network YOLOv5 is modified with a decoupled head, which solves the angle classification problem and rectangle parameter regression problem separately, such that the YOLOv5 network is applicable for robotic grasping and the detection accuracy is significantly improved. A circular smooth label angle classification method is proposed to tackle the boundary discontinuity problem in angle regression, and the periodicity of the angle prediction is guaranteed. A novel Jensen\u2013Shannon intersection of union is designed to calculate the intersection over union of oriented rectangles, which aims to better measure the discrepancies between the prediction and the ground truth and to avoid the singularity problem when two rectangles are not overlapped. Extensive evaluation on the Cornell and visual manipulation relationship dataset datasets demonstrates the effectiveness of the JSD\u2013YOLO model in general robotic grasp operations, with 99.7% and 95.7% image\u2010wise split accuracy, respectively.<\/jats:p>","DOI":"10.1002\/aisy.202300497","type":"journal-article","created":{"date-parts":[[2024,3,29]],"date-time":"2024-03-29T03:06:10Z","timestamp":1711681570000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":6,"title":["Jensen\u2013Shannon Divergence You Only Look Once: A Real\u2010Time Robotic Grasp Detection Network"],"prefix":"10.1002","volume":"6","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-3845-2534","authenticated-orcid":false,"given":"Tianjiao","family":"Han","sequence":"first","affiliation":[{"name":"College of Astronautics Nanjing University of Aeronautics and Astronautics  General Road 29 Nanjing Jiangsu 210016 China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2656-4731","authenticated-orcid":false,"given":"Dan","family":"Yu","sequence":"additional","affiliation":[{"name":"College of Astronautics Nanjing University of Aeronautics and Astronautics  General Road 29 Nanjing Jiangsu 210016 China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2024,3,29]]},"reference":[{"key":"e_1_2_10_2_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2013.2289018"},{"key":"e_1_2_10_3_1","doi-asserted-by":"crossref","unstructured":"V.\u2010D.Nguyen inProc. 1986 IEEE Int. Conf. on Robotics and Automation IEEE Piscataway NJ1986 Vol.3 pp.1368\u20131373.","DOI":"10.1109\/ROBOT.1986.1087483"},{"key":"e_1_2_10_4_1","doi-asserted-by":"publisher","DOI":"10.1007\/BF01175968"},{"key":"e_1_2_10_5_1","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.2019.2917034"},{"key":"e_1_2_10_6_1","doi-asserted-by":"crossref","unstructured":"H.Zhang X.Lan S.Bai L.Wan C.Yang N.Zheng in2019 IEEE\/RSJ Int. Conf. on Intelligent Robots and Systems (IROS) IEEE Piscataway NJ2019 pp.6435\u20136442.","DOI":"10.1109\/IROS40897.2019.8967977"},{"key":"e_1_2_10_7_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.rcim.2020.101963"},{"key":"e_1_2_10_8_1","doi-asserted-by":"crossref","unstructured":"H.Zhang X.Lan S.Bai X.Zhou Z.Tian N.Zheng in2019 IEEE\/RSJ Int. Conf. on Intelligent Robots and Systems (IROS) IEEE Piscataway NJ2019 pp.4768\u20134775.","DOI":"10.1109\/IROS40897.2019.8967869"},{"key":"e_1_2_10_9_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364919859066"},{"key":"e_1_2_10_10_1","unstructured":"S.Kumra S.Joshi F.Sahin inIEEE\/RSJ Int. Conf. on Intelligent Robots and Systems (IROS) IEEE Piscataway NJ2020 pp.9626\u20139633."},{"key":"e_1_2_10_11_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3145064"},{"key":"e_1_2_10_12_1","author":"Cao H.","year":"2021","journal-title":"arXiv:2101.10226"},{"key":"e_1_2_10_13_1","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2021.3135629"},{"key":"e_1_2_10_14_1","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2022.3174274"},{"key":"e_1_2_10_15_1","doi-asserted-by":"crossref","unstructured":"S.Ainetter F.Fraundorfer inInt. Conf. on Robotics and Automation (ICRA) IEEE Piscataway NJ2021 pp.13452\u201313458.","DOI":"10.1109\/ICRA48506.2021.9561398"},{"key":"e_1_2_10_16_1","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2021.3120474"},{"key":"e_1_2_10_17_1","doi-asserted-by":"publisher","DOI":"10.30534\/ijatcse\/2020\/175942020"},{"key":"e_1_2_10_18_1","unstructured":"T.\u2010Y.Lin P.Goyal R.Girshick K.He P.Doll\u00e1r inProc. of the IEEE Int. Conf. on Computer Vision IEEE Piscataway NJ2017 pp.2980\u20132988."},{"key":"e_1_2_10_19_1","unstructured":"X.Yang J.Yan Q.Ming W.Wang X.Zhang Q.Tian inInt. Conf. on Machine Learning PMLR2021 pp.11830\u201311841."},{"key":"e_1_2_10_20_1","first-page":"5009712","volume":"71","author":"Cheng H.","year":"2022","journal-title":"IEEE Trans. Instrum. Measur."},{"key":"e_1_2_10_21_1","unstructured":"D.Park Y.Seo S. Y.Chun inInt. Conf. on Robotics and Automation (ICRA) IEEE Piscataway NJ2020 pp.9397\u20139403."},{"key":"e_1_2_10_22_1","doi-asserted-by":"crossref","unstructured":"Z.Zheng P.Wang W.Liu J.Li R.Ye D.Ren inProc. of the AAAI Conf. on Artificial Intelligence2020 pp.12993\u201313000.","DOI":"10.1609\/aaai.v34i07.6999"},{"key":"e_1_2_10_23_1","unstructured":"D.Zhou J.Fang X.Song C.Guan J.Yin Y.Dai R.Yang inInt. Conf. on 3D Vision (3DV) IEEE Piscataway NJ2019 pp.85\u201394."},{"key":"e_1_2_10_24_1","doi-asserted-by":"crossref","unstructured":"D.Guo F.Sun H.Liu T.Kong B.Fang N.Xi inIEEE Int. Conf. on Robotics and Automation (ICRA) IEEE Piscataway NJ2017 pp.1609\u20131614.","DOI":"10.1109\/ICRA.2017.7989191"},{"key":"e_1_2_10_25_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364914549607"},{"key":"e_1_2_10_26_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2852777"},{"key":"e_1_2_10_27_1","doi-asserted-by":"crossref","unstructured":"U.Asif J.Tang S.Harrer inProc. of the AAAI Conf. on Artificial Intelligence 2019 pp.8085\u20138093.","DOI":"10.1609\/aaai.v33i01.33018085"},{"key":"e_1_2_10_28_1","unstructured":"J.Redmon A.Angelova inIEEE Int. Conf. on Robotics and Automation (ICRA) IEEE Piscataway NJ2015 pp.1316\u20131322."},{"key":"e_1_2_10_29_1","doi-asserted-by":"publisher","DOI":"10.1145\/3065386"},{"key":"e_1_2_10_30_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.rcim.2022.102371"},{"key":"e_1_2_10_31_1","doi-asserted-by":"publisher","DOI":"10.3390\/electronics10141711"},{"key":"e_1_2_10_32_1","doi-asserted-by":"publisher","DOI":"10.3390\/mi12111273"},{"key":"e_1_2_10_33_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.postharvbio.2021.111808"},{"key":"e_1_2_10_34_1","doi-asserted-by":"publisher","DOI":"10.1007\/s11760-021-02024-y"},{"key":"e_1_2_10_35_1","unstructured":"T.Mahendrakar R. T.White M.Wilde B.Kish I.Silver inSmall Satellite Conf.2021."},{"key":"e_1_2_10_36_1","doi-asserted-by":"crossref","unstructured":"X.Zhu S.Lyu X.Wang Q.Zhao inProc. of the IEEE\/CVF Int. Conf. on Computer Vision (ICCV) Workshops IEEE Piscataway NJ2021 pp.2778\u20132788.","DOI":"10.1109\/ICCVW54120.2021.00312"},{"key":"e_1_2_10_37_1","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2022.3140876"},{"key":"e_1_2_10_38_1","unstructured":"Z.Ge S.Liu F.Wang Z.Li J.Sun arXiv:2107.08430 2021."},{"key":"e_1_2_10_39_1","doi-asserted-by":"crossref","unstructured":"X.Yang J.Yan inEuropean Conf. on Computer Vision Springer Berlin Heidelberg2020 pp.677\u2013694.","DOI":"10.1007\/978-3-030-58598-3_40"},{"key":"e_1_2_10_40_1","doi-asserted-by":"crossref","unstructured":"J.Yu Y.Jiang Z.Wang Z.Cao T.Huang inProc. of the 24th ACM Int. Conf. on Multimedia 2016 pp.516\u2013520.","DOI":"10.1145\/2964284.2967274"},{"key":"e_1_2_10_41_1","doi-asserted-by":"crossref","unstructured":"H.Rezatofighi N.Tsoi J.Gwak A.Sadeghian I.Reid S.Savarese inProc. of the IEEE\/CVF Conf. on Computer Vision and Pattern Recognition IEEE Piscataway NJ2019 pp.658\u2013666.","DOI":"10.1109\/CVPR.2019.00075"},{"key":"e_1_2_10_42_1","doi-asserted-by":"publisher","DOI":"10.3390\/e22020221"},{"key":"e_1_2_10_43_1","first-page":"18381","volume":"34","author":"Yang X.","year":"2021","journal-title":"Adv. Neural Inf. Process. Syst."},{"key":"e_1_2_10_44_1","doi-asserted-by":"crossref","unstructured":"H.Zhang X.Lan X.Zhou Z.Tian Y.Zhang N.Zheng inIEEE\u2010RAS 18th Int. Conf. on Humanoid Robots (Humanoids) IEEE Piscataway NJ2018 pp.118\u2013125.","DOI":"10.1109\/HUMANOIDS.2018.8625071"},{"key":"e_1_2_10_45_1","doi-asserted-by":"crossref","unstructured":"X.Zhou X.Lan H.Zhang Z.Tian Y.Zhang N.Zheng inIEEE\/RSJ Int. Conf. on Intelligent Robots and Systems (IROS) IEEE Piscataway NJ2018 pp.7223\u20137230.","DOI":"10.1109\/IROS.2018.8594116"},{"key":"e_1_2_10_46_1","doi-asserted-by":"publisher","DOI":"10.3390\/s22166208"}],"container-title":["Advanced Intelligent Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/advanced.onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/aisy.202300497","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,8]],"date-time":"2025-10-08T00:42:35Z","timestamp":1759884155000},"score":1,"resource":{"primary":{"URL":"https:\/\/advanced.onlinelibrary.wiley.com\/doi\/10.1002\/aisy.202300497"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,3,29]]},"references-count":45,"journal-issue":{"issue":"5","published-print":{"date-parts":[[2024,5]]}},"alternative-id":["10.1002\/aisy.202300497"],"URL":"https:\/\/doi.org\/10.1002\/aisy.202300497","archive":["Portico"],"relation":{},"ISSN":["2640-4567","2640-4567"],"issn-type":[{"value":"2640-4567","type":"print"},{"value":"2640-4567","type":"electronic"}],"subject":[],"published":{"date-parts":[[2024,3,29]]},"assertion":[{"value":"2023-08-20","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2024-03-29","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}],"article-number":"2300497"}}