{"id":"https://openalex.org/W1895548784","doi":"https://doi.org/10.1109/iros.1999.813058","title":"Position based visual servoing using a non-linear approach","display_name":"Position based visual servoing using a non-linear approach","publication_year":2003,"publication_date":"2003-01-20","ids":{"openalex":"https://openalex.org/W1895548784","doi":"https://doi.org/10.1109/iros.1999.813058","mag":"1895548784"},"language":"en","primary_location":{"id":"doi:10.1109/iros.1999.813058","doi":"https://doi.org/10.1109/iros.1999.813058","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.1999.813058","pdf_url":null,"source":{"id":"https://openalex.org/S4393918188","display_name":"IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":"2153-0858","issn":["2153-0858"],"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":["jufo-1","norway-1"],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289)","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","is_traditional":true,"indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://inria.hal.science/hal-02465645","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5019929775","display_name":"Philippe Martinet","orcid":"https://orcid.org/0000-0001-5827-0431","observed_orcids":["https://orcid.org/0000-0001-5827-0431"]},"institutions":[{"id":"https://openalex.org/I4405258658","display_name":"Universit\u00e9 Blaise Pascal","ror":"https://ror.org/0119hgk08","country_code":"FR","type":"education","lineage":["https://openalex.org/I198244214","https://openalex.org/I4405258658"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"P. Martinet","raw_affiliation_strings":["LASMEA, Universit\u00e9 Blaise Pascal, Aubiere, France","LASMEA - Laboratoire des sciences et mat\u00e9riaux pour l'\u00e9lectronique et d'automatique (24 Av des landais 63177 AUBIERE CEDEX - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LASMEA, Universit\u00e9 Blaise Pascal, Aubiere, France","institution_ids":["https://openalex.org/I4405258658"]},{"raw_affiliation_string":"LASMEA - Laboratoire des sciences et mat\u00e9riaux pour l'\u00e9lectronique et d'automatique (24 Av des landais 63177 AUBIERE CEDEX - France)","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113559997","display_name":"J. Gallice","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4405258658","display_name":"Universit\u00e9 Blaise Pascal","ror":"https://ror.org/0119hgk08","country_code":"FR","type":"education","lineage":["https://openalex.org/I198244214","https://openalex.org/I4405258658"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"J. Gallice","raw_affiliation_strings":["LASMEA, Universit\u00e9 Blaise Pascal, Aubiere, France","LASMEA - Laboratoire des sciences et mat\u00e9riaux pour l'\u00e9lectronique et d'automatique (24 Av des landais 63177 AUBIERE CEDEX - France)","SMTI - Syst\u00e8mes Micro\u00e9lectroniques et Traitement d'Images (Universit\u00e9 de Clermont-2, Laboratoire d'\u00c9lectronique, UA 830, \u00c9quipe Syst\u00e8mes Micro\u00e9lectroniques et Traitement d'Images (SMTI), 24, avenue des Landais, BP n 45, 63170 Aubi\u00e8re France - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LASMEA, Universit\u00e9 Blaise Pascal, Aubiere, France","institution_ids":["https://openalex.org/I4405258658"]},{"raw_affiliation_string":"LASMEA - Laboratoire des sciences et mat\u00e9riaux pour l'\u00e9lectronique et d'automatique (24 Av des landais 63177 AUBIERE CEDEX - France)","institution_ids":[]},{"raw_affiliation_string":"SMTI - Syst\u00e8mes Micro\u00e9lectroniques et Traitement d'Images (Universit\u00e9 de Clermont-2, Laboratoire d'\u00c9lectronique, UA 830, \u00c9quipe Syst\u00e8mes Micro\u00e9lectroniques et Traitement d'Images (SMTI), 24, avenue des Landais, BP n 45, 63170 Aubi\u00e8re France - France)","institution_ids":["https://openalex.org/I4405258658"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4405258658"],"apc_list":null,"apc_paid":null,"fwci":1.9863,"has_fulltext":false,"cited_by_count":46,"citation_normalized_percentile":{"value":0.86701161,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":88,"max":97},"biblio":{"volume":"1","issue":null,"first_page":"531","last_page":"536"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9911999702453613,"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"}},"topics":[{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9911999702453613,"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":0.0035000001080334187,"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/T13855","display_name":"Aerospace Engineering and Control Systems","score":0.0005000000237487257,"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/position-based-visual-servoing","display_name":"position-based visual servoing","score":0.9290000200271606},{"id":"https://openalex.org/keywords/image-based-visual-servoing","display_name":"image-based visual servoing","score":0.9100000262260437},{"id":"https://openalex.org/keywords/nonlinear-state-feedback-control","display_name":"nonlinear state feedback","score":0.8190000057220459},{"id":"https://openalex.org/keywords/robot-pose-estimation","display_name":"robot pose estimation","score":0.5519999861717224},{"id":"https://openalex.org/keywords/object-localization","display_name":"object localization","score":0.48500001430511475},{"id":"https://openalex.org/keywords/stability-and-convergence-analysis","display_name":"stability and convergence analysis","score":0.6970000267028809}],"concepts":[{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.9200554490089417},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.8096804618835449},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7811410427093506},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.66151362657547},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.5258446335792542},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.521697461605072},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5167781114578247},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5128379464149475},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.4989032745361328},{"id":"https://openalex.org/C2780527621","wikidata":"https://www.wikidata.org/wiki/Q7936593","display_name":"Visual control","level":2,"score":0.48832055926322937},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4624410569667816},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16043514013290405},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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":2,"locations":[{"id":"doi:10.1109/iros.1999.813058","doi":"https://doi.org/10.1109/iros.1999.813058","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.1999.813058","pdf_url":null,"source":{"id":"https://openalex.org/S4393918188","display_name":"IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":"2153-0858","issn":["2153-0858"],"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":["jufo-1","norway-1"],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-02465645v1","doi":null,"is_oa":true,"landing_page_url":"https://inria.hal.science/hal-02465645","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I4405252976","host_organization_name":"Centre pour la Communication Scientifique Directe","host_organization_lineage":["https://openalex.org/I4405252976"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IROS'99 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 1999, Kyongju, South Korea. pp.531-536, &#x27E8;10.1109/IROS.1999.813058&#x27E9;","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-02465645v1","doi":null,"is_oa":true,"landing_page_url":"https://inria.hal.science/hal-02465645","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I4405252976","host_organization_name":"Centre pour la Communication Scientifique Directe","host_organization_lineage":["https://openalex.org/I4405252976"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IROS'99 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 1999, Kyongju, South Korea. pp.531-536, &#x27E8;10.1109/IROS.1999.813058&#x27E9;","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W136347695","https://openalex.org/W1514444483","https://openalex.org/W1559749952","https://openalex.org/W1610841860","https://openalex.org/W2088115584","https://openalex.org/W2099864828","https://openalex.org/W2109618870","https://openalex.org/W2113326007","https://openalex.org/W2125858574","https://openalex.org/W2136492961","https://openalex.org/W2141627350","https://openalex.org/W2161505441","https://openalex.org/W2167501464","https://openalex.org/W4206820429","https://openalex.org/W4248304976","https://openalex.org/W4293209991","https://openalex.org/W6605495176"],"related_works":["https://openalex.org/W4293763669","https://openalex.org/W2023848928","https://openalex.org/W2162429410","https://openalex.org/W2331448734","https://openalex.org/W1664130441","https://openalex.org/W1967465270","https://openalex.org/W2166408188","https://openalex.org/W2759938510","https://openalex.org/W196523700","https://openalex.org/W4385452027"],"abstract_inverted_index":{"Vision":[0],"based":[1,21,34],"control":[2,57],"has":[3],"retained":[4],"attention":[5,31],"of":[6,68,76,149,156,167,183,187,212],"many":[7],"authors":[8],"during":[9],"the":[10,65,69,74,77,91,100,107,110,117,120,123,131,150,154,157,161,197],"last":[11],"few":[12],"years.":[13],"We":[14,59,141],"first":[15],"have":[16,28,192],"been":[17,193],"interested":[18],"in":[19,32,53,109,160,199],"image":[20],"visual":[22,35,51,112,132],"servoing":[23,36,133],"approach":[24,169],"and":[25,94,115,122,153,174,190,196,201],"recently":[26],"we":[27,47,104,135],"focused":[29],"our":[30,41,203],"position":[33],"approach.":[37,213],"In":[38],"this":[39,168,210],"paper,":[40],"goal":[42],"is":[43,84,170],"to":[44,72,85,181],"study":[45],"how":[46],"can":[48,105],"introduce":[49],"3D":[50,111],"features":[52],"a":[54,61,87,95,137,143,184],"closed":[55],"robot":[56,71],"loop.":[58],"consider":[60],"camera":[62,121,172,175],"mounted":[63],"on":[64,202],"end":[66],"effector":[67],"manipulator":[70],"estimate":[73,116],"pose":[75,89,118,151],"target":[78,96,101,124],"object;":[79],"The":[80,164],"required":[81],"positioning":[82],"task":[83],"reach":[86],"specific":[88],"between":[90,119],"sensor":[92,113,162],"frame":[93,114,158],"object":[97,102,108,125,159],"frame.":[98],"Knowing":[99],"model,":[103],"localize":[106],"at":[126],"each":[127],"iteration.":[128],"To":[129],"perform":[130],"task,":[134],"use":[136,182],"nonlinear":[138],"state":[139],"feedback.":[140],"propose":[142],"new":[144],"exact":[145],"model":[146],"for":[147],"parametrization":[148],"(position":[152],"orientation":[155],"frame).":[163],"main":[165],"advantage":[166],"that":[171],"translation":[173],"rotation":[176],"are":[177],"separately":[178],"controlled":[179],"due":[180],"particular":[185],"choice":[186],"frames.":[188],"Convergence":[189],"stability":[191],"proved":[194],"theoretically,":[195],"tests":[198],"simulation":[200],"experimental":[204],"site":[205],"show":[206],"good":[207],"behaviour":[208],"using":[209],"type":[211]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":3}],"updated_date":"2026-11-07T11:25:07.637180","created_date":"2016-06-24T00:00:00"}
