{"id":"https://openalex.org/W1510971492","doi":"https://doi.org/10.1007/3-540-49256-9_19","title":"A Hierarchical Vision Architecture for Robotic Manipulation Tasks","display_name":"A Hierarchical Vision Architecture for Robotic Manipulation Tasks","publication_year":1999,"publication_date":"1999-01-01","ids":{"openalex":"https://openalex.org/W1510971492","doi":"https://doi.org/10.1007/3-540-49256-9_19","mag":"1510971492"},"language":"en","primary_location":{"id":"doi:10.1007/3-540-49256-9_19","is_oa":false,"landing_page_url":"https://doi.org/10.1007/3-540-49256-9_19","pdf_url":null,"source":{"id":"https://openalex.org/S106296714","display_name":"Lecture notes in computer science","issn_l":"0302-9743","issn":["0302-9743","1611-3349"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Lecture Notes in Computer Science","raw_type":"book-chapter"},"type":"book-chapter","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/A5037794678","display_name":"Zachary Dodds","orcid":"https://orcid.org/0009-0002-6102-6119"},"institutions":[{"id":"https://openalex.org/I32971472","display_name":"Yale University","ror":"https://ror.org/03v76x132","country_code":"US","type":"education","lineage":["https://openalex.org/I32971472"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zachary Dodds","raw_affiliation_strings":["Department of Computer Science, Yale University, New Haven, CT, 06520","Yale University  ;"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Yale University, New Haven, CT, 06520","institution_ids":["https://openalex.org/I32971472"]},{"raw_affiliation_string":"Yale University  ;","institution_ids":["https://openalex.org/I32971472"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030948380","display_name":"Martin J\u00e4gersand","orcid":null},"institutions":[{"id":"https://openalex.org/I32971472","display_name":"Yale University","ror":"https://ror.org/03v76x132","country_code":"US","type":"education","lineage":["https://openalex.org/I32971472"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Martin J\u00e4gersand","raw_affiliation_strings":["Department of Computer Science, Yale University, New Haven, CT, 06520","Yale University  ;"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Yale University, New Haven, CT, 06520","institution_ids":["https://openalex.org/I32971472"]},{"raw_affiliation_string":"Yale University  ;","institution_ids":["https://openalex.org/I32971472"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111490848","display_name":"Greg Hager","orcid":null},"institutions":[{"id":"https://openalex.org/I32971472","display_name":"Yale University","ror":"https://ror.org/03v76x132","country_code":"US","type":"education","lineage":["https://openalex.org/I32971472"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Greg Hager","raw_affiliation_strings":["Department of Computer Science, Yale University, New Haven, CT, 06520","Yale University  ;"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Yale University, New Haven, CT, 06520","institution_ids":["https://openalex.org/I32971472"]},{"raw_affiliation_string":"Yale University  ;","institution_ids":["https://openalex.org/I32971472"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032452724","display_name":"Kentaro Toyama","orcid":"https://orcid.org/0000-0002-9128-2255"},"institutions":[{"id":"https://openalex.org/I1290206253","display_name":"Microsoft (United States)","ror":"https://ror.org/00d0nc645","country_code":"US","type":"company","lineage":["https://openalex.org/I1290206253"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kentaro Toyama","raw_affiliation_strings":["Microsoft Research, Redmond, WA, 98052","Microsoft research#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Microsoft Research, Redmond, WA, 98052","institution_ids":["https://openalex.org/I1290206253"]},{"raw_affiliation_string":"Microsoft research#TAB#","institution_ids":["https://openalex.org/I1290206253"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":5000,"currency":"EUR","value_usd":5392},"apc_paid":null,"fwci":5.2798,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.95865835,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"312","last_page":"330"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9995999932289124,"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":0.9995999932289124,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994000196456909,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9969000220298767,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7963388562202454},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6203114986419678},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6136734485626221},{"id":"https://openalex.org/keywords/component","display_name":"Component (thermodynamics)","score":0.5678287148475647},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5323581695556641},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.515856921672821},{"id":"https://openalex.org/keywords/machine-vision","display_name":"Machine vision","score":0.5039326548576355},{"id":"https://openalex.org/keywords/architecture","display_name":"Architecture","score":0.4524562954902649},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4355563819408417},{"id":"https://openalex.org/keywords/translation","display_name":"Translation (biology)","score":0.4349532127380371},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4160093665122986},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.33339405059814453},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.09808924794197083},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.07279995083808899}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7963388562202454},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6203114986419678},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6136734485626221},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.5678287148475647},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5323581695556641},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.515856921672821},{"id":"https://openalex.org/C5339829","wikidata":"https://www.wikidata.org/wiki/Q1425977","display_name":"Machine vision","level":2,"score":0.5039326548576355},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.4524562954902649},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4355563819408417},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.4349532127380371},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4160093665122986},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33339405059814453},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.09808924794197083},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.07279995083808899},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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/C105580179","wikidata":"https://www.wikidata.org/wiki/Q188928","display_name":"Messenger RNA","level":3,"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/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1007/3-540-49256-9_19","is_oa":false,"landing_page_url":"https://doi.org/10.1007/3-540-49256-9_19","pdf_url":null,"source":{"id":"https://openalex.org/S106296714","display_name":"Lecture notes in computer science","issn_l":"0302-9743","issn":["0302-9743","1611-3349"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Lecture Notes in Computer Science","raw_type":"book-chapter"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.117.3111","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.117.3111","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.ualberta.ca/~jag/papers/DoddsJagICCVS1999.ps","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.53.9297","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.53.9297","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.yale.edu/users/dodds/Projects/./ICVS.ps.gz","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.8199999928474426,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W46859052","https://openalex.org/W68730346","https://openalex.org/W95951989","https://openalex.org/W135376195","https://openalex.org/W1521365818","https://openalex.org/W1547841938","https://openalex.org/W1550204731","https://openalex.org/W1559749952","https://openalex.org/W1561388258","https://openalex.org/W1570080783","https://openalex.org/W1582853735","https://openalex.org/W1610841860","https://openalex.org/W1792398202","https://openalex.org/W1851410152","https://openalex.org/W1923448853","https://openalex.org/W1977469183","https://openalex.org/W1994732751","https://openalex.org/W1995962590","https://openalex.org/W2028539056","https://openalex.org/W2036514793","https://openalex.org/W2061905623","https://openalex.org/W2074811377","https://openalex.org/W2102747326","https://openalex.org/W2103876808","https://openalex.org/W2104095591","https://openalex.org/W2110553434","https://openalex.org/W2110717643","https://openalex.org/W2114412518","https://openalex.org/W2124068852","https://openalex.org/W2124904960","https://openalex.org/W2125214269","https://openalex.org/W2125533443","https://openalex.org/W2130103520","https://openalex.org/W2131723372","https://openalex.org/W2139205208","https://openalex.org/W2146637122","https://openalex.org/W2148696492","https://openalex.org/W2155025958","https://openalex.org/W2161505441","https://openalex.org/W2163217368","https://openalex.org/W2170746893","https://openalex.org/W2397253692","https://openalex.org/W4206820429","https://openalex.org/W4248304976","https://openalex.org/W6633456715","https://openalex.org/W6633641655","https://openalex.org/W6872955105"],"related_works":["https://openalex.org/W2357256365","https://openalex.org/W2348502264","https://openalex.org/W2365486383","https://openalex.org/W2362059367","https://openalex.org/W2901443725","https://openalex.org/W2350084742","https://openalex.org/W2357988862","https://openalex.org/W1855558850","https://openalex.org/W2353819887","https://openalex.org/W1852677413"],"abstract_inverted_index":null,"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}