{"id":"https://openalex.org/W1584761090","doi":"https://doi.org/10.1080/01691864.2015.1012555","title":"In-field self-calibration of robotic manipulator using stereo camera: application to Humanitarian Demining Robot","display_name":"In-field self-calibration of robotic manipulator using stereo camera: application to Humanitarian Demining Robot","publication_year":2015,"publication_date":"2015-06-04","ids":{"openalex":"https://openalex.org/W1584761090","doi":"https://doi.org/10.1080/01691864.2015.1012555","mag":"1584761090"},"language":"en","primary_location":{"id":"doi:10.1080/01691864.2015.1012555","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2015.1012555","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"},"type":"article","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/A5100391367","display_name":"Jianhua Li","orcid":"https://orcid.org/0000-0003-0305-826X"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Jianhua Li","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, Tokyo 152-8552, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, Tokyo 152-8552, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003329526","display_name":"Alex M. Kaneko","orcid":"https://orcid.org/0000-0002-8359-2026"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Alex M. Kaneko","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, Tokyo 152-8552, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, Tokyo 152-8552, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021539241","display_name":"Gen Endo","orcid":"https://orcid.org/0000-0001-7958-5395"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Gen Endo","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, Tokyo 152-8552, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, Tokyo 152-8552, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075377931","display_name":"Edwardo F. Fukushima","orcid":"https://orcid.org/0000-0001-8822-8154"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Edwardo F. Fukushima","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, Tokyo 152-8552, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, Tokyo 152-8552, Japan","institution_ids":["https://openalex.org/I114531698"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5100391367"],"corresponding_institution_ids":["https://openalex.org/I114531698"],"apc_list":null,"apc_paid":null,"fwci":1.0018,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.78345719,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"29","issue":"16","first_page":"1045","last_page":"1059"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9972000122070312,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9972000122070312,"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/T10638","display_name":"Optical measurement and interference techniques","score":0.996999979019165,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.995199978351593,"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-vision","display_name":"Computer vision","score":0.7227945923805237},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7173652648925781},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.659008800983429},{"id":"https://openalex.org/keywords/stereo-camera","display_name":"Stereo camera","score":0.6286253929138184},{"id":"https://openalex.org/keywords/camera-resectioning","display_name":"Camera resectioning","score":0.5995421409606934},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5350889563560486},{"id":"https://openalex.org/keywords/camera-auto-calibration","display_name":"Camera auto-calibration","score":0.5309832692146301},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4602929353713989},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.4597388207912445},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.458971232175827},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.41982564330101013},{"id":"https://openalex.org/keywords/coordinate-system","display_name":"Coordinate system","score":0.41292983293533325},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11871695518493652},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06568920612335205}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7227945923805237},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7173652648925781},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.659008800983429},{"id":"https://openalex.org/C185078393","wikidata":"https://www.wikidata.org/wiki/Q313783","display_name":"Stereo camera","level":2,"score":0.6286253929138184},{"id":"https://openalex.org/C110898773","wikidata":"https://www.wikidata.org/wiki/Q2933935","display_name":"Camera resectioning","level":2,"score":0.5995421409606934},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5350889563560486},{"id":"https://openalex.org/C94816000","wikidata":"https://www.wikidata.org/wiki/Q5026006","display_name":"Camera auto-calibration","level":3,"score":0.5309832692146301},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4602929353713989},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.4597388207912445},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.458971232175827},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.41982564330101013},{"id":"https://openalex.org/C80551277","wikidata":"https://www.wikidata.org/wiki/Q11210","display_name":"Coordinate system","level":2,"score":0.41292983293533325},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11871695518493652},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06568920612335205},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1080/01691864.2015.1012555","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2015.1012555","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"},{"id":"pmh:oai:irdb.nii.ac.jp:00897:0004088644","is_oa":false,"landing_page_url":"http://t2r2.star.titech.ac.jp/cgi-bin/publicationinfo.cgi?q_publication_content_number=CTT100691248","pdf_url":null,"source":{"id":"https://openalex.org/S7407056385","display_name":"Institutional Repositories DataBase (IRDB)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I184597095","host_organization_name":"National Institute of Informatics","host_organization_lineage":["https://openalex.org/I184597095"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Advanced Robotics","raw_type":"journal article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2639172855","display_name":"Research on Discrimination Method for Landmines and Metal Fragments using Robot System","funder_award_id":"25303012","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"}],"funders":[{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1514812031","https://openalex.org/W1551371275","https://openalex.org/W1968176439","https://openalex.org/W1988874269","https://openalex.org/W2038967717","https://openalex.org/W2042783704","https://openalex.org/W2085261163","https://openalex.org/W2087070363","https://openalex.org/W2093220968","https://openalex.org/W2094801294","https://openalex.org/W2101889219","https://openalex.org/W2108918441","https://openalex.org/W2113735881","https://openalex.org/W2114866967","https://openalex.org/W2120749643","https://openalex.org/W2148313420","https://openalex.org/W2148834618","https://openalex.org/W2162581882","https://openalex.org/W2165053603","https://openalex.org/W2167916881","https://openalex.org/W2256578114"],"related_works":["https://openalex.org/W2096059205","https://openalex.org/W2321086849","https://openalex.org/W2366688168","https://openalex.org/W2018226387","https://openalex.org/W2333223448","https://openalex.org/W2089184644","https://openalex.org/W42909716","https://openalex.org/W2658949336","https://openalex.org/W1973271280","https://openalex.org/W2079367325"],"abstract_inverted_index":{"A":[0],"robotic":[1],"manipulator":[2,21,64,99],"using":[3,97],"a":[4,14,39,52,57,98],"stereo":[5,90,119],"camera":[6,24,91,120],"mounted":[7],"on":[8,51],"one":[9],"of":[10,59,62],"its":[11],"links":[12],"requires":[13],"precise":[15],"kinematic":[16],"transformation":[17],"calibration":[18,78],"between":[19,108],"the":[20,23,27,63,77,81,89,109,113,118],"and":[22,47,112],"coordinate":[25],"frames,":[26],"so-called":[28],"hand\u2013eye":[29,48],"calibration,":[30,49],"to":[31,125],"achieve":[32],"high-accuracy":[33],"end-effector":[34],"positioning.":[35],"This":[36],"paper":[37],"introduces":[38],"new":[40,67],"method":[41,54,68],"that":[42,55,84,105],"performs":[43],"simultaneous":[44],"joint":[45,72],"angle":[46,73],"based":[50],"traditional":[53,126],"uses":[56],"sequence":[58],"pure":[60],"rotations":[61],"links.":[65],"The":[66],"considers":[69],"an":[70],"additional":[71],"constraint,":[74],"which":[75],"improves":[76],"accuracy":[79],"when":[80],"circular":[82],"arc":[83],"can":[85],"be":[86],"measured":[87],"by":[88,117],"is":[92],"very":[93],"limited.":[94],"Experimental":[95],"results":[96],"developed":[100],"for":[101],"humanitarian":[102],"demining":[103],"demonstrate":[104],"relative":[106],"errors":[107],"end":[110],"effector":[111],"external":[114],"points":[115],"mapped":[116],"are":[121],"greatly":[122],"reduced":[123],"compared":[124],"methods.":[127]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}