{"id":"https://openalex.org/W2981705443","doi":"https://doi.org/10.1109/3dv.2019.00043","title":"Convex Optimisation for Inverse Kinematics","display_name":"Convex Optimisation for Inverse Kinematics","publication_year":2019,"publication_date":"2019-09-01","ids":{"openalex":"https://openalex.org/W2981705443","doi":"https://doi.org/10.1109/3dv.2019.00043","mag":"2981705443"},"language":"en","primary_location":{"id":"doi:10.1109/3dv.2019.00043","is_oa":false,"landing_page_url":"https://doi.org/10.1109/3dv.2019.00043","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on 3D Vision (3DV)","raw_type":"proceedings-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1910.11016","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Tarun Yenamandra","orcid":null},"institutions":[{"id":"https://openalex.org/I91712215","display_name":"Saarland University","ror":"https://ror.org/01jdpyv68","country_code":"DE","type":"education","lineage":["https://openalex.org/I91712215"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Tarun Yenamandra","raw_affiliation_strings":["MPI Informatics","Saarland Informatics Campus"],"affiliations":[{"raw_affiliation_string":"MPI Informatics","institution_ids":[]},{"raw_affiliation_string":"Saarland Informatics Campus","institution_ids":["https://openalex.org/I91712215"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Florian Bernard","orcid":null},"institutions":[{"id":"https://openalex.org/I91712215","display_name":"Saarland University","ror":"https://ror.org/01jdpyv68","country_code":"DE","type":"education","lineage":["https://openalex.org/I91712215"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Florian Bernard","raw_affiliation_strings":["MPI Informatics","Saarland Informatics Campus"],"affiliations":[{"raw_affiliation_string":"MPI Informatics","institution_ids":[]},{"raw_affiliation_string":"Saarland Informatics Campus","institution_ids":["https://openalex.org/I91712215"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jiayi Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I91712215","display_name":"Saarland University","ror":"https://ror.org/01jdpyv68","country_code":"DE","type":"education","lineage":["https://openalex.org/I91712215"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jiayi Wang","raw_affiliation_strings":["MPI Informatics","Saarland Informatics Campus"],"affiliations":[{"raw_affiliation_string":"MPI Informatics","institution_ids":[]},{"raw_affiliation_string":"Saarland Informatics Campus","institution_ids":["https://openalex.org/I91712215"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Franziska Mueller","orcid":null},"institutions":[{"id":"https://openalex.org/I91712215","display_name":"Saarland University","ror":"https://ror.org/01jdpyv68","country_code":"DE","type":"education","lineage":["https://openalex.org/I91712215"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Franziska Mueller","raw_affiliation_strings":["MPI Informatics","Saarland Informatics Campus"],"affiliations":[{"raw_affiliation_string":"MPI Informatics","institution_ids":[]},{"raw_affiliation_string":"Saarland Informatics Campus","institution_ids":["https://openalex.org/I91712215"]}]},{"author_position":"last","author":{"id":null,"display_name":"Christian Theobalt","orcid":null},"institutions":[{"id":"https://openalex.org/I91712215","display_name":"Saarland University","ror":"https://ror.org/01jdpyv68","country_code":"DE","type":"education","lineage":["https://openalex.org/I91712215"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christian Theobalt","raw_affiliation_strings":["MPI Informatics","Saarland Informatics Campus"],"affiliations":[{"raw_affiliation_string":"MPI Informatics","institution_ids":[]},{"raw_affiliation_string":"Saarland Informatics Campus","institution_ids":["https://openalex.org/I91712215"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I91712215"],"apc_list":null,"apc_paid":null,"fwci":0.5109,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.70026085,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"318","last_page":"327"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9962000250816345,"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":0.9962000250816345,"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/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9954000115394592,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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":0.9944999814033508,"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/kinematics","display_name":"Kinematics","score":0.6625000238418579},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.5076000094413757},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4174000024795532},{"id":"https://openalex.org/keywords/local-optimum","display_name":"Local optimum","score":0.387800008058548},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.37130001187324524},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.36959999799728394},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.32019999623298645}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6625000238418579},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.5843999981880188},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.5076000094413757},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.49239999055862427},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4174000024795532},{"id":"https://openalex.org/C141934464","wikidata":"https://www.wikidata.org/wiki/Q3305386","display_name":"Local optimum","level":2,"score":0.387800008058548},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.37130001187324524},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.36959999799728394},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.32019999623298645},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.31700000166893005},{"id":"https://openalex.org/C49870271","wikidata":"https://www.wikidata.org/wiki/Q193657","display_name":"Convex set","level":4,"score":0.31200000643730164},{"id":"https://openalex.org/C2776029896","wikidata":"https://www.wikidata.org/wiki/Q3935810","display_name":"Relaxation (psychology)","level":2,"score":0.3100999891757965},{"id":"https://openalex.org/C62611344","wikidata":"https://www.wikidata.org/wiki/Q1062658","display_name":"Node (physics)","level":2,"score":0.302700012922287},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.2922999858856201},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.29159998893737793},{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.2883000075817108},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.28439998626708984},{"id":"https://openalex.org/C135252773","wikidata":"https://www.wikidata.org/wiki/Q1567213","display_name":"Inverse problem","level":2,"score":0.27000001072883606}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/3dv.2019.00043","is_oa":false,"landing_page_url":"https://doi.org/10.1109/3dv.2019.00043","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on 3D Vision (3DV)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1910.11016","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1910.11016","pdf_url":"https://arxiv.org/pdf/1910.11016","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1910.11016","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1910.11016","pdf_url":"https://arxiv.org/pdf/1910.11016","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W1488782662","https://openalex.org/W1499677911","https://openalex.org/W1507964143","https://openalex.org/W1553966841","https://openalex.org/W1595903022","https://openalex.org/W1999165127","https://openalex.org/W2045434561","https://openalex.org/W2045918489","https://openalex.org/W2070786605","https://openalex.org/W2105880662","https://openalex.org/W2110187141","https://openalex.org/W2134159355","https://openalex.org/W2146097584","https://openalex.org/W2147554450","https://openalex.org/W2155265161","https://openalex.org/W2336987264","https://openalex.org/W2472414548","https://openalex.org/W2552247836","https://openalex.org/W2592599276","https://openalex.org/W2611932403","https://openalex.org/W2727140136","https://openalex.org/W2738125002","https://openalex.org/W2749287221","https://openalex.org/W2798791152","https://openalex.org/W2894878561","https://openalex.org/W2897765997","https://openalex.org/W2962981076","https://openalex.org/W2963537367","https://openalex.org/W2964164560","https://openalex.org/W4241753013","https://openalex.org/W4243293508","https://openalex.org/W6629533203","https://openalex.org/W6638936255","https://openalex.org/W6684641359","https://openalex.org/W6728664312","https://openalex.org/W6736832757","https://openalex.org/W6763306229","https://openalex.org/W6845804391"],"related_works":[],"abstract_inverted_index":{"We":[0],"consider":[1],"the":[2,13,83,102,106,134,152,159],"problem":[3,59,85,136],"of":[4,15,25,95,105],"inverse":[5],"kinematics":[6],"(IK),":[7],"where":[8,37],"one":[9],"wants":[10],"to":[11,52,101,112,114],"find":[12],"parameters":[14],"a":[16,23,34,41,121,129,143],"given":[17],"kinematic":[18,31],"skeleton":[19,32],"that":[20,43,49,146,158],"best":[21],"explain":[22],"set":[24],"observed":[26],"3D":[27],"joint":[28,42],"locations.":[29],"The":[30,57],"has":[33,44,60],"tree":[35],"structure,":[36],"each":[38],"node":[39],"is":[40,50,86,98],"an":[45],"associated":[46],"geometric":[47],"transformation":[48],"propagated":[51],"all":[53],"its":[54],"child":[55],"nodes.":[56],"IK":[58,84,135,153],"various":[61],"applications":[62],"in":[63],"vision":[64],"and":[65,118],"graphics,":[66],"for":[67,69,133],"example":[68],"tracking":[70],"or":[71,79],"reconstructing":[72],"articulated":[73],"objects,":[74],"such":[75,108],"as":[76],"human":[77],"hands":[78],"bodies.":[80],"Most":[81],"commonly,":[82],"tackled":[87],"using":[88,167],"local":[89,116,164],"optimisation":[90,131,165],"methods.":[91],"A":[92],"major":[93],"downside":[94],"these":[96],"approaches":[97],"that,":[99],"due":[100],"non-convex":[103],"nature":[104],"problem,":[107],"methods":[109,166],"are":[110],"prone":[111],"converge":[113],"unwanted":[115],"optima":[117],"therefore":[119],"require":[120],"good":[122],"initialisation.":[123],"In":[124],"this":[125],"paper":[126],"we":[127,156],"propose":[128],"convex":[130],"approach":[132],"based":[137],"on":[138],"semidefinite":[139],"programming,":[140],"which":[141],"admits":[142],"polynomial-time":[144],"algorithm":[145],"globally":[147],"solves":[148],"(a":[149],"relaxation":[150],"of)":[151],"problem.":[154],"Experimentally,":[155],"demonstrate":[157],"proposed":[160],"method":[161],"significantly":[162],"outperforms":[163],"different":[168],"real-world":[169],"skeletons.":[170]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":4}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2019-11-01T00:00:00"}
