{"id":"https://openalex.org/W3174035324","doi":"https://doi.org/10.1109/access.2021.3091737","title":"Convolutional Neural Network-Based Visual Servoing for Eye-to-Hand Manipulator","display_name":"Convolutional Neural Network-Based Visual Servoing for Eye-to-Hand Manipulator","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3174035324","doi":"https://doi.org/10.1109/access.2021.3091737","mag":"3174035324"},"language":"en","primary_location":{"id":"doi:10.1109/access.2021.3091737","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3091737","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09464907.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09464907.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5011912729","display_name":"Fuyuki Tokuda","orcid":"https://orcid.org/0000-0002-8623-5497"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Fuyuki Tokuda","raw_affiliation_strings":["Department of Robotics, Graduate School of Engineering, Tohoku University, Sendai, Japan"],"raw_orcid":"https://orcid.org/0000-0002-8623-5497","affiliations":[{"raw_affiliation_string":"Department of Robotics, Graduate School of Engineering, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103000544","display_name":"Shogo Arai","orcid":"https://orcid.org/0000-0001-9736-3008"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shogo Arai","raw_affiliation_strings":["Department of Robotics, Graduate School of Engineering, Tohoku University, Sendai, Japan"],"raw_orcid":"https://orcid.org/0000-0001-9736-3008","affiliations":[{"raw_affiliation_string":"Department of Robotics, Graduate School of Engineering, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082419118","display_name":"Kazuhiro Kosuge","orcid":"https://orcid.org/0000-0002-2060-2936"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]},{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK","JP"],"is_corresponding":false,"raw_author_name":"Kazuhiro Kosuge","raw_affiliation_strings":["Center for Transformative AI & Robotics, Tohoku University, Sendai, Japan","The University of Hong Kong, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0002-2060-2936","affiliations":[{"raw_affiliation_string":"Center for Transformative AI & Robotics, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"The University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I889458895"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":2075,"currency":"USD","value_usd":2075},"apc_paid":{"value":2075,"currency":"USD","value_usd":2075},"fwci":2.5607,"has_fulltext":true,"cited_by_count":47,"citation_normalized_percentile":{"value":0.90615494,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"9","issue":null,"first_page":"91820","last_page":"91835"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9998999834060669,"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":0.9998999834060669,"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/T13114","display_name":"Image Processing Techniques and Applications","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2214","display_name":"Media Technology"},"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":0.995199978351593,"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/visual-servoing","display_name":"Visual servoing","score":0.9528567790985107},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7799545526504517},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7722090482711792},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7100305557250977},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.7038519382476807},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.4962051510810852},{"id":"https://openalex.org/keywords/encode","display_name":"ENCODE","score":0.4822419583797455},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.47565433382987976},{"id":"https://openalex.org/keywords/face","display_name":"Face (sociological concept)","score":0.4526576101779938},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.42350274324417114}],"concepts":[{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.9528567790985107},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7799545526504517},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7722090482711792},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7100305557250977},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.7038519382476807},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.4962051510810852},{"id":"https://openalex.org/C66746571","wikidata":"https://www.wikidata.org/wiki/Q1134833","display_name":"ENCODE","level":3,"score":0.4822419583797455},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.47565433382987976},{"id":"https://openalex.org/C2779304628","wikidata":"https://www.wikidata.org/wiki/Q3503480","display_name":"Face (sociological concept)","level":2,"score":0.4526576101779938},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.42350274324417114},{"id":"https://openalex.org/C36289849","wikidata":"https://www.wikidata.org/wiki/Q34749","display_name":"Social science","level":1,"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C144024400","wikidata":"https://www.wikidata.org/wiki/Q21201","display_name":"Sociology","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2021.3091737","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3091737","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09464907.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:f5ad7e54caef4453bd2ee46f65b8f32b","is_oa":true,"landing_page_url":"https://doaj.org/article/f5ad7e54caef4453bd2ee46f65b8f32b","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 9, Pp 91820-91835 (2021)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2021.3091737","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3091737","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09464907.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure","score":0.4000000059604645}],"awards":[{"id":"https://openalex.org/G2227631195","display_name":"\u529b\u5b66\u7684\u5883\u754c\u6761\u4ef6\u306b\u3088\u3063\u3066\u5f62\u72b6\u5909\u5316\u3059\u308b\u4e00\u822c\u7684\u306a\u7269\u4f53\u306e\u64cd\u308a\u306b\u95a2\u3059\u308b\u7814\u7a76","funder_award_id":"21J11176","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":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3174035324.pdf","grobid_xml":"https://content.openalex.org/works/W3174035324.grobid-xml"},"referenced_works_count":54,"referenced_works":["https://openalex.org/W6908809","https://openalex.org/W764651262","https://openalex.org/W1607376109","https://openalex.org/W1686810756","https://openalex.org/W1799366690","https://openalex.org/W1832761836","https://openalex.org/W1971523475","https://openalex.org/W1980081806","https://openalex.org/W1986302906","https://openalex.org/W1995067233","https://openalex.org/W2062118960","https://openalex.org/W2068175365","https://openalex.org/W2082991751","https://openalex.org/W2084447079","https://openalex.org/W2098759960","https://openalex.org/W2102605133","https://openalex.org/W2103979755","https://openalex.org/W2105085370","https://openalex.org/W2106129306","https://openalex.org/W2109635530","https://openalex.org/W2114347750","https://openalex.org/W2119940830","https://openalex.org/W2127589108","https://openalex.org/W2136492961","https://openalex.org/W2146502635","https://openalex.org/W2155007355","https://openalex.org/W2163462573","https://openalex.org/W2163605009","https://openalex.org/W2167501464","https://openalex.org/W2167890514","https://openalex.org/W2200124539","https://openalex.org/W2472269674","https://openalex.org/W2562786666","https://openalex.org/W2734759618","https://openalex.org/W2788822937","https://openalex.org/W2887843334","https://openalex.org/W2888526011","https://openalex.org/W2921963004","https://openalex.org/W2962736495","https://openalex.org/W2964157221","https://openalex.org/W2964161785","https://openalex.org/W2964270628","https://openalex.org/W3003339604","https://openalex.org/W3005980682","https://openalex.org/W3013461395","https://openalex.org/W3122583355","https://openalex.org/W6600284362","https://openalex.org/W6637373629","https://openalex.org/W6638444622","https://openalex.org/W6666023844","https://openalex.org/W6681435938","https://openalex.org/W6682849425","https://openalex.org/W6684191040","https://openalex.org/W6740978277"],"related_works":["https://openalex.org/W2126852585","https://openalex.org/W2367086100","https://openalex.org/W2352270872","https://openalex.org/W2386520554","https://openalex.org/W1520171478","https://openalex.org/W4317830657","https://openalex.org/W3024380338","https://openalex.org/W2127866683","https://openalex.org/W3034003528","https://openalex.org/W2281711232"],"abstract_inverted_index":{"We":[0],"propose":[1,36],"a":[2,21,29,46,58,120,140,161,166],"CNN":[3,83],"based":[4],"visual":[5,54,125,151],"servoing":[6,126,152],"scheme":[7],"for":[8,52],"precise":[9],"positioning":[10,122],"of":[11,20,38,80,99,103,110,124,148,177],"an":[12,73],"eye-to-hand":[13,53,74],"manipulator":[14,141,164],"in":[15,143,165],"which":[16,93],"the":[17,81,97,104,108,111,149,175,178],"control":[18],"input":[19],"robot":[22],"is":[23,94,132,153],"calculated":[24],"directly":[25],"from":[26,66,107,134],"images":[27,70],"by":[28,72,96,138],"neural":[30,49],"network.":[31,101],"In":[32],"this":[33],"paper,":[34],"we":[35],"Difference":[37],"Encoded":[39],"Features":[40],"driven":[41],"Interaction":[42],"matrix":[43],"Network":[44],"(DEFINet),":[45],"new":[47],"convolutional":[48],"network":[50],"(CNN),":[51],"servoing.":[55],"DEFINet":[56,76],"estimates":[57],"relative":[59,105],"pose":[60,106],"between":[61],"desired":[62,67],"and":[63,68,87,90,114,158,171],"current":[64,69,91,115],"end-effector":[65],"captured":[71],"camera.":[75],"includes":[77],"two":[78],"branches":[79],"same":[82],"that":[84],"share":[85],"weights":[86],"encode":[88],"target":[89,113],"images,":[92],"inspired":[95],"architecture":[98],"Siamese":[100],"Regression":[102],"difference":[109],"encoded":[112],"image":[116],"features":[117],"leads":[118],"to":[119],"high":[121],"accuracy":[123],"using":[127,160],"DEFINet.":[128],"The":[129,146],"training":[130],"dataset":[131],"generated":[133],"sample":[135],"data":[136],"collected":[137],"operating":[139],"randomly":[142],"task":[144],"space.":[145],"performance":[147],"proposed":[150,179],"evaluated":[154],"through":[155],"numerical":[156],"simulation":[157,170],"experiments":[159],"six-DOF":[162],"industrial":[163],"real":[167],"environment.":[168],"Both":[169],"experimental":[172],"results":[173],"show":[174],"effectiveness":[176],"method.":[180]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":14},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":8},{"year":2020,"cited_by_count":1}],"updated_date":"2026-08-21T09:56:20.448147","created_date":"2025-10-10T00:00:00"}