{"id":"https://openalex.org/W3196374070","doi":"https://doi.org/10.1109/access.2021.3111004","title":"Improved Tracking and Docking of Industrial Mobile Robots Through UKF Vision-Based Kinematics Calibration","display_name":"Improved Tracking and Docking of Industrial Mobile Robots Through UKF Vision-Based Kinematics Calibration","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3196374070","doi":"https://doi.org/10.1109/access.2021.3111004","mag":"3196374070"},"language":"en","primary_location":{"id":"doi:10.1109/access.2021.3111004","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3111004","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09530649.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/ielx7/6287639/6514899/09530649.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5072456985","display_name":"Stefano Mutti","orcid":"https://orcid.org/0000-0003-2180-908X"},"institutions":[{"id":"https://openalex.org/I4210155236","display_name":"National Research Council","ror":"https://ror.org/04zaypm56","country_code":"IT","type":"nonprofit","lineage":["https://openalex.org/I4210155236"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Stefano Mutti","raw_affiliation_strings":["Institute of Intelligent Industrial Technologies and Systems for Advanced Manufacturing, National Research Council of Italy, 20133, Milan, Italy. (e-mail: stefano.mutti@stiima.cnr.it)","National Research Council of Italy, Institute of Intelligent Industrial Technologies and Systems for Advanced Manufacturing, Milan, Italy"],"raw_orcid":"https://orcid.org/0000-0003-2180-908X","affiliations":[{"raw_affiliation_string":"Institute of Intelligent Industrial Technologies and Systems for Advanced Manufacturing, National Research Council of Italy, 20133, Milan, Italy. (e-mail: stefano.mutti@stiima.cnr.it)","institution_ids":["https://openalex.org/I4210155236"]},{"raw_affiliation_string":"National Research Council of Italy, Institute of Intelligent Industrial Technologies and Systems for Advanced Manufacturing, Milan, Italy","institution_ids":["https://openalex.org/I4210155236"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090332923","display_name":"Nicola Pedrocchi","orcid":"https://orcid.org/0000-0002-1610-001X"},"institutions":[{"id":"https://openalex.org/I4210155236","display_name":"National Research Council","ror":"https://ror.org/04zaypm56","country_code":"IT","type":"nonprofit","lineage":["https://openalex.org/I4210155236"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Nicola Pedrocchi","raw_affiliation_strings":["Institute of Intelligent Industrial Technologies and Systems for Advanced Manufacturing, National Research Council of Italy, 20133, Milan, Italy","National Research Council of Italy, Institute of Intelligent Industrial Technologies and Systems for Advanced Manufacturing, Milan, Italy"],"raw_orcid":"https://orcid.org/0000-0002-1610-001X","affiliations":[{"raw_affiliation_string":"Institute of Intelligent Industrial Technologies and Systems for Advanced Manufacturing, National Research Council of Italy, 20133, Milan, Italy","institution_ids":["https://openalex.org/I4210155236"]},{"raw_affiliation_string":"National Research Council of Italy, Institute of Intelligent Industrial Technologies and Systems for Advanced Manufacturing, Milan, Italy","institution_ids":["https://openalex.org/I4210155236"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4210155236"],"apc_list":{"value":2075,"currency":"USD","value_usd":2075},"apc_paid":{"value":1548,"currency":"EUR","value_usd":1669},"fwci":11.7641,"has_fulltext":true,"cited_by_count":16,"citation_normalized_percentile":{"value":0.97705713,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"9","issue":null,"first_page":"127664","last_page":"127671"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9979000091552734,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9965000152587891,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.8521101474761963},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.8414440155029297},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7555565237998962},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7149810791015625},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6431301236152649},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6139119267463684},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5429600477218628},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5117842555046082},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.49233734607696533},{"id":"https://openalex.org/keywords/robot-calibration","display_name":"Robot calibration","score":0.4471309185028076},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4342823028564453},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.42262983322143555},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.41974854469299316},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10768094658851624}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.8521101474761963},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8414440155029297},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7555565237998962},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7149810791015625},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6431301236152649},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6139119267463684},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5429600477218628},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5117842555046082},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.49233734607696533},{"id":"https://openalex.org/C192299074","wikidata":"https://www.wikidata.org/wiki/Q2160034","display_name":"Robot calibration","level":5,"score":0.4471309185028076},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4342823028564453},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.42262983322143555},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.41974854469299316},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10768094658851624},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"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:10.1109/access.2021.3111004","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3111004","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09530649.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:8e403dbeadf14583ae4cc3e8c139456c","is_oa":true,"landing_page_url":"https://doaj.org/article/8e403dbeadf14583ae4cc3e8c139456c","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 127664-127671 (2021)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2021.3111004","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3111004","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09530649.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":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3196374070.pdf","grobid_xml":"https://content.openalex.org/works/W3196374070.grobid-xml"},"referenced_works_count":54,"referenced_works":["https://openalex.org/W4710051","https://openalex.org/W1506295672","https://openalex.org/W1749494163","https://openalex.org/W1964173900","https://openalex.org/W1967548643","https://openalex.org/W1987354295","https://openalex.org/W1996772426","https://openalex.org/W2003471621","https://openalex.org/W2012370503","https://openalex.org/W2035024431","https://openalex.org/W2065345266","https://openalex.org/W2065896478","https://openalex.org/W2066211959","https://openalex.org/W2081535564","https://openalex.org/W2092210497","https://openalex.org/W2102145772","https://openalex.org/W2104598647","https://openalex.org/W2107802551","https://openalex.org/W2121990344","https://openalex.org/W2122217922","https://openalex.org/W2127426261","https://openalex.org/W2144719830","https://openalex.org/W2166036481","https://openalex.org/W2168232144","https://openalex.org/W2168651109","https://openalex.org/W2326047893","https://openalex.org/W2397644942","https://openalex.org/W2515433794","https://openalex.org/W2524715681","https://openalex.org/W2547372091","https://openalex.org/W2587096569","https://openalex.org/W2593973555","https://openalex.org/W2605755371","https://openalex.org/W2751565523","https://openalex.org/W2753579141","https://openalex.org/W2771857660","https://openalex.org/W2774565902","https://openalex.org/W2892475361","https://openalex.org/W2902621749","https://openalex.org/W2969513800","https://openalex.org/W2975760903","https://openalex.org/W3006510653","https://openalex.org/W3026883826","https://openalex.org/W3118366035","https://openalex.org/W3124258845","https://openalex.org/W3185231001","https://openalex.org/W3210232381","https://openalex.org/W4285719527","https://openalex.org/W6600191233","https://openalex.org/W6733984014","https://openalex.org/W6743682736","https://openalex.org/W6789832582","https://openalex.org/W6799222198","https://openalex.org/W6803376173"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W3024737167","https://openalex.org/W2414561716","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W2312326526","https://openalex.org/W3105866016","https://openalex.org/W4312703710","https://openalex.org/W2412578866"],"abstract_inverted_index":{"Performing":[0],"an":[1,7,57],"open-loop":[2],"movement,":[3],"or":[4,215],"docking,":[5],"for":[6,247],"industrial":[8],"mobile":[9,132,135],"robot":[10],"(IMR),":[11],"is":[12,22,41,59,137,178,213],"a":[13,60,76,122,131,145,155,228,233,237,244],"common":[14],"necessary":[15],"procedure":[16,26,73,124],"when":[17],"relying":[18],"on":[19,32,48,105,217,224],"environmental":[20],"sensors":[21],"not":[23],"possible.":[24],"This":[25],"precision":[27],"and":[28,37,63,70,96,191,206,232],"outcome,":[29],"solely":[30],"depend":[31],"the":[33,44,49,53,67,71,80,106,113,116,126,141,152,160,167,173,181,188,192,211,241,250],"IMR":[34,50,58],"forward":[35],"kinematic":[36,54,108,128],"odometry":[38,190],"correctness,":[39],"which":[40,177],"tied":[42],"to":[43,120,159,185,203,239,253],"kinematics":[45],"parameters,":[46],"depending":[47],"kind.":[51],"Calibrating":[52],"parameters":[55,129,182,205],"of":[56,115,125,130,154,180],"time":[61],"consuming":[62],"mandatory":[64],"procedure,":[65],"since":[66],"mechanical":[68],"tolerances":[69],"assembly":[72],"may":[74],"introduce":[75,87],"large":[77],"variation":[78],"from":[79],"nominal":[81],"parameters.":[82],"Furthermore,":[83],"calibration":[84,123,142,168],"inaccuracies":[85],"might":[86],"severe":[88],"inconsistencies":[89],"in":[90,98],"tasks":[91],"such":[92],"as":[93],"localization,":[94],"mapping,":[95],"navigation":[97],"general.":[99],"In":[100],"this":[101,222],"work,":[102],"we":[103],"focus":[104],"so-called":[107],"parameter":[109],"calibration.":[110],"We":[111,220],"propose":[112],"use":[114],"unscented":[117,163],"Kalman":[118,164],"filter":[119],"perform":[121],"geometrical":[127],"platform.":[133,161],"The":[134,162,196],"platform":[136,189],"externally":[138],"tracked":[139],"during":[140],"phase,":[143],"using":[144,166,236],"fixed":[146,158],"temporary":[147],"external":[148],"sensor":[149],"that":[150,183],"retrieves":[151],"position":[153],"visual":[156,193],"tag":[157,194],"filter,":[165],"phase":[169],"collected":[170],"data,":[171],"estimates":[172],"enlarged":[174],"system":[175,212],"state,":[176],"comprised":[179],"have":[184],"be":[186,200],"estimated,":[187],"position.":[195],"method":[197,223],"can":[198],"either":[199],"used":[201],"online,":[202],"identify":[204],"monitor":[207],"their":[208],"value":[209],"while":[210],"operating,":[214],"offline,":[216],"logged":[218],"data.":[219],"validate":[221],"two":[225],"different":[226],"devices,":[227],"4":[229],"mecanum-wheel":[230],"IMR,":[231],"Turtlebot":[234],"3,":[235],"camera":[238],"track":[240],"movement":[242],"trough":[243],"reference":[245],"chessboard,":[246],"then":[248],"comparing":[249],"original":[251],"path":[252],"its":[254],"corrected":[255],"version.":[256]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":4}],"updated_date":"2026-08-21T09:56:20.448147","created_date":"2025-10-10T00:00:00"}