{"id":"https://openalex.org/W4312493700","doi":"https://doi.org/10.1109/case49997.2022.9926560","title":"DFBVS: Deep Feature-Based Visual Servo","display_name":"DFBVS: Deep Feature-Based Visual Servo","publication_year":2022,"publication_date":"2022-08-20","ids":{"openalex":"https://openalex.org/W4312493700","doi":"https://doi.org/10.1109/case49997.2022.9926560"},"language":"en","primary_location":{"id":"doi:10.1109/case49997.2022.9926560","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case49997.2022.9926560","pdf_url":null,"source":{"id":"https://openalex.org/S4363607892","display_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-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/A5021359142","display_name":"Nicholas Adrian","orcid":null},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Nicholas Adrian","raw_affiliation_strings":["Nanyang Technological University,HP-NTU Digital Manufacturing Corporate Lab and School of Mechanical and Aerospace Engineering,Singapore","HP-NTU Digital Manufacturing Corporate Lab and School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"Nanyang Technological University,HP-NTU Digital Manufacturing Corporate Lab and School of Mechanical and Aerospace Engineering,Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"HP-NTU Digital Manufacturing Corporate Lab and School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046263283","display_name":"Van\u2010Thach Do","orcid":"https://orcid.org/0000-0001-7531-9719"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Van-Thach Do","raw_affiliation_strings":["Nanyang Technological University,HP-NTU Digital Manufacturing Corporate Lab and School of Mechanical and Aerospace Engineering,Singapore","HP-NTU Digital Manufacturing Corporate Lab and School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"Nanyang Technological University,HP-NTU Digital Manufacturing Corporate Lab and School of Mechanical and Aerospace Engineering,Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"HP-NTU Digital Manufacturing Corporate Lab and School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081279690","display_name":"Quang\u2010Cuong Pham","orcid":"https://orcid.org/0000-0001-9605-4940"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Quang-Cuong Pham","raw_affiliation_strings":["Nanyang Technological University,HP-NTU Digital Manufacturing Corporate Lab and School of Mechanical and Aerospace Engineering,Singapore","HP-NTU Digital Manufacturing Corporate Lab and School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"Nanyang Technological University,HP-NTU Digital Manufacturing Corporate Lab and School of Mechanical and Aerospace Engineering,Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"HP-NTU Digital Manufacturing Corporate Lab and School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5021359142"],"corresponding_institution_ids":["https://openalex.org/I172675005"],"apc_list":null,"apc_paid":null,"fwci":0.7196,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.7973763,"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":"1783","last_page":"1789"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9988999962806702,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9912999868392944,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/artificial-intelligence","display_name":"Artificial intelligence","score":0.8407728672027588},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7608972787857056},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.737754762172699},{"id":"https://openalex.org/keywords/visual-servoing","display_name":"Visual servoing","score":0.7031210660934448},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.6268226504325867},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.583032488822937},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.5513531565666199},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4870512783527374},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.48505085706710815},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.46540528535842896},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10198548436164856}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8407728672027588},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7608972787857056},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.737754762172699},{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.7031210660934448},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.6268226504325867},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.583032488822937},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.5513531565666199},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4870512783527374},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.48505085706710815},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.46540528535842896},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10198548436164856},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/case49997.2022.9926560","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case49997.2022.9926560","pdf_url":null,"source":{"id":"https://openalex.org/S4363607892","display_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},{"id":"pmh:oai:dr.ntu.edu.sg:10356/171751","is_oa":false,"landing_page_url":"https://hdl.handle.net/10356/171751","pdf_url":null,"source":{"id":"https://openalex.org/S4306402609","display_name":"DR-NTU (Nanyang Technological University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I172675005","host_organization_name":"Nanyang Technological University","host_organization_lineage":["https://openalex.org/I172675005"],"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":"Conference Paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1526868886","https://openalex.org/W1861492603","https://openalex.org/W1994732751","https://openalex.org/W2082991751","https://openalex.org/W2085261163","https://openalex.org/W2105085370","https://openalex.org/W2105229870","https://openalex.org/W2114347750","https://openalex.org/W2117228865","https://openalex.org/W2119605622","https://openalex.org/W2124386111","https://openalex.org/W2136492961","https://openalex.org/W2141627350","https://openalex.org/W2560474170","https://openalex.org/W2604236302","https://openalex.org/W2768879211","https://openalex.org/W2788822937","https://openalex.org/W2797394534","https://openalex.org/W2804394440","https://openalex.org/W2961749418","https://openalex.org/W2962783853","https://openalex.org/W2963188159","https://openalex.org/W2963756608","https://openalex.org/W2964270628","https://openalex.org/W3003339604","https://openalex.org/W3091689308","https://openalex.org/W3174035324","https://openalex.org/W6747043499","https://openalex.org/W6752208963","https://openalex.org/W6765499649","https://openalex.org/W6771609694"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W165915117","https://openalex.org/W2126852585","https://openalex.org/W2367086100","https://openalex.org/W2326995835","https://openalex.org/W2743859443","https://openalex.org/W2059402478","https://openalex.org/W2123347777","https://openalex.org/W4387804363","https://openalex.org/W2352270872"],"abstract_inverted_index":{"Classical":[0],"Visual":[1],"Servoing":[2],"(VS)":[3],"relies":[4],"on":[5,20,77,122,214],"handcrafted":[6],"visual":[7,47,78,103,123],"features,":[8,124],"which":[9,62,181],"limit":[10],"their":[11],"generalizability.":[12],"Recently,":[13],"a":[14,173,183,193],"number":[15],"of":[16,45,135,140,186,217],"approaches,":[17],"some":[18],"based":[19,76,121,212],"Deep":[21,95],"Neural":[22],"Networks,":[23],"have":[24],"been":[25],"proposed":[26],"to":[27,58,66,73,87,97,128,162,171,176,202,210,226],"overcome":[28],"this":[29],"limitation":[30],"by":[31,42],"comparing":[32],"directly":[33],"the":[34,46,53,64,88,102,111,130,133,144,148,178,198,208,218,222,227],"entire":[35],"target":[36,54,179],"and":[37,55,100,153,159,165],"current":[38,56],"camera":[39,223],"images.":[40],"However,":[41],"getting":[43],"rid":[44],"features":[48,79,149],"altogether,":[49],"those":[50],"approaches":[51,84],"require":[52],"images":[57],"be":[59],"essentially":[60],"similar,":[61],"precludes":[63],"generalization":[65],"unknown,":[67],"cluttered,":[68],"scenes.":[69,166],"Here":[70],"we":[71,90,169],"propose":[72,170],"perform":[74],"VS":[75,83],"as":[80],"in":[81,94,138,143,192],"classical":[82],"but,":[85],"contrary":[86],"latter,":[89],"leverage":[91],"recent":[92],"breakthroughs":[93],"Learning":[96],"automatically":[98,151,160],"extract":[99],"match":[101],"features.":[104],"By":[105],"doing":[106],"so,":[107],"our":[108,118,155],"approach":[109,119,156],"enjoys":[110],"advantages":[112,191],"from":[113,221],"both":[114],"worlds:":[115],"(i)":[116],"because":[117,147],"is":[120,126,200],"it":[125],"able":[127,201],"steer":[129],"robot":[131,199,229],"towards":[132,207],"object":[134,209,219],"interest":[136],"even":[137],"presence":[139],"significant":[141],"distraction":[142],"background;":[145],"(ii)":[146],"are":[150],"extracted":[152],"matched,":[154],"can":[157],"easily":[158],"generalize":[161],"unseen":[163],"objects":[164],"In":[167],"addition,":[168],"use":[172],"render":[174],"engine":[175],"synthesize":[177],"image,":[180],"offers":[182],"further":[184],"level":[185],"generalization.":[187],"We":[188],"demonstrate":[189],"these":[190],"robotic":[194],"grasping":[195,230],"task,":[196],"where":[197],"steer,":[203],"with":[204],"high":[205],"accuracy,":[206],"grasp,":[211],"simply":[213],"an":[215],"image":[216],"rendered":[220],"view":[224],"corresponding":[225],"desired":[228],"pose.":[231]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":1}],"updated_date":"2026-02-20T06:14:18.993340","created_date":"2025-10-10T00:00:00"}