{"id":"https://openalex.org/W3119107239","doi":"https://doi.org/10.1109/cdc42340.2020.9303955","title":"Dual Quaternion Visual Servo Control","display_name":"Dual Quaternion Visual Servo Control","publication_year":2020,"publication_date":"2020-12-14","ids":{"openalex":"https://openalex.org/W3119107239","doi":"https://doi.org/10.1109/cdc42340.2020.9303955","mag":"3119107239","pmid":"https://pubmed.ncbi.nlm.nih.gov/34853490"},"language":"en","primary_location":{"id":"doi:10.1109/cdc42340.2020.9303955","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc42340.2020.9303955","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 59th IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/8632562","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5064430084","display_name":"Ryan Saltus","orcid":"https://orcid.org/0000-0001-5708-6165"},"institutions":[{"id":"https://openalex.org/I140172145","display_name":"University of Connecticut","ror":"https://ror.org/02der9h97","country_code":"US","type":"education","lineage":["https://openalex.org/I140172145"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Ryan Saltus","raw_affiliation_strings":["Department of Electrical and Computer Engineering at University of Connecticut, Storrs, CT 06269","University of Connecticut, Storrs, CT"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering at University of Connecticut, Storrs, CT 06269","institution_ids":[]},{"raw_affiliation_string":"University of Connecticut, Storrs, CT","institution_ids":["https://openalex.org/I140172145"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047311425","display_name":"Iman Salehi","orcid":"https://orcid.org/0000-0002-9144-3573"},"institutions":[{"id":"https://openalex.org/I140172145","display_name":"University of Connecticut","ror":"https://ror.org/02der9h97","country_code":"US","type":"education","lineage":["https://openalex.org/I140172145"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Iman Salehi","raw_affiliation_strings":["Department of Electrical and Computer Engineering at University of Connecticut, Storrs, CT 06269","University of Connecticut, Storrs, CT"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering at University of Connecticut, Storrs, CT 06269","institution_ids":[]},{"raw_affiliation_string":"University of Connecticut, Storrs, CT","institution_ids":["https://openalex.org/I140172145"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020761924","display_name":"Ghananeel Rotithor","orcid":"https://orcid.org/0000-0002-8364-2337"},"institutions":[{"id":"https://openalex.org/I140172145","display_name":"University of Connecticut","ror":"https://ror.org/02der9h97","country_code":"US","type":"education","lineage":["https://openalex.org/I140172145"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ghananeel Rotithor","raw_affiliation_strings":["Department of Electrical and Computer Engineering at University of Connecticut, Storrs, CT 06269","University of Connecticut, Storrs, CT"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering at University of Connecticut, Storrs, CT 06269","institution_ids":[]},{"raw_affiliation_string":"University of Connecticut, Storrs, CT","institution_ids":["https://openalex.org/I140172145"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076083833","display_name":"Ashwin P. Dani","orcid":"https://orcid.org/0000-0002-7091-5607"},"institutions":[{"id":"https://openalex.org/I140172145","display_name":"University of Connecticut","ror":"https://ror.org/02der9h97","country_code":"US","type":"education","lineage":["https://openalex.org/I140172145"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ashwin P. Dani","raw_affiliation_strings":["Department of Electrical and Computer Engineering at University of Connecticut, Storrs, CT 06269","University of Connecticut, Storrs, CT"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering at University of Connecticut, Storrs, CT 06269","institution_ids":[]},{"raw_affiliation_string":"University of Connecticut, Storrs, CT","institution_ids":["https://openalex.org/I140172145"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5064430084"],"corresponding_institution_ids":["https://openalex.org/I140172145"],"apc_list":null,"apc_paid":null,"fwci":0.4907,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.67480564,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"2020","issue":null,"first_page":"5956","last_page":"5961"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9965000152587891,"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/T13579","display_name":"Image and Video Stabilization","score":0.9919999837875366,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/quaternion","display_name":"Quaternion","score":0.822646975517273},{"id":"https://openalex.org/keywords/dual-quaternion","display_name":"Dual quaternion","score":0.7565892934799194},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7337351441383362},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.707240641117096},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.6094892024993896},{"id":"https://openalex.org/keywords/visual-servoing","display_name":"Visual servoing","score":0.6008198261260986},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.5656312704086304},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5594804286956787},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5310739874839783},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5127567052841187},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.47121161222457886},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.466659277677536},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.41694825887680054},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3096761405467987},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1937786340713501},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08501821756362915}],"concepts":[{"id":"https://openalex.org/C200127275","wikidata":"https://www.wikidata.org/wiki/Q173853","display_name":"Quaternion","level":2,"score":0.822646975517273},{"id":"https://openalex.org/C145941777","wikidata":"https://www.wikidata.org/wiki/Q5310237","display_name":"Dual quaternion","level":3,"score":0.7565892934799194},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7337351441383362},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.707240641117096},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.6094892024993896},{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.6008198261260986},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.5656312704086304},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5594804286956787},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5310739874839783},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5127567052841187},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.47121161222457886},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.466659277677536},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.41694825887680054},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3096761405467987},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1937786340713501},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08501821756362915},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/cdc42340.2020.9303955","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc42340.2020.9303955","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 59th IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},{"id":"pmid:34853490","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/34853490","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the ... IEEE Conference on Decision & Control. IEEE Conference on Decision & Control","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:8632562","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/8632562","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Proc IEEE Conf Decis Control","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:pubmedcentral.nih.gov:8632562","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/8632562","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Proc IEEE Conf Decis Control","raw_type":"Text"},"sustainable_development_goals":[{"score":0.7799999713897705,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320332360","display_name":"Office of Energy Efficiency and Renewable Energy","ror":"https://ror.org/02xznz413"},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1750689792","https://openalex.org/W1796273244","https://openalex.org/W1981518010","https://openalex.org/W1982483748","https://openalex.org/W1983473126","https://openalex.org/W2001865981","https://openalex.org/W2010027593","https://openalex.org/W2016237352","https://openalex.org/W2082821917","https://openalex.org/W2082991751","https://openalex.org/W2098087953","https://openalex.org/W2100249329","https://openalex.org/W2129171663","https://openalex.org/W2134237713","https://openalex.org/W2136492961","https://openalex.org/W2137020204","https://openalex.org/W2139810540","https://openalex.org/W2154343844","https://openalex.org/W2168947801","https://openalex.org/W2198175128","https://openalex.org/W2613201842","https://openalex.org/W2769501833","https://openalex.org/W2891965580","https://openalex.org/W3106071648"],"related_works":["https://openalex.org/W2523915674","https://openalex.org/W2888751871","https://openalex.org/W570369945","https://openalex.org/W102224637","https://openalex.org/W2185573392","https://openalex.org/W3127350447","https://openalex.org/W2315718763","https://openalex.org/W4321633639","https://openalex.org/W205976080","https://openalex.org/W4361860244"],"abstract_inverted_index":{"This":[0],"paper":[1],"focuses":[2],"on":[3,42,53],"a":[4,25,47,56,88,118,131,155],"dual":[5,26,57,122,141,148],"quaternion-based":[6,27],"estimation":[7,18,101],"and":[8,36,79,102,130,136],"control":[9,59,103],"approach":[10],"for":[11,104,138],"position-based":[12],"visual":[13],"servoing":[14],"(PBVS).":[15],"The":[16,106,146],"pose":[17],"of":[19,38,49,76,84,98,121,134],"the":[20,34,39,54,65,68,72,77,80,85,96,99,115,128],"camera":[21,40,50,66],"is":[22,61,92,108,124,144,152],"achieved":[23],"using":[24,154],"Extended":[28],"Kalman":[29],"Filter":[30],"(EKF),":[31],"which":[32],"estimates":[33],"position":[35],"orientation":[37],"based":[41],"feature":[43],"points":[44],"acquired":[45],"through":[46],"sequence":[48],"images.":[51],"Based":[52],"estimation,":[55],"quaternion":[58,123,142,149],"law":[60],"developed":[62],"to":[63,67,94,126],"regulate":[64],"desired":[69],"pose.":[70],"Leveraging":[71],"local":[73],"exponential":[74,82],"stability":[75,83,97,133],"EKF":[78],"global":[81],"designed":[86],"controller,":[87],"nonlinear":[89],"separation":[90],"principle":[91],"used":[93,125],"prove":[95],"joint":[100,132],"PBVS.":[105],"method":[107,151],"distinguished":[109],"from":[110],"other":[111],"PBVS":[112,139,150],"methods":[113],"in":[114,140],"sense":[116],"that":[117],"compact":[119],"representation":[120],"represent":[127],"pose,":[129],"estimator":[135],"controller":[137],"space":[143],"presented.":[145],"proposed":[147],"validated":[153],"simulation.":[156]},"counts_by_year":[{"year":2023,"cited_by_count":3},{"year":2021,"cited_by_count":2}],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2025-10-10T00:00:00"}
