{"id":"https://openalex.org/W2549993168","doi":"https://doi.org/10.1109/etfa.2016.7733711","title":"Evaluation and improvement of global pose estimation with multiple AprilTags for industrial manipulators","display_name":"Evaluation and improvement of global pose estimation with multiple AprilTags for industrial manipulators","publication_year":2016,"publication_date":"2016-09-01","ids":{"openalex":"https://openalex.org/W2549993168","doi":"https://doi.org/10.1109/etfa.2016.7733711","mag":"2549993168"},"language":"en","primary_location":{"id":"doi:10.1109/etfa.2016.7733711","is_oa":false,"landing_page_url":"https://doi.org/10.1109/etfa.2016.7733711","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA)","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/A5065479704","display_name":"Christian Nissler","orcid":"https://orcid.org/0000-0003-4361-9041"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Christian Nissler","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany","Institute of Robotics and Mechatronics, German Aerospace Center (DLR), 82234 Wessling, Germany#TAB#"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), 82234 Wessling, Germany#TAB#","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112229479","display_name":"Stefan B\u00fcttner","orcid":null},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Stefan Buttner","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany","Institute of Robotics and Mechatronics, German Aerospace Center (DLR), 82234 Wessling, Germany#TAB#"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), 82234 Wessling, Germany#TAB#","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003417614","display_name":"Zolt\u00e1n-Csaba M\u00e1rton","orcid":"https://orcid.org/0000-0002-3035-493X"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Zoltan-Csaba Marton","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany","Institute of Robotics and Mechatronics, German Aerospace Center (DLR), 82234 Wessling, Germany#TAB#"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), 82234 Wessling, Germany#TAB#","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022721878","display_name":"Laura Beckmann","orcid":null},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Laura Beckmann","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany","Institute of Robotics and Mechatronics, German Aerospace Center (DLR), 82234 Wessling, Germany#TAB#"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), 82234 Wessling, Germany#TAB#","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020306645","display_name":"Ulrike Thomasy","orcid":null},"institutions":[{"id":"https://openalex.org/I2610724","display_name":"Chemnitz University of Technology","ror":"https://ror.org/00a208s56","country_code":"DE","type":"education","lineage":["https://openalex.org/I2610724"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Ulrike Thomasy","raw_affiliation_strings":["Technische Universitat Chemnitz, Chemnitz, Sachsen, DE","Robotics and Human Machine Interaction Lab, Technical University Chemnitz, 09126, Germany"],"affiliations":[{"raw_affiliation_string":"Technische Universitat Chemnitz, Chemnitz, Sachsen, DE","institution_ids":["https://openalex.org/I2610724"]},{"raw_affiliation_string":"Robotics and Human Machine Interaction Lab, Technical University Chemnitz, 09126, Germany","institution_ids":["https://openalex.org/I2610724"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5065479704"],"corresponding_institution_ids":["https://openalex.org/I2898391981"],"apc_list":null,"apc_paid":null,"fwci":5.4024,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.97352709,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9993000030517578,"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":0.9993000030517578,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9966999888420105,"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/fiducial-marker","display_name":"Fiducial marker","score":0.7670572400093079},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.750218391418457},{"id":"https://openalex.org/keywords/laser-tracker","display_name":"Laser tracker","score":0.7443991303443909},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.6999607086181641},{"id":"https://openalex.org/keywords/automation","display_name":"Automation","score":0.6886005401611328},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6732383966445923},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6504490375518799},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6485504508018494},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6168080568313599},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.5906507968902588},{"id":"https://openalex.org/keywords/3d-pose-estimation","display_name":"3D pose estimation","score":0.5623121857643127},{"id":"https://openalex.org/keywords/industrial-robot","display_name":"Industrial robot","score":0.4579859972000122},{"id":"https://openalex.org/keywords/laser","display_name":"Laser","score":0.29728108644485474},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16995996236801147}],"concepts":[{"id":"https://openalex.org/C173974348","wikidata":"https://www.wikidata.org/wiki/Q1469893","display_name":"Fiducial marker","level":2,"score":0.7670572400093079},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.750218391418457},{"id":"https://openalex.org/C43210895","wikidata":"https://www.wikidata.org/wiki/Q2447583","display_name":"Laser tracker","level":3,"score":0.7443991303443909},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.6999607086181641},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.6886005401611328},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6732383966445923},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6504490375518799},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6485504508018494},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6168080568313599},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.5906507968902588},{"id":"https://openalex.org/C36613465","wikidata":"https://www.wikidata.org/wiki/Q4636322","display_name":"3D pose estimation","level":3,"score":0.5623121857643127},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.4579859972000122},{"id":"https://openalex.org/C520434653","wikidata":"https://www.wikidata.org/wiki/Q38867","display_name":"Laser","level":2,"score":0.29728108644485474},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16995996236801147},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"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/etfa.2016.7733711","is_oa":false,"landing_page_url":"https://doi.org/10.1109/etfa.2016.7733711","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA)","raw_type":"proceedings-article"},{"id":"pmh:oai:elib.dlr.de:108850","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ETFA.2016.7733711>.","pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"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":"info:eu-repo/semantics/conferenceObject"},{"id":"mag:2549993168","is_oa":false,"landing_page_url":"http://dblp.uni-trier.de/db/conf/etfa/etfa2016.html#NisslerBMBT16","pdf_url":null,"source":{"id":"https://openalex.org/S4306418265","display_name":"Emerging Technologies and Factory Automation","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":null,"is_accepted":false,"is_published":null,"raw_source_name":"Emerging Technologies and Factory Automation","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","score":0.5,"id":"https://metadata.un.org/sdg/9"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W170770739","https://openalex.org/W1514444483","https://openalex.org/W1565206031","https://openalex.org/W1569123036","https://openalex.org/W1677409904","https://openalex.org/W1926782923","https://openalex.org/W1968450464","https://openalex.org/W1993102835","https://openalex.org/W2001299238","https://openalex.org/W2007227150","https://openalex.org/W2012755868","https://openalex.org/W2013707129","https://openalex.org/W2020573108","https://openalex.org/W2055936398","https://openalex.org/W2066863160","https://openalex.org/W2070216603","https://openalex.org/W2085261163","https://openalex.org/W2113735881","https://openalex.org/W2124386111","https://openalex.org/W2125188427","https://openalex.org/W2126736494","https://openalex.org/W2130103520","https://openalex.org/W2130425925","https://openalex.org/W2135194391","https://openalex.org/W2150488798","https://openalex.org/W2155696107","https://openalex.org/W2158036586","https://openalex.org/W2160821342","https://openalex.org/W2161168419","https://openalex.org/W2161505441","https://openalex.org/W2162729570","https://openalex.org/W2164139712","https://openalex.org/W2170208355","https://openalex.org/W2789100425","https://openalex.org/W3040777582","https://openalex.org/W4248304976","https://openalex.org/W4285719527","https://openalex.org/W6633567737","https://openalex.org/W6679388247","https://openalex.org/W6684321233","https://openalex.org/W6730468135","https://openalex.org/W6748528437","https://openalex.org/W6780413204","https://openalex.org/W7075682605"],"related_works":["https://openalex.org/W2565233142","https://openalex.org/W2527840098","https://openalex.org/W3168430617","https://openalex.org/W3020330912","https://openalex.org/W2807785345","https://openalex.org/W2117174818","https://openalex.org/W2379059906","https://openalex.org/W2980344706","https://openalex.org/W2094003501","https://openalex.org/W2543789799","https://openalex.org/W2171428867","https://openalex.org/W3206048183","https://openalex.org/W2025587822","https://openalex.org/W2102080957","https://openalex.org/W15963532","https://openalex.org/W2162190477","https://openalex.org/W2342601163","https://openalex.org/W2091482995","https://openalex.org/W2094758854","https://openalex.org/W2092564207"],"abstract_inverted_index":{"Given":[0],"the":[1,37,55,76,107,116,124],"advancing":[2],"importance":[3],"for":[4,26],"light-weight":[5],"production":[6,33],"materials":[7],"an":[8,27],"increase":[9],"in":[10,30,60,75],"automation":[11],"is":[12],"crucial.":[13],"This":[14],"paper":[15],"presents":[16],"a":[17,22,31,42,49,61,66,88],"prototypical":[18],"setup":[19],"to":[20,54,80,83,110,115],"obtain":[21],"precise":[23],"pose":[24],"estimation":[25],"industrial":[28],"manipulator":[29],"realistic":[32],"environment.":[34],"We":[35,91],"show":[36,93],"achievable":[38],"precision":[39],"using":[40],"only":[41],"standard":[43],"fiducial":[44],"marker":[45],"system":[46],"(AprilTag)":[47],"and":[48,122],"state-of-the":[50],"art":[51],"camera":[52],"attached":[53],"robot.":[56],"The":[57],"results":[58],"obtained":[59],"typical":[62],"working":[63],"space":[64],"of":[65,69,78,96],"robot":[67],"cell":[68],"about":[70],"4.5m":[71,73],"\u00d7":[72],"are":[74],"range":[77],"15mm":[79],"35mm":[81],"compared":[82,114],"ground":[84,119],"truth":[85,120],"provided":[86],"by":[87,100],"laser":[89,117],"tracker.":[90],"then":[92],"several":[94],"methods":[95],"reducing":[97],"this":[98],"error":[99,108],"applying":[101],"state-of-the-art":[102],"optimization":[103],"techniques,":[104],"which":[105],"reduce":[106],"significantly":[109],"less":[111],"than":[112],"10mm":[113],"tracker":[118],"data":[121],"at":[123],"same":[125],"time":[126],"remove":[127],"e\u00d7isting":[128],"outliers.":[129]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2016-11-30T00:00:00"}
