{"id":"https://openalex.org/W1978131383","doi":"https://doi.org/10.1109/humanoids.2012.6651584","title":"Bayesian calibration of the hand-eye kinematics of an anthropomorphic robot","display_name":"Bayesian calibration of the hand-eye kinematics of an anthropomorphic robot","publication_year":2012,"publication_date":"2012-11-01","ids":{"openalex":"https://openalex.org/W1978131383","doi":"https://doi.org/10.1109/humanoids.2012.6651584","mag":"1978131383"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2012.6651584","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2012.6651584","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5068633537","display_name":"Uwe Hubert","orcid":null},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Uwe Hubert","raw_affiliation_strings":["Autonomous Intelligent Systems Group, University of Bonn, Bonn, Germany","Autonomous Intell. Syst. Group, Univ. of Bonn, Bonn, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Intelligent Systems Group, University of Bonn, Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"Autonomous Intell. Syst. Group, Univ. of Bonn, Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113699486","display_name":"J\u00f6rg St\u00fcckler","orcid":null},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jorg Stuckler","raw_affiliation_strings":["Autonomous Intelligent Systems Group, University of Bonn, Bonn, Germany","Autonomous Intell. Syst. Group, Univ. of Bonn, Bonn, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Intelligent Systems Group, University of Bonn, Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"Autonomous Intell. Syst. Group, Univ. of Bonn, Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5027761977","display_name":"Sven Behnke","orcid":"https://orcid.org/0000-0002-5040-7525"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sven Behnke","raw_affiliation_strings":["Autonomous Intelligent Systems Group, University of Bonn, Bonn, Germany","Autonomous Intell. Syst. Group, Univ. of Bonn, Bonn, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Intelligent Systems Group, University of Bonn, Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"Autonomous Intell. Syst. Group, Univ. of Bonn, Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I135140700"],"apc_list":null,"apc_paid":null,"fwci":2.7328,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.88567702,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"618","last_page":"624"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9993000030517578,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9993000030517578,"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"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.998199999332428,"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"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9958000183105469,"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/kinematics","display_name":"Kinematics","score":0.7900208830833435},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6775871515274048},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6741357445716858},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.6516934633255005},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6418600082397461},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5959450006484985},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5917465090751648},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.588181734085083},{"id":"https://openalex.org/keywords/kinematic-chain","display_name":"Kinematic chain","score":0.5200814604759216},{"id":"https://openalex.org/keywords/robot-calibration","display_name":"Robot calibration","score":0.4918828010559082},{"id":"https://openalex.org/keywords/bayesian-optimization","display_name":"Bayesian optimization","score":0.4658770263195038},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.4470832943916321},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.44235724210739136},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.42065513134002686},{"id":"https://openalex.org/keywords/forward-kinematics","display_name":"Forward kinematics","score":0.41659659147262573},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.15114179253578186},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1502538025379181}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7900208830833435},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6775871515274048},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6741357445716858},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.6516934633255005},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6418600082397461},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5959450006484985},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5917465090751648},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.588181734085083},{"id":"https://openalex.org/C62837456","wikidata":"https://www.wikidata.org/wiki/Q678308","display_name":"Kinematic chain","level":3,"score":0.5200814604759216},{"id":"https://openalex.org/C192299074","wikidata":"https://www.wikidata.org/wiki/Q2160034","display_name":"Robot calibration","level":5,"score":0.4918828010559082},{"id":"https://openalex.org/C2778049539","wikidata":"https://www.wikidata.org/wiki/Q17002908","display_name":"Bayesian optimization","level":2,"score":0.4658770263195038},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.4470832943916321},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.44235724210739136},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.42065513134002686},{"id":"https://openalex.org/C160970401","wikidata":"https://www.wikidata.org/wiki/Q1423222","display_name":"Forward kinematics","level":4,"score":0.41659659147262573},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.15114179253578186},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1502538025379181},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/humanoids.2012.6651584","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2012.6651584","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.348.5764","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.348.5764","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.ais.uni-bonn.de/papers/Humanoids_2012_Calibration.pdf","raw_type":"text"},{"id":"pmh:oai:uni-augsburg.opus-bayern.de:108982","is_oa":false,"landing_page_url":"https://opus.bibliothek.uni-augsburg.de/opus4/frontdoor/index/index/docId/108982","pdf_url":null,"source":{"id":"https://openalex.org/S4306400930","display_name":"OPUS (Augsburg University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I119916105","host_organization_name":"Augsburg University","host_organization_lineage":["https://openalex.org/I119916105"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"conferenceobject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W92914038","https://openalex.org/W809280269","https://openalex.org/W1551371275","https://openalex.org/W1663973292","https://openalex.org/W2045121195","https://openalex.org/W2058447477","https://openalex.org/W2066691972","https://openalex.org/W2110257364","https://openalex.org/W2114866967","https://openalex.org/W2131044714","https://openalex.org/W2144913215","https://openalex.org/W2159499124","https://openalex.org/W2164324574","https://openalex.org/W2246023205","https://openalex.org/W4212863985","https://openalex.org/W6603748524","https://openalex.org/W6623016026"],"related_works":["https://openalex.org/W1988479431","https://openalex.org/W229301543","https://openalex.org/W3174748874","https://openalex.org/W2047497879","https://openalex.org/W4242231179","https://openalex.org/W2901276430","https://openalex.org/W4238033949","https://openalex.org/W2112883795","https://openalex.org/W2124086581","https://openalex.org/W3135439126"],"abstract_inverted_index":{"We":[0,61,119],"present":[1],"a":[2,58,70,94,96,108,128],"Bayesian":[3],"approach":[4,122],"to":[5,33,80],"calibrating":[6],"the":[7,17,20,74,82],"hand-eye":[8],"kinematics":[9],"of":[10,22,43,73,84,110,136],"an":[11,55],"anthropomorphic":[12],"robot.":[13],"In":[14,78],"our":[15,121,137],"approach,":[16],"robot":[18,130],"perceives":[19],"pose":[21,86],"its":[23,26,34,44],"end-effector":[24],"with":[25,127],"head-mounted":[27],"camera":[28],"through":[29],"visual":[30],"markers":[31],"attached":[32],"end-effector.":[35],"It":[36],"collects":[37],"training":[38],"observations":[39],"at":[40],"several":[41],"configurations":[42],"7-DoF":[45],"arm":[46],"and":[47,65,88,126,131],"2-DoF":[48],"neck":[49],"which":[50],"are":[51],"subsequently":[52],"used":[53],"for":[54,101],"optimization":[56,138],"in":[57,123],"batch":[59],"process.":[60],"tune":[62],"Denavit-Hartenberg":[63],"parameters":[64,111],"joint":[66,89],"gear":[67],"reductions":[68],"as":[69],"minimal":[71],"representation":[72],"rigid":[75],"kinematic":[76],"chain.":[77],"order":[79],"handle":[81],"uncertainties":[83],"marker":[85],"estimates":[87],"position":[90],"measurements,":[91],"we":[92],"use":[93],"maximum":[95],"posteriori":[97],"formulation":[98],"that":[99],"allows":[100],"incorporating":[102],"prior":[103],"model":[104],"knowledge.":[105],"This":[106],"way,":[107],"multitude":[109],"can":[112],"be":[113],"optimized":[114],"from":[115],"only":[116],"few":[117],"observations.":[118],"demonstrate":[120],"simulation":[124],"experiments":[125],"real":[129],"provide":[132],"indepth":[133],"experimental":[134],"analysis":[135],"approach.":[139]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":2}],"updated_date":"2026-08-26T07:47:46.906454","created_date":"2025-10-10T00:00:00"}
