{"id":"https://openalex.org/W2109254968","doi":"https://doi.org/10.1109/icarcv.2008.4795841","title":"Simple solution for visual servoing of camera-in-hand robots in the 3d Cartesian space","display_name":"Simple solution for visual servoing of camera-in-hand robots in the 3d Cartesian space","publication_year":2008,"publication_date":"2008-12-01","ids":{"openalex":"https://openalex.org/W2109254968","doi":"https://doi.org/10.1109/icarcv.2008.4795841","mag":"2109254968"},"language":"en","primary_location":{"id":"doi:10.1109/icarcv.2008.4795841","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2008.4795841","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 10th International Conference on Control, Automation, Robotics and Vision","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/A5067125141","display_name":"Luis Hern\u00e1ndez","orcid":"https://orcid.org/0000-0002-4201-7906"},"institutions":[{"id":"https://openalex.org/I3018837529","display_name":"Universidad Central \"Marta Abreu\" de las Villas (UCLV)","ror":"https://ror.org/01cdy6h50","country_code":"CU","type":"education","lineage":["https://openalex.org/I3018837529"]}],"countries":["CU"],"is_corresponding":true,"raw_author_name":"Luis Hernandez","raw_affiliation_strings":["Departamento de Autom\u00e1tica y Sistemas Computacionales, Universidad Central de las Villas, Villa Clara, Cuba","Dept. de Autom. y Sist. Computacionales, Univ. Central de Las Villas (UCLV), Santa Clara"],"affiliations":[{"raw_affiliation_string":"Departamento de Autom\u00e1tica y Sistemas Computacionales, Universidad Central de las Villas, Villa Clara, Cuba","institution_ids":["https://openalex.org/I3018837529"]},{"raw_affiliation_string":"Dept. de Autom. y Sist. Computacionales, Univ. Central de Las Villas (UCLV), Santa Clara","institution_ids":["https://openalex.org/I3018837529"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109006717","display_name":"Ren\u00e9 Gonz\u00e1lez","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Rene Gonzalez","raw_affiliation_strings":["Calle 4ta s/n e/ Ave Calixto Garc\u00eda y Tirso D\u00edaz, Empresa de Automatizaci\u00f3n Integral (CEDAI), Villa Clara, Cuba","Empresa de Automatization Integral (CEDAI), Santa Clara"],"affiliations":[{"raw_affiliation_string":"Calle 4ta s/n e/ Ave Calixto Garc\u00eda y Tirso D\u00edaz, Empresa de Automatizaci\u00f3n Integral (CEDAI), Villa Clara, Cuba","institution_ids":[]},{"raw_affiliation_string":"Empresa de Automatization Integral (CEDAI), Santa Clara","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073820422","display_name":"Hichem Sahli","orcid":"https://orcid.org/0000-0002-1774-2970"},"institutions":[{"id":"https://openalex.org/I865915315","display_name":"Vrije Universiteit Amsterdam","ror":"https://ror.org/008xxew50","country_code":"NL","type":"education","lineage":["https://openalex.org/I865915315"]},{"id":"https://openalex.org/I13469542","display_name":"Vrije Universiteit Brussel","ror":"https://ror.org/006e5kg04","country_code":"BE","type":"education","lineage":["https://openalex.org/I13469542"]}],"countries":["BE","NL"],"is_corresponding":false,"raw_author_name":"Hichem Sahli","raw_affiliation_strings":["Department of Electronics and Informatics (ETRO), Vrije Universiteit Brussel, Brussels, Belgium","Dept. of Electron. & Inf. (ETRO), Vrije Univ. Brussel (VUB), Brussel"],"affiliations":[{"raw_affiliation_string":"Department of Electronics and Informatics (ETRO), Vrije Universiteit Brussel, Brussels, Belgium","institution_ids":["https://openalex.org/I13469542"]},{"raw_affiliation_string":"Dept. of Electron. & Inf. (ETRO), Vrije Univ. Brussel (VUB), Brussel","institution_ids":["https://openalex.org/I865915315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110193295","display_name":"Javier Gonz\u00e1lez","orcid":null},"institutions":[{"id":"https://openalex.org/I3018837529","display_name":"Universidad Central \"Marta Abreu\" de las Villas (UCLV)","ror":"https://ror.org/01cdy6h50","country_code":"CU","type":"education","lineage":["https://openalex.org/I3018837529"]}],"countries":["CU"],"is_corresponding":false,"raw_author_name":"Javier Gonzalez","raw_affiliation_strings":["Departamento de Autom\u00e1tica y Sistemas Computacionales, Universidad Central de las Villas, Villa Clara, Cuba","Dept. de Autom. y Sist. Computacionales, Univ. Central de Las Villas (UCLV), Santa Clara"],"affiliations":[{"raw_affiliation_string":"Departamento de Autom\u00e1tica y Sistemas Computacionales, Universidad Central de las Villas, Villa Clara, Cuba","institution_ids":["https://openalex.org/I3018837529"]},{"raw_affiliation_string":"Dept. de Autom. y Sist. Computacionales, Univ. Central de Las Villas (UCLV), Santa Clara","institution_ids":["https://openalex.org/I3018837529"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017168265","display_name":"Yoani Guerra","orcid":null},"institutions":[{"id":"https://openalex.org/I3018837529","display_name":"Universidad Central \"Marta Abreu\" de las Villas (UCLV)","ror":"https://ror.org/01cdy6h50","country_code":"CU","type":"education","lineage":["https://openalex.org/I3018837529"]}],"countries":["CU"],"is_corresponding":false,"raw_author_name":"Yoani Guerra","raw_affiliation_strings":["Departamento de Autom\u00e1tica y Sistemas Computacionales, Universidad Central de las Villas, Villa Clara, Cuba","Dept. de Autom. y Sist. Computacionales, Univ. Central de Las Villas (UCLV), Santa Clara"],"affiliations":[{"raw_affiliation_string":"Departamento de Autom\u00e1tica y Sistemas Computacionales, Universidad Central de las Villas, Villa Clara, Cuba","institution_ids":["https://openalex.org/I3018837529"]},{"raw_affiliation_string":"Dept. de Autom. y Sist. Computacionales, Univ. Central de Las Villas (UCLV), Santa Clara","institution_ids":["https://openalex.org/I3018837529"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5067125141"],"corresponding_institution_ids":["https://openalex.org/I3018837529"],"apc_list":null,"apc_paid":null,"fwci":0.7024,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.73938682,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"13","issue":null,"first_page":"2020","last_page":"2025"},"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/T13114","display_name":"Image Processing Techniques and Applications","score":0.9965999722480774,"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/T11105","display_name":"Advanced Image Processing Techniques","score":0.9853000044822693,"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/visual-servoing","display_name":"Visual servoing","score":0.8758252859115601},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6497563719749451},{"id":"https://openalex.org/keywords/cartesian-coordinate-robot","display_name":"Cartesian coordinate robot","score":0.6134052872657776},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6112983226776123},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5892582535743713},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.5786212086677551},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.5435289144515991},{"id":"https://openalex.org/keywords/servo-control","display_name":"Servo control","score":0.5135879516601562},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4943501949310303},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4511798620223999},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4324282705783844},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.42659497261047363},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4202168583869934},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4124511182308197},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.41186028718948364},{"id":"https://openalex.org/keywords/servo","display_name":"Servo","score":0.3833335340023041},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.29345887899398804},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.22566834092140198},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.09367963671684265},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08916780352592468}],"concepts":[{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.8758252859115601},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6497563719749451},{"id":"https://openalex.org/C118635694","wikidata":"https://www.wikidata.org/wiki/Q3268064","display_name":"Cartesian coordinate robot","level":5,"score":0.6134052872657776},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6112983226776123},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5892582535743713},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.5786212086677551},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.5435289144515991},{"id":"https://openalex.org/C32731416","wikidata":"https://www.wikidata.org/wiki/Q7455930","display_name":"Servo control","level":3,"score":0.5135879516601562},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4943501949310303},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4511798620223999},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4324282705783844},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.42659497261047363},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4202168583869934},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4124511182308197},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.41186028718948364},{"id":"https://openalex.org/C107354338","wikidata":"https://www.wikidata.org/wiki/Q1937153","display_name":"Servo","level":2,"score":0.3833335340023041},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.29345887899398804},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.22566834092140198},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.09367963671684265},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08916780352592468},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarcv.2008.4795841","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2008.4795841","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 10th International Conference on Control, Automation, Robotics and Vision","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1532194387","https://openalex.org/W1591974398","https://openalex.org/W1601598544","https://openalex.org/W1973233170","https://openalex.org/W2067235650","https://openalex.org/W2082991751","https://openalex.org/W2121349872","https://openalex.org/W2126852585","https://openalex.org/W2127836456","https://openalex.org/W2132750598","https://openalex.org/W2167501464"],"related_works":["https://openalex.org/W2186268827","https://openalex.org/W2082631666","https://openalex.org/W4236881204","https://openalex.org/W2006540188","https://openalex.org/W2367220495","https://openalex.org/W2119312651","https://openalex.org/W1987658035","https://openalex.org/W2160983430","https://openalex.org/W2144045120","https://openalex.org/W2749023251"],"abstract_inverted_index":{"In":[0,17,126],"this":[1,18,44],"paper,":[2],"the":[3,25,28,38,49,57,60,70,73,92,95,105,120,129,132,138,162],"control":[4],"problem,":[5],"in":[6,37,52,65],"a":[7,20,54,63,83],"3D":[8],"cartesian":[9],"space,":[10],"of":[11,34,43,59,72,94,131],"camera-in-hand":[12],"robotic":[13,110],"systems":[14],"is":[15,22,46,79,135],"considered.":[16],"approach,":[19],"camera":[21],"mounted":[23],"on":[24],"robot,":[26],"at":[27],"hand,":[29],"which":[30,90],"provides":[31],"an":[32,154],"image":[33,58],"objects":[35],"located":[36],"robot":[39,50,156],"environment.":[40],"The":[41,109],"aim":[42],"approach":[45],"to":[47,103,160],"move":[48],"arm":[51],"such":[53],"way":[55],"that":[56],"considered":[61],"object,":[62],"sphere":[64],"our":[66],"case,":[67],"coincides":[68],"with":[69],"center":[71],"image,":[74],"and":[75,111,137,150],"its":[76],"apparent":[77],"radius":[78],"constant.":[80],"We":[81],"propose":[82],"simple":[84],"image-based":[85],"direct":[86],"visual":[87],"servo":[88],"controller":[89],"requires":[91],"knowledge":[93],"objects'":[96],"radius,":[97],"but":[98],"it":[99],"does":[100],"not":[101],"need":[102],"use":[104],"inverse":[106],"Jacobian":[107],"matrix.":[108],"vision":[112],"system":[113,134],"are":[114,146,158],"modelled":[115],"for":[116,123,140,143],"small":[117],"variations":[118],"around":[119],"operating":[121],"point":[122],"position":[124],"control.":[125],"these":[127],"conditions,":[128],"stability":[130],"whole":[133],"balanced":[136],"characteristics":[139],"steady-state":[141],"response":[142],"object":[144],"trajectory":[145],"obtained.":[147],"Both":[148],"simulation":[149],"experimental":[151],"results,":[152],"using":[153],"ASEA-IRB6":[155],"manipulator,":[157],"presented":[159],"illustrate":[161],"proposed":[163],"controller's":[164],"performance.":[165]},"counts_by_year":[{"year":2018,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}