{"id":"https://openalex.org/W2584397790","doi":"https://doi.org/10.1109/icarcv.2016.7838841","title":"Visual servoing for object manipulation: A case study in slaughterhouse","display_name":"Visual servoing for object manipulation: A case study in slaughterhouse","publication_year":2016,"publication_date":"2016-11-01","ids":{"openalex":"https://openalex.org/W2584397790","doi":"https://doi.org/10.1109/icarcv.2016.7838841","mag":"2584397790"},"language":"en","primary_location":{"id":"doi:10.1109/icarcv.2016.7838841","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2016.7838841","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://orbit.dtu.dk/en/publications/b2e92ed4-ab5b-42a2-87b5-a32a08f4b820","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5091039555","display_name":"Haiyan Wu","orcid":"https://orcid.org/0000-0002-0722-3042"},"institutions":[{"id":"https://openalex.org/I96673099","display_name":"Technical University of Denmark","ror":"https://ror.org/04qtj9h94","country_code":"DK","type":"education","lineage":["https://openalex.org/I96673099"]}],"countries":["DK"],"is_corresponding":true,"raw_author_name":"Haiyan Wu","raw_affiliation_strings":["Automation and Control Technical University of Denmark Kgs. Lyngby, Denmark"],"affiliations":[{"raw_affiliation_string":"Automation and Control Technical University of Denmark Kgs. Lyngby, Denmark","institution_ids":["https://openalex.org/I96673099"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056764737","display_name":"Thomas Timm Andersen","orcid":"https://orcid.org/0000-0002-2708-9995"},"institutions":[{"id":"https://openalex.org/I96673099","display_name":"Technical University of Denmark","ror":"https://ror.org/04qtj9h94","country_code":"DK","type":"education","lineage":["https://openalex.org/I96673099"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Thomas Timm Andersen","raw_affiliation_strings":["Automation and Control Technical University of Denmark, Kgs. Lyngby, 2800, Denmark"],"affiliations":[{"raw_affiliation_string":"Automation and Control Technical University of Denmark, Kgs. Lyngby, 2800, Denmark","institution_ids":["https://openalex.org/I96673099"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013326040","display_name":"N. Andersen","orcid":"https://orcid.org/0000-0002-9985-6444"},"institutions":[{"id":"https://openalex.org/I96673099","display_name":"Technical University of Denmark","ror":"https://ror.org/04qtj9h94","country_code":"DK","type":"education","lineage":["https://openalex.org/I96673099"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Nils Axel Andersen","raw_affiliation_strings":["Automation and Control Technical University of Denmark, Kgs. Lyngby, 2800, Denmark"],"affiliations":[{"raw_affiliation_string":"Automation and Control Technical University of Denmark, Kgs. Lyngby, 2800, Denmark","institution_ids":["https://openalex.org/I96673099"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5108337101","display_name":"Ole Ravn","orcid":"https://orcid.org/0000-0003-2265-0031"},"institutions":[{"id":"https://openalex.org/I96673099","display_name":"Technical University of Denmark","ror":"https://ror.org/04qtj9h94","country_code":"DK","type":"education","lineage":["https://openalex.org/I96673099"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Ole Ravn","raw_affiliation_strings":["Automation and Control Technical University of Denmark Kgs. Lyngby, Denmark"],"affiliations":[{"raw_affiliation_string":"Automation and Control Technical University of Denmark Kgs. Lyngby, Denmark","institution_ids":["https://openalex.org/I96673099"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5091039555"],"corresponding_institution_ids":["https://openalex.org/I96673099"],"apc_list":null,"apc_paid":null,"fwci":0.1689,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.61204609,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9991999864578247,"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":0.9991999864578247,"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":0.9961000084877014,"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/T13114","display_name":"Image Processing Techniques and Applications","score":0.9955000281333923,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7795854806900024},{"id":"https://openalex.org/keywords/visual-servoing","display_name":"Visual servoing","score":0.7526254653930664},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7186404466629028},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6878743171691895},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6763660907745361},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6530618667602539},{"id":"https://openalex.org/keywords/smt-placement-equipment","display_name":"SMT placement equipment","score":0.6199571490287781},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6089894771575928},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5975136160850525},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.5659709572792053},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5570082068443298},{"id":"https://openalex.org/keywords/automation","display_name":"Automation","score":0.5457810759544373},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.5452951788902283},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1910836100578308}],"concepts":[{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7795854806900024},{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.7526254653930664},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7186404466629028},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6878743171691895},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6763660907745361},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6530618667602539},{"id":"https://openalex.org/C17511633","wikidata":"https://www.wikidata.org/wiki/Q830694","display_name":"SMT placement equipment","level":3,"score":0.6199571490287781},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6089894771575928},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5975136160850525},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.5659709572792053},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5570082068443298},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.5457810759544373},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.5452951788902283},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1910836100578308},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icarcv.2016.7838841","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2016.7838841","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","raw_type":"proceedings-article"},{"id":"pmh:oai:pure.atira.dk:publications/b2e92ed4-ab5b-42a2-87b5-a32a08f4b820","is_oa":true,"landing_page_url":"https://orbit.dtu.dk/en/publications/b2e92ed4-ab5b-42a2-87b5-a32a08f4b820","pdf_url":null,"source":{"id":"https://openalex.org/S4306400705","display_name":"Technical University of Denmark, DTU Orbit (Technical University of Denmark, DTU)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I96673099","host_organization_name":"Technical University of Denmark","host_organization_lineage":["https://openalex.org/I96673099"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Wu , H , Andersen , T T , Andersen , N A &amp; Ravn , O 2016 , Visual Servoing for Object Manipulation: A Case Study in Slaughterhouse . in Proceedings of the International Conference on Robotics and Automation . IEEE , 2016 14th International Conference on Control, Automation, Robotics and Vision , Phuket , Thailand , 13/11/2016 . https://doi.org/10.1109/ICARCV.2016.7838841","raw_type":"contributionToPeriodical"}],"best_oa_location":{"id":"pmh:oai:pure.atira.dk:publications/b2e92ed4-ab5b-42a2-87b5-a32a08f4b820","is_oa":true,"landing_page_url":"https://orbit.dtu.dk/en/publications/b2e92ed4-ab5b-42a2-87b5-a32a08f4b820","pdf_url":null,"source":{"id":"https://openalex.org/S4306400705","display_name":"Technical University of Denmark, DTU Orbit (Technical University of Denmark, DTU)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I96673099","host_organization_name":"Technical University of Denmark","host_organization_lineage":["https://openalex.org/I96673099"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Wu , H , Andersen , T T , Andersen , N A &amp; Ravn , O 2016 , Visual Servoing for Object Manipulation: A Case Study in Slaughterhouse . in Proceedings of the International Conference on Robotics and Automation . IEEE , 2016 14th International Conference on Control, Automation, Robotics and Vision , Phuket , Thailand , 13/11/2016 . https://doi.org/10.1109/ICARCV.2016.7838841","raw_type":"contributionToPeriodical"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.4699999988079071}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W12410007","https://openalex.org/W29820467","https://openalex.org/W164150388","https://openalex.org/W1913661415","https://openalex.org/W1968591741","https://openalex.org/W2000757515","https://openalex.org/W2020362991","https://openalex.org/W2029143333","https://openalex.org/W2065429801","https://openalex.org/W2082991751","https://openalex.org/W2099940712","https://openalex.org/W2100642335","https://openalex.org/W2111691855","https://openalex.org/W2113265921","https://openalex.org/W2134719325","https://openalex.org/W2152521250","https://openalex.org/W2160411611","https://openalex.org/W2167501464","https://openalex.org/W2171201680","https://openalex.org/W2308568835","https://openalex.org/W2901136733","https://openalex.org/W3156347756","https://openalex.org/W6600496096","https://openalex.org/W6698568463","https://openalex.org/W6756486208","https://openalex.org/W6793567207"],"related_works":["https://openalex.org/W2186268827","https://openalex.org/W2082631666","https://openalex.org/W4389836226","https://openalex.org/W3158985074","https://openalex.org/W3188433943","https://openalex.org/W3175556393","https://openalex.org/W4391550800","https://openalex.org/W4223569781","https://openalex.org/W2471926586","https://openalex.org/W2113884142"],"abstract_inverted_index":{"Automation":[0],"for":[1,31,35,59,92,110,128],"slaughterhouse":[2,53],"challenges":[3],"the":[4,7,12,15,57,60,70,74,83,89,107,111,122,133,144,159],"design":[5],"of":[6,14,25,73,140,158],"control":[8],"system":[9,33,61,65,125],"due":[10],"to":[11,68,88,105,120],"variety":[13],"objects.":[16],"Realtime":[17],"sensing":[18],"provides":[19],"instantaneous":[20],"information":[21,72,81],"about":[22,82],"each":[23],"piece":[24],"work":[26],"and":[27,42,78,97,132,146],"thus,":[28],"is":[29,46,54,66,85,103,118,126,151],"useful":[30],"robotic":[32],"developed":[34,160],"slaughterhouse.":[36],"In":[37],"this":[38],"work,":[39],"a":[40,47,129,136],"pick":[41,145],"place":[43,147],"task":[44,49],"which":[45,155],"common":[48],"among":[50],"tasks":[51],"in":[52,143,153],"selected":[55],"as":[56],"scenario":[58],"demonstration.":[62],"A":[63],"vision":[64],"utilized":[67],"grab":[69],"current":[71],"object,":[75],"including":[76],"position":[77],"orientation.":[79],"The":[80,124,149],"object":[84,141],"then":[86],"transferred":[87],"robot":[90,112,116],"side":[91],"path":[93,100,109],"planning.":[94],"An":[95,114],"online":[96],"offline":[98],"combined":[99],"planning":[101],"algorithm":[102,161],"proposed":[104],"generate":[106],"desired":[108],"control.":[113],"industrial":[115],"arm":[117],"applied":[119],"execute":[121],"path.":[123],"implemented":[127,152],"lab-scale":[130],"experiment,":[131],"results":[134],"show":[135],"high":[137],"success":[138],"rate":[139],"manipulation":[142],"task.":[148],"approach":[150],"ROS":[154],"allows":[156],"utilization":[157],"on":[162],"different":[163],"platforms":[164],"with":[165],"little":[166],"extra":[167],"effort.":[168]},"counts_by_year":[{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":3},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
