{"id":"https://openalex.org/W4409683498","doi":"https://doi.org/10.1109/icit63637.2025.10965208","title":"Noise-Robust Image Jacobian Estimation for Visual Servoing Using BP Neural Network and Robust Kalman Filtering","display_name":"Noise-Robust Image Jacobian Estimation for Visual Servoing Using BP Neural Network and Robust Kalman Filtering","publication_year":2025,"publication_date":"2025-03-26","ids":{"openalex":"https://openalex.org/W4409683498","doi":"https://doi.org/10.1109/icit63637.2025.10965208"},"language":"en","primary_location":{"id":"doi:10.1109/icit63637.2025.10965208","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icit63637.2025.10965208","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Industrial Technology (ICIT)","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":null,"display_name":"Ze-Zhi Long","orcid":null},"institutions":[{"id":"https://openalex.org/I3124059619","display_name":"China University of Geosciences","ror":"https://ror.org/04gcegc37","country_code":"CN","type":"education","lineage":["https://openalex.org/I3124059619"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ze-Zhi Long","raw_affiliation_strings":["School of Automation, China University of Geosciences, Wuhan,Wuhan,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, China University of Geosciences, Wuhan,Wuhan,China","institution_ids":["https://openalex.org/I3124059619"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jia-Le Guo","orcid":null},"institutions":[{"id":"https://openalex.org/I3124059619","display_name":"China University of Geosciences","ror":"https://ror.org/04gcegc37","country_code":"CN","type":"education","lineage":["https://openalex.org/I3124059619"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jia-Le Guo","raw_affiliation_strings":["School of Automation, China University of Geosciences, Wuhan,Wuhan,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, China University of Geosciences, Wuhan,Wuhan,China","institution_ids":["https://openalex.org/I3124059619"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101616350","display_name":"Xinmei Wang","orcid":"https://orcid.org/0009-0002-2131-5741"},"institutions":[{"id":"https://openalex.org/I3124059619","display_name":"China University of Geosciences","ror":"https://ror.org/04gcegc37","country_code":"CN","type":"education","lineage":["https://openalex.org/I3124059619"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin-Mei Wang","raw_affiliation_strings":["School of Automation, China University of Geosciences, Wuhan,Wuhan,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, China University of Geosciences, Wuhan,Wuhan,China","institution_ids":["https://openalex.org/I3124059619"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I3124059619"],"apc_list":null,"apc_paid":null,"fwci":2.8273,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.89789469,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"5"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10688","display_name":"Image and Signal Denoising Methods","score":0.9832000136375427,"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/T10688","display_name":"Image and Signal Denoising Methods","score":0.9832000136375427,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9779000282287598,"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/T11659","display_name":"Advanced Image Fusion Techniques","score":0.9696999788284302,"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/visual-servoing","display_name":"Visual servoing","score":0.8426271677017212},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.7954801917076111},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.7654910087585449},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.56492680311203},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5474432706832886},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5452114343643188},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5174151659011841},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.48468711972236633},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4743684232234955},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.44376707077026367},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.43460774421691895},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.40156567096710205},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3321388363838196},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3056242763996124},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10345244407653809},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.08608978986740112}],"concepts":[{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.8426271677017212},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.7954801917076111},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.7654910087585449},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.56492680311203},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5474432706832886},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5452114343643188},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5174151659011841},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.48468711972236633},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4743684232234955},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.44376707077026367},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.43460774421691895},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.40156567096710205},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3321388363838196},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3056242763996124},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10345244407653809},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.08608978986740112},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icit63637.2025.10965208","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icit63637.2025.10965208","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Industrial Technology (ICIT)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1966961662","https://openalex.org/W1986247620","https://openalex.org/W1990671982","https://openalex.org/W1994473643","https://openalex.org/W2049127363","https://openalex.org/W2064355448","https://openalex.org/W2082991751","https://openalex.org/W2111691855","https://openalex.org/W2123895269","https://openalex.org/W2137044675","https://openalex.org/W2144812930","https://openalex.org/W2157073072","https://openalex.org/W2167501464","https://openalex.org/W2907576925"],"related_works":["https://openalex.org/W2171817899","https://openalex.org/W2376367950","https://openalex.org/W213797040","https://openalex.org/W2620386921","https://openalex.org/W571470105","https://openalex.org/W1851410152","https://openalex.org/W2099513764","https://openalex.org/W2547642540","https://openalex.org/W2091554547","https://openalex.org/W2415692232"],"abstract_inverted_index":{"Accurate":[0],"estimation":[1],"of":[2,50,103,118],"the":[3,48,84,99,116],"Jacobian":[4,28],"matrix":[5,29],"in":[6,107,122],"visual":[7,104,119],"servoing":[8,105,120],"systems":[9,106,121],"is":[10,14],"crucial,":[11],"but":[12],"it":[13,69],"susceptible":[15],"to":[16,46,74],"interference":[17],"from":[18],"factors":[19],"such":[20],"as":[21],"noise.":[22],"This":[23],"study":[24],"proposes":[25],"an":[26,112],"image":[27,51,94],"optimization":[30],"method":[31,82],"that":[32,72],"combines":[33],"BP":[34,43],"neural":[35,44],"network":[36,45],"and":[37,54,58,88,101,110],"Robust":[38,63,76],"Kalman":[39,64,77],"filter.":[40],"First,":[41],"use":[42],"model":[47],"coordinates":[49],"feature":[52,95],"points":[53],"output":[55],"preliminary":[56],"estimates,":[57],"then":[59],"optimize":[60],"them":[61],"through":[62],"filtering.":[65],"Through":[66],"simulation":[67],"experiments,":[68],"was":[70],"found":[71],"compared":[73],"using":[75],"Filter":[78],"alone,":[79],"this":[80],"combined":[81],"makes":[83],"system's":[85],"linear":[86],"velocity":[87,90],"angular":[89],"more":[91],"stable,":[92],"reduces":[93],"errors,":[96],"significantly":[97],"improves":[98],"stability":[100],"performance":[102],"noisy":[108],"environments,":[109],"provides":[111],"effective":[113],"solution":[114],"for":[115],"robustness":[117],"practical":[123],"applications.":[124]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}