{"id":"https://openalex.org/W2053017111","doi":"https://doi.org/10.1109/icra.2013.6631006","title":"Closed-loop uncertainty modeling for visual servoing","display_name":"Closed-loop uncertainty modeling for visual servoing","publication_year":2013,"publication_date":"2013-05-01","ids":{"openalex":"https://openalex.org/W2053017111","doi":"https://doi.org/10.1109/icra.2013.6631006","mag":"2053017111"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2013.6631006","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6631006","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","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/A5013531537","display_name":"Akbar Assa","orcid":"https://orcid.org/0000-0001-6844-2583"},"institutions":[{"id":"https://openalex.org/I530967","display_name":"Toronto Metropolitan University","ror":"https://ror.org/05g13zd79","country_code":"CA","type":"education","lineage":["https://openalex.org/I530967"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Akbar Assa","raw_affiliation_strings":["Department of Mechanical and Industrial Engineering, Ryerson University, Toronto, Canada","Dept. of Mech. & Ind. Eng., Ryerson Univ., Toronto, ON, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering, Ryerson University, Toronto, Canada","institution_ids":["https://openalex.org/I530967"]},{"raw_affiliation_string":"Dept. of Mech. & Ind. Eng., Ryerson Univ., Toronto, ON, Canada","institution_ids":["https://openalex.org/I530967"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025228155","display_name":"Farrokh Janabi\u2010Sharifi","orcid":"https://orcid.org/0000-0002-0314-0688"},"institutions":[{"id":"https://openalex.org/I530967","display_name":"Toronto Metropolitan University","ror":"https://ror.org/05g13zd79","country_code":"CA","type":"education","lineage":["https://openalex.org/I530967"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Farrokh Janabi-Sharifi","raw_affiliation_strings":["Department of Mechanical and Industrial Engineering, Ryerson University, Toronto, Canada","Dept. of Mech. & Ind. Eng., Ryerson Univ., Toronto, ON, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering, Ryerson University, Toronto, Canada","institution_ids":["https://openalex.org/I530967"]},{"raw_affiliation_string":"Dept. of Mech. & Ind. Eng., Ryerson Univ., Toronto, ON, Canada","institution_ids":["https://openalex.org/I530967"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I530967"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3089","last_page":"3094"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":1.0,"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":1.0,"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/T11105","display_name":"Advanced Image Processing Techniques","score":0.9959999918937683,"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":0.9937000274658203,"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":0.9548059701919556},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7693766355514526},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6184840798377991},{"id":"https://openalex.org/keywords/covariance","display_name":"Covariance","score":0.5919363498687744},{"id":"https://openalex.org/keywords/propagation-of-uncertainty","display_name":"Propagation of uncertainty","score":0.5874476432800293},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5266480445861816},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5141535401344299},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5070352554321289},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.5026788711547852},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.2645852565765381},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2416616976261139},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1836705505847931},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11252278089523315}],"concepts":[{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.9548059701919556},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7693766355514526},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6184840798377991},{"id":"https://openalex.org/C178650346","wikidata":"https://www.wikidata.org/wiki/Q201984","display_name":"Covariance","level":2,"score":0.5919363498687744},{"id":"https://openalex.org/C123614077","wikidata":"https://www.wikidata.org/wiki/Q1364905","display_name":"Propagation of uncertainty","level":2,"score":0.5874476432800293},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5266480445861816},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5141535401344299},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5070352554321289},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.5026788711547852},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.2645852565765381},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2416616976261139},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1836705505847931},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11252278089523315},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2013.6631006","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6631006","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","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":19,"referenced_works":["https://openalex.org/W1514444483","https://openalex.org/W1984118169","https://openalex.org/W1998204024","https://openalex.org/W2036171820","https://openalex.org/W2065095941","https://openalex.org/W2082991751","https://openalex.org/W2099512252","https://openalex.org/W2100249329","https://openalex.org/W2100839889","https://openalex.org/W2111691855","https://openalex.org/W2140566910","https://openalex.org/W2162842412","https://openalex.org/W2166312558","https://openalex.org/W2167822385","https://openalex.org/W2478040590","https://openalex.org/W2950699146","https://openalex.org/W2965877455","https://openalex.org/W3113788870","https://openalex.org/W4251403073"],"related_works":["https://openalex.org/W2126852585","https://openalex.org/W2367086100","https://openalex.org/W2352270872","https://openalex.org/W1520171478","https://openalex.org/W2386520554","https://openalex.org/W4317830657","https://openalex.org/W2099513764","https://openalex.org/W2547642540","https://openalex.org/W2026541791","https://openalex.org/W2909963313"],"abstract_inverted_index":{"Robustness":[0],"is":[1,15],"the":[2,16,36,40,53,93,97,114,117],"key":[3],"feature":[4],"for":[5,105],"practical":[6],"visual":[7,23,57,89],"servoing":[8,58,90],"systems.":[9],"Uncertainty":[10],"modeling":[11,80],"in":[12,39,87],"these":[13,62],"systems":[14],"first":[17],"step":[18],"towards":[19],"accurate":[20],"and":[21],"robust":[22],"servoing.":[24],"Camera":[25],"displacement":[26],"error":[27,44,79,84],"due":[28],"to":[29,51],"image":[30],"noise":[31,37],"has":[32,47],"been":[33,49],"investigated":[34],"using":[35],"boundaries":[38],"previous":[41],"works.":[42],"Also":[43],"covariance":[45,85],"propagation":[46,86],"already":[48],"developed":[50],"model":[52],"uncertainties":[54],"of":[55,96,109,116],"different":[56],"system":[59],"components.":[60],"However,":[61],"works":[63],"were":[64],"either":[65],"open-loop":[66],"or":[67],"not":[68],"fully":[69],"successful":[70],"under":[71],"controlled":[72],"simulations.":[73],"This":[74],"work":[75],"presents":[76],"a":[77,106],"new":[78],"method":[81],"based":[82],"on":[83],"closed-loop":[88],"systems,":[91],"considering":[92],"discrete-time":[94],"nature":[95],"system.":[98],"The":[99],"proposed":[100,118],"framework":[101],"could":[102],"be":[103],"employed":[104],"broad":[107],"range":[108],"controllers.":[110],"Simulation":[111],"results":[112],"suggest":[113],"effectiveness":[115],"method.":[119]},"counts_by_year":[{"year":2017,"cited_by_count":1},{"year":2014,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
