{"id":"https://openalex.org/W2067730001","doi":"https://doi.org/10.1109/icra.2014.6907577","title":"Online ultrasound sensor calibration using gradient descent on the Euclidean Group","display_name":"Online ultrasound sensor calibration using gradient descent on the Euclidean Group","publication_year":2014,"publication_date":"2014-05-01","ids":{"openalex":"https://openalex.org/W2067730001","doi":"https://doi.org/10.1109/icra.2014.6907577","mag":"2067730001"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2014.6907577","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907577","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","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/A5061402933","display_name":"Martin Kendal Ackerman","orcid":null},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Martin Kendal Ackerman","raw_affiliation_strings":["Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA","Department of Mechanical Engineering and Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]},{"raw_affiliation_string":"Department of Mechanical Engineering and Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100333538","display_name":"Lei Chen","orcid":"https://orcid.org/0000-0002-9582-922X"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alexis Cheng","raw_affiliation_strings":["Department of Computer Science and Radiology, Johns Hopkins University, Baltimore, MD, USA","Department of Computer Science and Radiology, and Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Radiology, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]},{"raw_affiliation_string":"Department of Computer Science and Radiology, and Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061883300","display_name":"Emad M. Boctor","orcid":"https://orcid.org/0000-0002-9536-6720"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Emad Boctor","raw_affiliation_strings":["Department of Computer Science and Radiology, Johns Hopkins University, Baltimore, MD, USA","Department of Computer Science and Radiology, and Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Radiology, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]},{"raw_affiliation_string":"Department of Computer Science and Radiology, and Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012775344","display_name":"Gregory S. Chirikjian","orcid":"https://orcid.org/0000-0003-0542-9028"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gregory Chirikjian","raw_affiliation_strings":["Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA","Department of Mechanical Engineering and Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]},{"raw_affiliation_string":"Department of Mechanical Engineering and Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I145311948"],"apc_list":null,"apc_paid":null,"fwci":16.6599,"has_fulltext":false,"cited_by_count":29,"citation_normalized_percentile":{"value":0.9936452,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"4900","last_page":"4905"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9995999932289124,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9995999932289124,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9958999752998352,"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/T10638","display_name":"Optical measurement and interference techniques","score":0.993399977684021,"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/calibration","display_name":"Calibration","score":0.6665641665458679},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5874268412590027},{"id":"https://openalex.org/keywords/gradient-descent","display_name":"Gradient descent","score":0.58665931224823},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5767531394958496},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5664190649986267},{"id":"https://openalex.org/keywords/euclidean-geometry","display_name":"Euclidean geometry","score":0.517524003982544},{"id":"https://openalex.org/keywords/modality","display_name":"Modality (human\u2013computer interaction)","score":0.5163315534591675},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.4330020546913147},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.41272130608558655},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.34153878688812256},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2646836042404175},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.12660735845565796},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.07591789960861206}],"concepts":[{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.6665641665458679},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5874268412590027},{"id":"https://openalex.org/C153258448","wikidata":"https://www.wikidata.org/wiki/Q1199743","display_name":"Gradient descent","level":3,"score":0.58665931224823},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5767531394958496},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5664190649986267},{"id":"https://openalex.org/C129782007","wikidata":"https://www.wikidata.org/wiki/Q162886","display_name":"Euclidean geometry","level":2,"score":0.517524003982544},{"id":"https://openalex.org/C2780226545","wikidata":"https://www.wikidata.org/wiki/Q6888030","display_name":"Modality (human\u2013computer interaction)","level":2,"score":0.5163315534591675},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.4330020546913147},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.41272130608558655},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.34153878688812256},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2646836042404175},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.12660735845565796},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.07591789960861206},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"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},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2014.6907577","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907577","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","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":23,"referenced_works":["https://openalex.org/W33494032","https://openalex.org/W1512507524","https://openalex.org/W1528125092","https://openalex.org/W1964408868","https://openalex.org/W1982890520","https://openalex.org/W1988874269","https://openalex.org/W1991600582","https://openalex.org/W1995007844","https://openalex.org/W2021599527","https://openalex.org/W2037751167","https://openalex.org/W2044051049","https://openalex.org/W2093220968","https://openalex.org/W2098259685","https://openalex.org/W2107105904","https://openalex.org/W2107768848","https://openalex.org/W2121349631","https://openalex.org/W2126977300","https://openalex.org/W2132283957","https://openalex.org/W2139442815","https://openalex.org/W2163242350","https://openalex.org/W3122956633","https://openalex.org/W4285719527","https://openalex.org/W6601387762"],"related_works":["https://openalex.org/W2385859805","https://openalex.org/W2530972254","https://openalex.org/W2374013449","https://openalex.org/W73545470","https://openalex.org/W2364381299","https://openalex.org/W2374430585","https://openalex.org/W3144423903","https://openalex.org/W2377397762","https://openalex.org/W2793967660","https://openalex.org/W2361654993"],"abstract_inverted_index":{"Ultrasound":[0],"imaging":[1,6,15,18],"can":[2,73,94,122],"be":[3,95],"an":[4],"advantageous":[5],"modality":[7],"for":[8,79],"image":[9,64],"guided":[10],"surgery.":[11],"When":[12],"using":[13],"ultrasound":[14,63,76],"(or":[16],"any":[17],"modality),":[19],"calibration":[20,77,81,108,132],"is":[21,48],"important":[22],"when":[23],"more":[24],"advanced":[25],"forms":[26],"of":[27,41,46,58,120,147],"guidance,":[28],"such":[29],"as":[30,102],"augmented":[31],"reality":[32],"systems,":[33],"are":[34,37],"used.":[35],"There":[36],"many":[38],"different":[39],"methods":[40],"calibration,":[42],"but":[43],"the":[44,51,56,59,62,75,90,107,118,125,134,140,145,148],"goal":[45],"each":[47],"to":[49,61,105],"recover":[50],"rigid":[52],"body":[53],"transformation":[54],"relating":[55],"pose":[57],"probe":[60],"frame.":[65],"This":[66],"paper":[67],"presents":[68],"a":[69,103],"unified":[70],"algorithm":[71,84,149],"that":[72],"solve":[74],"problem":[78,138],"various":[80],"methodologies.":[82],"The":[83],"uses":[85],"gradient":[86],"descent":[87],"optimization":[88],"on":[89,117,129],"Euclidean":[91],"Group.":[92],"It":[93],"used":[96],"in":[97,150],"real":[98],"time,":[99],"also":[100,112],"serving":[101],"way":[104],"update":[106],"parameters":[109],"on-line.":[110],"We":[111],"show":[113],"how":[114],"filtering,":[115],"based":[116],"theory":[119],"invariants,":[121],"further":[123],"improve":[124],"online":[126],"results.":[127],"Focusing":[128],"two":[130],"specific":[131],"methodologies,":[133],"AX":[135],"=":[136],"XB":[137],"and":[139,153],"BX-1p":[141],"problem,":[142],"we":[143],"demonstrate":[144],"efficacy":[146],"both":[151],"simulation":[152],"experimentation.":[154]},"counts_by_year":[{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":9},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":3}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}