{"id":"https://openalex.org/W1593729956","doi":"https://doi.org/10.1109/icra.2015.7139992","title":"Whole-body self-calibration via graph-optimization and automatic configuration selection","display_name":"Whole-body self-calibration via graph-optimization and automatic configuration selection","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1593729956","doi":"https://doi.org/10.1109/icra.2015.7139992","mag":"1593729956"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7139992","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139992","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","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/A5002537484","display_name":"Daniel Maier","orcid":"https://orcid.org/0000-0001-7584-7984"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Daniel Maier","raw_affiliation_strings":["Humanoid Robots Lab, Univ. of Freiburg, Germany","[Humanoid Robots Lab, Univ. of Freiburg, Germany]"],"affiliations":[{"raw_affiliation_string":"Humanoid Robots Lab, Univ. of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"[Humanoid Robots Lab, Univ. of Freiburg, Germany]","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108279292","display_name":"Stefan Wrobel","orcid":null},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Stefan Wrobel","raw_affiliation_strings":["Humanoid Robots Lab, Univ. of Freiburg, Germany","[Humanoid Robots Lab, Univ. of Freiburg, Germany]"],"affiliations":[{"raw_affiliation_string":"Humanoid Robots Lab, Univ. of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"[Humanoid Robots Lab, Univ. of Freiburg, Germany]","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103231515","display_name":"Maren Bennewitz","orcid":"https://orcid.org/0000-0003-4343-3028"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]},{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Maren Bennewitz","raw_affiliation_strings":["Humanoid Robots Lab, Univ. of Bonn","[Humanoid Robots Lab, Univ. of Freiburg, Germany]"],"affiliations":[{"raw_affiliation_string":"Humanoid Robots Lab, Univ. of Bonn","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"[Humanoid Robots Lab, Univ. of Freiburg, Germany]","institution_ids":["https://openalex.org/I161046081"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5002537484"],"corresponding_institution_ids":["https://openalex.org/I161046081"],"apc_list":null,"apc_paid":null,"fwci":1.0911,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.76329716,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"5662","last_page":"5668"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.993399977684021,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10879","display_name":"Robotic Locomotion and Control","score":0.993399977684021,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.9926000237464905,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.98580002784729,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"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/calibration","display_name":"Calibration","score":0.6822001934051514},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6811568140983582},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4950212836265564},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.45229992270469666},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4226559102535248},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.419846773147583},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.41652336716651917},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3951738476753235},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3210422396659851},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19742858409881592},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.08036231994628906}],"concepts":[{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.6822001934051514},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6811568140983582},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4950212836265564},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.45229992270469666},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4226559102535248},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.419846773147583},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.41652336716651917},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3951738476753235},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3210422396659851},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19742858409881592},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.08036231994628906},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2015.7139992","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139992","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.718.7458","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.718.7458","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"https://www.hrl.uni-bonn.de/papers/maier15icra.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W92914038","https://openalex.org/W1508194804","https://openalex.org/W1978131383","https://openalex.org/W1983905625","https://openalex.org/W2004139909","https://openalex.org/W2029809384","https://openalex.org/W2045121195","https://openalex.org/W2058447477","https://openalex.org/W2076290979","https://openalex.org/W2076738099","https://openalex.org/W2101205555","https://openalex.org/W2108040552","https://openalex.org/W2108197520","https://openalex.org/W2128963970","https://openalex.org/W2153054365","https://openalex.org/W6603748524","https://openalex.org/W6661647686"],"related_works":["https://openalex.org/W2789522126","https://openalex.org/W4285140130","https://openalex.org/W3104770499","https://openalex.org/W4285677055","https://openalex.org/W1992731528","https://openalex.org/W2007843488","https://openalex.org/W1994436307","https://openalex.org/W1987021796","https://openalex.org/W2795565301","https://openalex.org/W2785349417"],"abstract_inverted_index":{"In":[0,65],"this":[1,135],"paper,":[2],"we":[3,69,94,129],"present":[4],"a":[5,15,61,101,111,125,160],"novel":[6],"approach":[7,97,140],"to":[8,98,141,150,165,184],"accurately":[9],"calibrate":[10],"the":[11,27,30,35,40,44,49,57,66,71,83,87,90,106,115,122,174],"kinematic":[12],"model":[13],"of":[14,20,29,34,39,76,89,103,117,163],"humanoid":[16,127],"based":[17,85],"on":[18,86],"observations":[19,75,118],"its":[21],"monocular":[22],"camera.":[23],"Our":[24,169],"technique":[25],"estimates":[26],"parameters":[28],"complete":[31],"model,":[32],"consisting":[33],"joint":[36],"angle":[37],"offsets":[38],"whole":[41],"body":[42],"including":[43],"legs,":[45],"as":[46,48,60],"well":[47],"camera":[50,74],"extrinsic":[51],"and":[52,79,119,173],"intrinsic":[53],"parameters.":[54,92],"We":[55],"cast":[56],"parameter":[58],"estimation":[59],"least-squares":[62],"optimization":[63,147,170],"problem.":[64],"error":[67],"function,":[68],"consider":[70],"residuals":[72],"between":[73,114],"end-effector":[77],"markers":[78],"their":[80],"projections":[81],"into":[82],"image":[84],"estimate":[88],"calibration":[91,107,133],"Furthermore,":[93],"developed":[95],"an":[96,131],"automatically":[99],"select":[100],"subset":[102],"configurations":[104,164],"for":[105,134],"process":[108],"that":[109],"yields":[110,144],"good":[112],"trade-off":[113],"number":[116,162],"accuracy.":[120],"As":[121],"experiments":[123],"with":[124],"Nao":[126],"show,":[128],"achieve":[130,166],"accurate":[132,167],"low-cost":[136],"platform.":[137],"Further,":[138],"our":[139,156],"configuration":[142],"selection":[143],"substantially":[145],"better":[146],"results":[148],"compared":[149],"randomly":[151],"chosen":[152],"viable":[153],"configurations.":[154],"Hence,":[155],"system":[157],"only":[158],"requires":[159],"reduced":[161],"results.":[168],"is":[171,177],"general":[172],"implementation,":[175],"which":[176],"available":[178],"online,":[179],"can":[180],"easily":[181],"be":[182],"applied":[183],"different":[185],"humanoids.":[186]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":2},{"year":2014,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}