{"id":"https://openalex.org/W3205412883","doi":"https://doi.org/10.1109/icra48506.2021.9561616","title":"Robust Skin-Feature Tracking in Free-Hand Video from Smartphone or Robot-Held Camera, to Enable Clinical-Tool Localization and Guidance","display_name":"Robust Skin-Feature Tracking in Free-Hand Video from Smartphone or Robot-Held Camera, to Enable Clinical-Tool Localization and Guidance","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3205412883","doi":"https://doi.org/10.1109/icra48506.2021.9561616","mag":"3205412883"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561616","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561616","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 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/A5103052137","display_name":"Chun-Yin Huang","orcid":"https://orcid.org/0000-0002-5301-9173"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Chun-Yin Huang","raw_affiliation_strings":["Biomedical Engineering Department, Carnegie Mellon University, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"Biomedical Engineering Department, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051265325","display_name":"John Galeotti","orcid":"https://orcid.org/0000-0003-4247-4311"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"John Galeotti","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5103052137"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":0.34,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.7417109,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"e87 a","issue":null,"first_page":"10974","last_page":"10980"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9988999962806702,"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/T10888","display_name":"Augmented Reality Applications","score":0.9980999827384949,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.8538405299186707},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.8475549221038818},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.706688404083252},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5540689826011658},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.520211398601532},{"id":"https://openalex.org/keywords/bundle-adjustment","display_name":"Bundle adjustment","score":0.4966316819190979},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.49102020263671875},{"id":"https://openalex.org/keywords/fiducial-marker","display_name":"Fiducial marker","score":0.4552418887615204},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.41206708550453186},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.28022074699401855},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2738574147224426},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.09093683958053589}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8538405299186707},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.8475549221038818},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.706688404083252},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5540689826011658},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.520211398601532},{"id":"https://openalex.org/C179458375","wikidata":"https://www.wikidata.org/wiki/Q1020763","display_name":"Bundle adjustment","level":3,"score":0.4966316819190979},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.49102020263671875},{"id":"https://openalex.org/C173974348","wikidata":"https://www.wikidata.org/wiki/Q1469893","display_name":"Fiducial marker","level":2,"score":0.4552418887615204},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.41206708550453186},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.28022074699401855},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2738574147224426},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.09093683958053589},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48506.2021.9561616","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561616","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 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/W22315077","https://openalex.org/W330607480","https://openalex.org/W1547872943","https://openalex.org/W1554877309","https://openalex.org/W2033819227","https://openalex.org/W2058333183","https://openalex.org/W2085261163","https://openalex.org/W2117228865","https://openalex.org/W2118104180","https://openalex.org/W2119605622","https://openalex.org/W2125188427","https://openalex.org/W2130103520","https://openalex.org/W2131372145","https://openalex.org/W2151103935","https://openalex.org/W2165737454","https://openalex.org/W2703349807","https://openalex.org/W2883362502","https://openalex.org/W2989184872","https://openalex.org/W3112051532","https://openalex.org/W6632582770","https://openalex.org/W6677308130","https://openalex.org/W6679388247","https://openalex.org/W6786684543"],"related_works":["https://openalex.org/W2525537761","https://openalex.org/W2072325087","https://openalex.org/W2905789513","https://openalex.org/W402593573","https://openalex.org/W2373557848","https://openalex.org/W2088970451","https://openalex.org/W2157008402","https://openalex.org/W2592302855","https://openalex.org/W3033220023","https://openalex.org/W2963200201"],"abstract_inverted_index":{"Our":[0,40,105,150],"novel":[1],"skin-feature":[2,106],"visual-tracking":[3],"algorithm":[4,128],"enables":[5],"anatomic":[6,53,192],"vSLAM":[7],"and":[8,31,69,119,158],"(by":[9],"extension)":[10],"localization":[11],"of":[12,33,59,90,135,142,167,187,194],"clinical":[13,77],"tools":[14],"relative":[15,62,79,95,146],"to":[16,27,63,75,80,96,129,147,161,180],"the":[17,64,81,97,110,140,143,148,168,182],"patient\u2019s":[18,65,82],"body.":[19],"Tracking":[20],"naturally":[21],"occurring":[22],"features":[23,45,190],"is":[24],"challenging":[25],"due":[26],"patient":[28,98],"uniqueness,":[29],"deformability,":[30],"lack":[32],"an":[34,101,121,163],"accurate":[35,164],"a-priori":[36],"3D":[37,66,84,165],"geometric":[38],"model.":[39],"method":[41,108],"(i)":[42],"tracks":[43],"skin":[44,67,85,189],"in":[46,174],"a":[47,91],"smartphone-camera":[48,185],"video":[49],"sequence,":[50],"(ii)":[51],"performs":[52],"Simultaneous":[54],"Localization":[55],"And":[56],"Mapping":[57],"(SLAM)":[58],"camera":[60,144,175],"motion":[61],"surface,":[68],"(iii)":[70],"utilizes":[71,109,154],"existing":[72,122],"visual":[73,103],"methods":[74],"track":[76],"tool(s)":[78],"reconstructed":[83],"surface.":[86],"(We":[87],"demonstrate":[88],"tracking":[89,107,186,193],"simulated":[92],"ultrasound":[93,197],"probe":[94],"by":[99],"using":[100],"Apriltag":[102],"fiducial).":[104],"Fourier-Mellin":[111],"Transform":[112],"for":[113,132,191],"robust":[114],"performance,":[115],"which":[116],"we":[117],"incorporated":[118],"extend":[120],"Phase":[123],"Only":[124],"Correlation":[125],"(POC)":[126],"based":[127],"be":[130,181],"suitable":[131],"our":[133],"application":[134],"free-hand":[136],"smartphone":[137],"video,":[138],"wherein":[139],"distance":[141],"fluctuates":[145],"patient.":[149],"SLAM":[151],"approach":[152],"further":[153],"Structure":[155],"from":[156],"Motion":[157],"Bundle":[159],"Adjustment":[160],"achieve":[162],"model":[166],"human":[169],"body":[170],"with":[171],"minimal":[172],"drift-error":[173],"trajectory.":[176],"We":[177],"believe":[178],"this":[179],"first":[183],"freehand":[184],"natural":[188],"surgical":[195],"tools,":[196],"probe,":[198],"etc.":[199]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
