{"id":"https://openalex.org/W4383108210","doi":"https://doi.org/10.1109/icra48891.2023.10160525","title":"CFVS: Coarse-to-Fine Visual Servoing for 6-DoF Object-Agnostic Peg-In-Hole Assembly","display_name":"CFVS: Coarse-to-Fine Visual Servoing for 6-DoF Object-Agnostic Peg-In-Hole Assembly","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383108210","doi":"https://doi.org/10.1109/icra48891.2023.10160525"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160525","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160525","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5112952705","display_name":"Bo-Siang Lu","orcid":null},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":true,"raw_author_name":"Bo-Siang Lu","raw_affiliation_strings":["National Taiwan University"],"affiliations":[{"raw_affiliation_string":"National Taiwan University","institution_ids":["https://openalex.org/I16733864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076754566","display_name":"Tung-I Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Tung-I Chen","raw_affiliation_strings":["National Taiwan University"],"affiliations":[{"raw_affiliation_string":"National Taiwan University","institution_ids":["https://openalex.org/I16733864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088961773","display_name":"Hsin-Ying Lee","orcid":"https://orcid.org/0000-0001-8493-9442"},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Hsin-Ying Lee","raw_affiliation_strings":["National Taiwan University"],"affiliations":[{"raw_affiliation_string":"National Taiwan University","institution_ids":["https://openalex.org/I16733864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043898632","display_name":"Winston H. Hsu","orcid":"https://orcid.org/0000-0002-3330-0638"},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Winston H. Hsu","raw_affiliation_strings":["National Taiwan University","Mobile Drive Technology"],"affiliations":[{"raw_affiliation_string":"National Taiwan University","institution_ids":["https://openalex.org/I16733864"]},{"raw_affiliation_string":"Mobile Drive Technology","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5112952705"],"corresponding_institution_ids":["https://openalex.org/I16733864"],"apc_list":null,"apc_paid":null,"fwci":1.4624,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.80319902,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"12402","last_page":"12408"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9991000294685364,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9991000294685364,"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":0.9988999962806702,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9983999729156494,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/visual-servoing","display_name":"Visual servoing","score":0.8415840864181519},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.654751181602478},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6458525061607361},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5707494020462036},{"id":"https://openalex.org/keywords/limiting","display_name":"Limiting","score":0.5578460097312927},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5492423176765442},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.5418691039085388},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5409906506538391},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.5124600529670715},{"id":"https://openalex.org/keywords/tilt","display_name":"Tilt (camera)","score":0.49208229780197144},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.45120322704315186},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4364883303642273},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.42139557003974915},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.40603625774383545},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2446131706237793},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1617954969406128},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14301905035972595},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12780410051345825},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.09254664182662964},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.08524909615516663}],"concepts":[{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.8415840864181519},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.654751181602478},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6458525061607361},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5707494020462036},{"id":"https://openalex.org/C188198153","wikidata":"https://www.wikidata.org/wiki/Q1613840","display_name":"Limiting","level":2,"score":0.5578460097312927},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5492423176765442},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.5418691039085388},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5409906506538391},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.5124600529670715},{"id":"https://openalex.org/C2779844322","wikidata":"https://www.wikidata.org/wiki/Q2919140","display_name":"Tilt (camera)","level":2,"score":0.49208229780197144},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.45120322704315186},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4364883303642273},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.42139557003974915},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.40603625774383545},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2446131706237793},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1617954969406128},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14301905035972595},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12780410051345825},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.09254664182662964},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.08524909615516663},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10160525","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160525","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.699999988079071}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W92261402","https://openalex.org/W1500577086","https://openalex.org/W2049981393","https://openalex.org/W2077457254","https://openalex.org/W2082511574","https://openalex.org/W2103349852","https://openalex.org/W2526166478","https://openalex.org/W2553722312","https://openalex.org/W2793264449","https://openalex.org/W2909718913","https://openalex.org/W2938807566","https://openalex.org/W2963121255","https://openalex.org/W2963940579","https://openalex.org/W2967717386","https://openalex.org/W2968095426","https://openalex.org/W2979854235","https://openalex.org/W3003618985","https://openalex.org/W3032216251","https://openalex.org/W3034986117","https://openalex.org/W3045988483","https://openalex.org/W3081200565","https://openalex.org/W3091552533","https://openalex.org/W3099896382","https://openalex.org/W3101875589","https://openalex.org/W3131267413","https://openalex.org/W3133026276","https://openalex.org/W3133076360","https://openalex.org/W3183526037","https://openalex.org/W3186869035","https://openalex.org/W3207359859","https://openalex.org/W4312297897","https://openalex.org/W6662860747","https://openalex.org/W6739778489","https://openalex.org/W6761327112","https://openalex.org/W6778578791","https://openalex.org/W6785538922"],"related_works":["https://openalex.org/W2126852585","https://openalex.org/W2367086100","https://openalex.org/W2352270872","https://openalex.org/W2386520554","https://openalex.org/W1520171478","https://openalex.org/W4317830657","https://openalex.org/W3024380338","https://openalex.org/W2127866683","https://openalex.org/W3034003528","https://openalex.org/W2281711232"],"abstract_inverted_index":{"Robotic":[0],"peg-in-hole":[1,58],"assembly":[2],"remains":[3],"a":[4,53,82,91],"challenging":[5],"task":[6],"due":[7],"to":[8,16,94],"its":[9],"high":[10],"accuracy":[11],"demand.":[12],"Previous":[13],"work":[14],"tends":[15],"simplify":[17],"the":[18,22,27,31,34,37,96],"problem":[19],"by":[20,89],"restricting":[21],"degree":[23],"of":[24,26,99],"freedom":[25],"end-effector,":[28],"or":[29],"limiting":[30],"distance":[32],"between":[33],"target":[35],"and":[36,76,106,122,126,134],"initial":[38,78],"pose":[39,84],"position,":[40],"which":[41],"prevents":[42],"them":[43],"from":[44],"being":[45],"deployed":[46],"in":[47,131],"real-world":[48],"manufacturing.":[49],"Thus,":[50],"we":[51],"present":[52],"Coarse-to-Fine":[54],"Visual":[55],"Servoing":[56],"(CFVS)":[57],"method,":[59],"achieving":[60],"6-DoF":[61,135],"end-effector":[62],"motion":[63],"control":[64],"based":[65],"on":[66],"3D":[67],"visual":[68],"feedback.":[69],"CFVS":[70,101,118],"can":[71,107],"handle":[72],"arbitrary":[73],"tilt":[74],"angles":[75],"large":[77],"alignment":[79],"errors":[80],"through":[81],"fast":[83],"estimation":[85],"before":[86],"refinement.":[87],"Furthermore,":[88],"introducing":[90],"confidence":[92],"map":[93],"ignore":[95],"irrelevant":[97],"contour":[98],"objects,":[100],"is":[102],"robust":[103],"against":[104],"noise":[105],"deal":[108],"with":[109],"various":[110],"targets":[111],"beyond":[112],"training":[113],"data.":[114],"Extensive":[115],"experiments":[116],"show":[117],"outperforms":[119],"state-of-the-art":[120],"methods":[121],"obtains":[123],"100%,":[124],"91%,":[125],"82%":[127],"average":[128],"success":[129],"rates":[130],"3-DoF,":[132],"4-DoF,":[133],"peg-in-hole,":[136],"respectively.":[137]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}