{"id":"https://openalex.org/W3103222948","doi":"https://doi.org/10.1109/iecon43393.2020.9254376","title":"Camera Intrinsic Invariance of Image Jacobian in 4 DOF Image Based Visual Servo","display_name":"Camera Intrinsic Invariance of Image Jacobian in 4 DOF Image Based Visual Servo","publication_year":2020,"publication_date":"2020-10-18","ids":{"openalex":"https://openalex.org/W3103222948","doi":"https://doi.org/10.1109/iecon43393.2020.9254376","mag":"3103222948"},"language":"en","primary_location":{"id":"doi:10.1109/iecon43393.2020.9254376","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon43393.2020.9254376","pdf_url":null,"source":{"id":"https://openalex.org/S4363608618","display_name":"IECON 2020 The 46th Annual Conference of the IEEE Industrial Electronics Society","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2020 The 46th Annual Conference of the IEEE Industrial Electronics Society","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/A5059915475","display_name":"Xiaoke Deng","orcid":"https://orcid.org/0000-0002-5602-092X"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoke Deng","raw_affiliation_strings":["Research Institute of Intelligent Systems and Control, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Institute of Intelligent Systems and Control, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102775507","display_name":"Chenlu Liu","orcid":"https://orcid.org/0000-0002-4826-772X"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chenlu Liu","raw_affiliation_strings":["Research Institute of Intelligent Systems and Control, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Institute of Intelligent Systems and Control, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003805525","display_name":"Wencong Li","orcid":"https://orcid.org/0000-0001-6061-4205"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wencong Li","raw_affiliation_strings":["Research Institute of Intelligent Systems and Control, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Institute of Intelligent Systems and Control, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056969596","display_name":"Mingsi Tong","orcid":"https://orcid.org/0000-0002-1939-0040"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingsi Tong","raw_affiliation_strings":["Research Institute of Intelligent Systems and Control, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Institute of Intelligent Systems and Control, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044251375","display_name":"Xinghu Yu","orcid":"https://orcid.org/0000-0001-8181-6199"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xinghu Yu","raw_affiliation_strings":["HIT-Ningbo Institute of Intelligent Equipment Technology, Ningbo, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"HIT-Ningbo Institute of Intelligent Equipment Technology, Ningbo, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024993361","display_name":"Weiyang Lin","orcid":"https://orcid.org/0000-0002-0493-1289"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weiyang Lin","raw_affiliation_strings":["Research Institute of Intelligent Systems and Control, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Institute of Intelligent Systems and Control, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.13289474,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"118","issue":null,"first_page":"4750","last_page":"4755"},"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/T13114","display_name":"Image Processing Techniques and Applications","score":0.9995999932289124,"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"}},{"id":"https://openalex.org/T10638","display_name":"Optical measurement and interference techniques","score":0.9970999956130981,"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/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.8953859806060791},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6764994859695435},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5792074799537659},{"id":"https://openalex.org/keywords/camera-resectioning","display_name":"Camera resectioning","score":0.4920806288719177},{"id":"https://openalex.org/keywords/camera-auto-calibration","display_name":"Camera auto-calibration","score":0.4899250864982605},{"id":"https://openalex.org/keywords/servomechanism","display_name":"Servomechanism","score":0.4217067360877991},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3878519833087921},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.37399280071258545},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3340495228767395},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09312444925308228}],"concepts":[{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.8953859806060791},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6764994859695435},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5792074799537659},{"id":"https://openalex.org/C110898773","wikidata":"https://www.wikidata.org/wiki/Q2933935","display_name":"Camera resectioning","level":2,"score":0.4920806288719177},{"id":"https://openalex.org/C94816000","wikidata":"https://www.wikidata.org/wiki/Q5026006","display_name":"Camera auto-calibration","level":3,"score":0.4899250864982605},{"id":"https://openalex.org/C49503481","wikidata":"https://www.wikidata.org/wiki/Q640815","display_name":"Servomechanism","level":2,"score":0.4217067360877991},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3878519833087921},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.37399280071258545},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3340495228767395},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09312444925308228},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iecon43393.2020.9254376","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon43393.2020.9254376","pdf_url":null,"source":{"id":"https://openalex.org/S4363608618","display_name":"IECON 2020 The 46th Annual Conference of the IEEE Industrial Electronics Society","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2020 The 46th Annual Conference of the IEEE Industrial Electronics Society","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":20,"referenced_works":["https://openalex.org/W1587974489","https://openalex.org/W2082991751","https://openalex.org/W2129086727","https://openalex.org/W2130831172","https://openalex.org/W2136492961","https://openalex.org/W2139121338","https://openalex.org/W2142718141","https://openalex.org/W2153721091","https://openalex.org/W2153818557","https://openalex.org/W2161505441","https://openalex.org/W2168947801","https://openalex.org/W2171618348","https://openalex.org/W2592075089","https://openalex.org/W2622027261","https://openalex.org/W2889522242","https://openalex.org/W2901765845","https://openalex.org/W4376607946","https://openalex.org/W6679316299","https://openalex.org/W6680453957","https://openalex.org/W6830480784"],"related_works":["https://openalex.org/W2785097492","https://openalex.org/W2118427684","https://openalex.org/W2378222798","https://openalex.org/W2347529423","https://openalex.org/W2052984831","https://openalex.org/W2061162617","https://openalex.org/W2391933270","https://openalex.org/W227461850","https://openalex.org/W1503004767","https://openalex.org/W2392935764"],"abstract_inverted_index":{"In":[0,62],"the":[1,11,17,21,38,43,55,67,73,93,99,108,133,139,152,156,169,175],"image":[2,6,33,56,74,84,140],"based":[3],"visual":[4,59,80,170,176],"servo,":[5],"Jacobian":[7,34,57,75,85,125],"is":[8,16,35,49,90,164],"vital":[9],"to":[10,26,37,92,150,155],"system":[12,153],"performance":[13],"because":[14],"it":[15],"bridge":[18],"that":[19,98],"warps":[20],"velocity":[22,28],"in":[23,29,76,101,144],"feature":[24],"space":[25],"camera":[27,39,44,68,94,102,117,122,134,157,161],"Cartesian":[30],"space.":[31],"However,":[32],"sensitive":[36],"intrinsic":[40,45,69,95,103,118,123,135,158,162],"parameters,":[41,96],"while":[42],"parameter":[46,70,124,136],"calibration":[47],"error":[48],"almost":[50],"unavoidable,":[51],"which":[52,129],"heavily":[53],"affects":[54],"and":[58],"servo":[60,81,171,177],"process.":[61],"this":[63,145],"paper,":[64],"we":[65,120],"find":[66],"invariance":[71,137,163],"of":[72,86,111,126,138],"our":[77],"4":[78],"DOF":[79],"system.":[82,178],"The":[83,142,160],"some":[87],"geometry":[88],"features":[89,172],"invariant":[91],"indicating":[97],"disturbance":[100],"parameters":[104],"will":[105],"not":[106],"affect":[107],"convergence":[109],"trajectory":[110],"those":[112],"features.":[113],"To":[114],"further":[115],"analyse":[116,151],"invariance,":[119],"proposed":[121],"Image":[127],"Jacobian,":[128],"can":[130,147],"fully":[131],"describe":[132],"Jacobian.":[141],"work":[143],"paper":[146],"be":[148],"used":[149],"sensitivity":[154],"parameters.":[159],"also":[165],"significant":[166],"for":[167],"choosing":[168],"when":[173],"designing":[174]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
