{"id":"https://openalex.org/W2110387645","doi":"https://doi.org/10.1109/iros.2007.4399075","title":"3D relative pose estimation from distance-only measurements","display_name":"3D relative pose estimation from distance-only measurements","publication_year":2007,"publication_date":"2007-10-01","ids":{"openalex":"https://openalex.org/W2110387645","doi":"https://doi.org/10.1109/iros.2007.4399075","mag":"2110387645"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2007.4399075","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4399075","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5086062660","display_name":"Nikolas Trawny","orcid":null},"institutions":[{"id":"https://openalex.org/I130238516","display_name":"University of Minnesota","ror":"https://ror.org/017zqws13","country_code":"US","type":"education","lineage":["https://openalex.org/I130238516"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nikolas Trawny","raw_affiliation_strings":["Department of Computer Science & Engineering, University of Minnesota, Minneapolis, MN, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science & Engineering, University of Minnesota, Minneapolis, MN, USA","institution_ids":["https://openalex.org/I130238516"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086198510","display_name":"Xun Zhou","orcid":"https://orcid.org/0000-0003-4930-6572"},"institutions":[{"id":"https://openalex.org/I130238516","display_name":"University of Minnesota","ror":"https://ror.org/017zqws13","country_code":"US","type":"education","lineage":["https://openalex.org/I130238516"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xun S. Zhou","raw_affiliation_strings":["Department of Computer Science & Engineering, University of Minnesota, Minneapolis, MN, USA","University of Minnesota, Minneapolis,#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science & Engineering, University of Minnesota, Minneapolis, MN, USA","institution_ids":["https://openalex.org/I130238516"]},{"raw_affiliation_string":"University of Minnesota, Minneapolis,#TAB#","institution_ids":["https://openalex.org/I130238516"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100689229","display_name":"Ke Zhou","orcid":"https://orcid.org/0000-0002-0429-3926"},"institutions":[{"id":"https://openalex.org/I130238516","display_name":"University of Minnesota","ror":"https://ror.org/017zqws13","country_code":"US","type":"education","lineage":["https://openalex.org/I130238516"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ke X. Zhou","raw_affiliation_strings":["Department of Electrical Engineering, University of Minnesota, Minneapolis, MN, USA","University of Minnesota, Minneapolis,#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, University of Minnesota, Minneapolis, MN, USA","institution_ids":["https://openalex.org/I130238516"]},{"raw_affiliation_string":"University of Minnesota, Minneapolis,#TAB#","institution_ids":["https://openalex.org/I130238516"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025573831","display_name":"Stergios I. Roumeliotis","orcid":"https://orcid.org/0009-0001-3056-0426"},"institutions":[{"id":"https://openalex.org/I130238516","display_name":"University of Minnesota","ror":"https://ror.org/017zqws13","country_code":"US","type":"education","lineage":["https://openalex.org/I130238516"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Stergios I. Roumeliotis","raw_affiliation_strings":["University of Minnesota, Minneapolis, MN, USA","University of Minnesota, Minneapolis,#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Minnesota, Minneapolis, MN, USA","institution_ids":["https://openalex.org/I130238516"]},{"raw_affiliation_string":"University of Minnesota, Minneapolis,#TAB#","institution_ids":["https://openalex.org/I130238516"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I130238516"],"apc_list":null,"apc_paid":null,"fwci":11.6421,"has_fulltext":false,"cited_by_count":38,"citation_normalized_percentile":{"value":0.98457632,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1071","last_page":"1078"},"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/T12549","display_name":"Image and Object Detection Techniques","score":0.9977999925613403,"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":0.9966999888420105,"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/pose","display_name":"Pose","score":0.644725501537323},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5991926789283752},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5097870230674744},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4896243214607239},{"id":"https://openalex.org/keywords/estimation","display_name":"Estimation","score":0.46344780921936035},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11222320795059204}],"concepts":[{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.644725501537323},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5991926789283752},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5097870230674744},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4896243214607239},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.46344780921936035},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11222320795059204},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2007.4399075","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4399075","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.131.90","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.131.90","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.umn.edu/~stergios/papers/IROS07-3D_distances.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":24,"referenced_works":["https://openalex.org/W250076511","https://openalex.org/W1504381047","https://openalex.org/W1555993017","https://openalex.org/W1558470758","https://openalex.org/W1627871703","https://openalex.org/W1965392255","https://openalex.org/W1977145560","https://openalex.org/W2028576930","https://openalex.org/W2077129956","https://openalex.org/W2095751621","https://openalex.org/W2101855097","https://openalex.org/W2117174818","https://openalex.org/W2120186858","https://openalex.org/W2122612384","https://openalex.org/W2134237713","https://openalex.org/W2134898473","https://openalex.org/W2138173515","https://openalex.org/W2165295831","https://openalex.org/W2170102584","https://openalex.org/W2467377838","https://openalex.org/W4214631368","https://openalex.org/W4298408646","https://openalex.org/W6630294094","https://openalex.org/W6674355796"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"In":[0],"this":[1,38],"paper,":[2],"we":[3],"develop":[4],"an":[5,89],"algorithm":[6,92,121],"for":[7,85],"determining":[8],"the":[9,28,70,74,79,86,95,107],"relative":[10,96],"position":[11],"and":[12,23,57,118,128],"attitude":[13],"of":[14,31,73],"two":[15],"robots":[16],"moving":[17],"in":[18,55,122],"3D,":[19],"using":[20,98],"only":[21],"dead-reckoning":[22],"inter-robot":[24],"distance":[25,45,100],"measurements.":[26],"From":[27],"mechanical":[29],"analogue":[30],"parallel":[32],"manipulators,":[33],"it":[34],"is":[35],"known":[36,54],"that":[37],"problem":[39],"has":[40],"40":[41],"solutions":[42,51,60],"when":[43],"six":[44],"measurements":[46],"are":[47,52],"available.":[48],"These":[49],"general":[50],"not":[53],"closed-form,":[56],"existing":[58],"closed-form":[59],"require":[61],"additional":[62],"bearing":[63],"sensors,":[64],"or":[65],"impose":[66],"strong":[67],"constraints":[68,105],"on":[69,106],"geometric":[71],"structure":[72],"manipulator":[75],"(in":[76],"our":[77,120],"case,":[78],"robots\u2019":[80,108],"trajectories).":[81],"This":[82],"paper":[83],"presents,":[84],"first":[87],"time,":[88],"efficient,":[90],"algebraic":[91],"to":[93],"solve":[94],"pose":[97],"10":[99],"measurements,":[101],"without":[102],"imposing":[103],"any":[104],"motion.":[109],"We":[110],"further":[111],"present":[112],"a":[113],"weighted":[114],"leastsquares":[115],"refinement":[116],"step,":[117],"validate":[119],"various":[123],"simulations,":[124],"demonstrating":[125],"its":[126],"efficiency":[127],"accuracy.":[129]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":3},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
