{"id":"https://openalex.org/W2065372822","doi":"https://doi.org/10.1109/iros.2013.6696333","title":"Uncalibrated 3D stereo image-based dynamic visual servoing for robot manipulators","display_name":"Uncalibrated 3D stereo image-based dynamic visual servoing for robot manipulators","publication_year":2013,"publication_date":"2013-11-01","ids":{"openalex":"https://openalex.org/W2065372822","doi":"https://doi.org/10.1109/iros.2013.6696333","mag":"2065372822"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2013.6696333","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696333","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://mediatum.ub.tum.de/node?id=1206411","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101500657","display_name":"Caixia Cai","orcid":"https://orcid.org/0000-0002-3568-1227"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Caixia Cai","raw_affiliation_strings":["Fakult\u00e4t f\u00fcr Infor-matik, Technische Universit\u00e4t M\u00fcnchen, Garching bei M\u00fcnchen, Germany","Fak. fur Inf., Tech. Univ. Munchen, Garching bei Mu\u0308nchen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fakult\u00e4t f\u00fcr Infor-matik, Technische Universit\u00e4t M\u00fcnchen, Garching bei M\u00fcnchen, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Fak. fur Inf., Tech. Univ. Munchen, Garching bei Mu\u0308nchen, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028782385","display_name":"Emmanuel Dean\u2010Leon","orcid":"https://orcid.org/0000-0002-1155-7088"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Emmanuel Dean-Leon","raw_affiliation_strings":["Fakult\u00e4t f\u00fcr Elektrotechnik und Informationstechnik, Technischen Universit\u00e4t M\u00fcnchen, M\u00fcnchen, Germany","Fak. fur Elektrotechnik und Informationstechnik, Tech. Univ. Munchen, Mu\u0308nchen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fakult\u00e4t f\u00fcr Elektrotechnik und Informationstechnik, Technischen Universit\u00e4t M\u00fcnchen, M\u00fcnchen, Germany","institution_ids":[]},{"raw_affiliation_string":"Fak. fur Elektrotechnik und Informationstechnik, Tech. Univ. Munchen, Mu\u0308nchen, Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048818539","display_name":"Dar\u00edo Mendoza","orcid":null},"institutions":[{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Dario Mendoza","raw_affiliation_strings":["UPIITA-IPN, Mexico-City, Mexico","UPIITA-IPN, Mexico City, Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"UPIITA-IPN, Mexico-City, Mexico","institution_ids":["https://openalex.org/I59361560"]},{"raw_affiliation_string":"UPIITA-IPN, Mexico City, Mexico","institution_ids":["https://openalex.org/I59361560"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048364766","display_name":"Nikhil Somani","orcid":"https://orcid.org/0000-0002-8146-0556"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Nikhil Somani","raw_affiliation_strings":["Fakult\u00e4t f\u00fcr Infor-matik, Technische Universit\u00e4t M\u00fcnchen, Garching bei M\u00fcnchen, Germany","Fak. fur Inf., Tech. Univ. Munchen, Garching bei Mu\u0308nchen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fakult\u00e4t f\u00fcr Infor-matik, Technische Universit\u00e4t M\u00fcnchen, Garching bei M\u00fcnchen, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Fak. fur Inf., Tech. Univ. Munchen, Garching bei Mu\u0308nchen, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063781430","display_name":"Alois Knoll","orcid":"https://orcid.org/0000-0003-4840-076X"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alois Knoll","raw_affiliation_strings":["Fakult\u00e4t f\u00fcr Infor-matik, Technische Universit\u00e4t M\u00fcnchen, Garching bei M\u00fcnchen, Germany","Fak. fur Inf., Tech. Univ. Munchen, Garching bei Mu\u0308nchen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fakult\u00e4t f\u00fcr Infor-matik, Technische Universit\u00e4t M\u00fcnchen, Garching bei M\u00fcnchen, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Fak. fur Inf., Tech. Univ. Munchen, Garching bei Mu\u0308nchen, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.663,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.87971665,"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":"63","last_page":"70"},"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":0.9976000189781189,"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/T11105","display_name":"Advanced Image Processing Techniques","score":0.9872999787330627,"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/visual-servoing","display_name":"Visual servoing","score":0.8675719499588013},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6729369163513184},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6634911298751831},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.6424480080604553},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5366392135620117},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.5129484534263611},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.47577133774757385},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4140772223472595},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.30193963646888733},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.08258834481239319}],"concepts":[{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.8675719499588013},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6729369163513184},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6634911298751831},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.6424480080604553},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5366392135620117},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.5129484534263611},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47577133774757385},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4140772223472595},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.30193963646888733},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.08258834481239319},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"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":5,"locations":[{"id":"doi:10.1109/iros.2013.6696333","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696333","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.667.2517","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.667.2517","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www6.in.tum.de/Main/Publications/Cai2013a.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.727.4361","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.727.4361","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://web.ics.ei.tum.de/%7Eemmanuel/Dean/paper/cai2013a.pdf","raw_type":"text"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1206411","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1206411","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1283885","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1283885","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:mediatum.ub.tum.de:node/1206411","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1206411","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W988466463","https://openalex.org/W1486373823","https://openalex.org/W1514444483","https://openalex.org/W1554457116","https://openalex.org/W1758349354","https://openalex.org/W1851410152","https://openalex.org/W1953447469","https://openalex.org/W1979026305","https://openalex.org/W1986247620","https://openalex.org/W1992989752","https://openalex.org/W1993988823","https://openalex.org/W2008537926","https://openalex.org/W2016213375","https://openalex.org/W2033819227","https://openalex.org/W2046201292","https://openalex.org/W2051826626","https://openalex.org/W2080984287","https://openalex.org/W2082991751","https://openalex.org/W2100172545","https://openalex.org/W2101057928","https://openalex.org/W2112790098","https://openalex.org/W2117296060","https://openalex.org/W2130995426","https://openalex.org/W2139121338","https://openalex.org/W2145259974","https://openalex.org/W2165678395","https://openalex.org/W2167501464","https://openalex.org/W2167890514","https://openalex.org/W2171929585","https://openalex.org/W2329667520","https://openalex.org/W2552885458","https://openalex.org/W2785310165","https://openalex.org/W6633403730","https://openalex.org/W6637808587"],"related_works":["https://openalex.org/W2171817899","https://openalex.org/W2376367950","https://openalex.org/W213797040","https://openalex.org/W2620386921","https://openalex.org/W571470105","https://openalex.org/W1851410152","https://openalex.org/W4240233348","https://openalex.org/W2091554547","https://openalex.org/W2037256685","https://openalex.org/W2237534"],"abstract_inverted_index":{"This":[0,63,93,226],"paper":[1],"introduces":[2],"a":[3,30,46,69,96,114,154,192,229,248],"new":[4,47],"comprehensive":[5],"solution":[6,231],"for":[7,18,99,204,232],"the":[8,23,40,82,100,135,141,148,169,199,207,211,218,233,240,252],"open":[9],"problem":[10,235],"of":[11,22,26,147,166,198,210,236,251],"uncalibrated":[12,105],"3D":[13,32,48,57,131,136],"image-based":[14,101],"stereo":[15,33,106,212,241],"visual":[16,53,124,132,237],"servoing":[17],"robot":[19,115,156,220],"manipulators.":[20],"One":[21],"main":[24],"contributions":[25],"this":[27],"article":[28],"is":[29,65,95,127,158,185,202],"novel":[31],"camera":[34,107,213],"model":[35,64],"to":[36,43,67,112,129,246],"map":[37],"positions":[38,44,58],"in":[39,45,61,140,150,168,188],"task":[41,174,253],"space":[42,55,88,175],"Visual":[49,142,170],"Cartesian":[50,143,171],"Space":[51,172],"(a":[52],"feature":[54],"where":[56,104,163,206],"are":[59,179,222],"measured":[60],"pixel).":[62],"used":[66,111],"compute":[68],"full-rank":[70],"Image":[71],"Jacobian":[72,94],"Matrix":[73],"(Jimg),":[74],"which":[75],"solves":[76],"several":[77],"common":[78,234],"problems":[79],"presented":[80],"on":[81,191],"classical":[83],"image":[84,87],"Jacobians,":[85],"e.g.,":[86],"singularities":[89],"and":[90,161,173,190,217],"local":[91,177],"minima.":[92],"fundamental":[97],"key":[98],"control":[102,126,149,183,200],"design,":[103],"systems":[108],"can":[109,243],"be":[110,244],"drive":[113],"manipulator.":[116],"Furthermore,":[117],"an":[118],"adaptive":[119],"second":[120],"order":[121],"sliding":[122],"mode":[123],"servo":[125],"designed":[128],"track":[130],"motions":[133],"using":[134],"trajectory":[137],"errors":[138,167],"defined":[139],"Space.":[144],"The":[145,181,196],"stability":[146],"closed":[151],"loop":[152],"with":[153],"dynamic":[155],"system":[157,184,214,242],"formally":[159],"analyzed":[160],"proved,":[162],"exponential":[164],"convergence":[165],"without":[176],"minima":[178],"demonstrated.":[180],"complete":[182],"evaluated":[186,203],"both":[187],"simulation":[189],"real":[193],"industrial":[194],"robot.":[195],"robustness":[197],"scheme":[201],"cases":[205],"extrinsic":[208],"parameters":[209,221],"change":[215],"on-line":[216],"kinematic/dynamic":[219],"considered":[223],"as":[224],"unknown.":[225],"approach":[227],"offers":[228],"proper":[230],"occlusion,":[238],"since":[239],"moved":[245],"obtain":[247],"clear":[249],"view":[250],"at":[254],"any":[255],"time.":[256]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":4}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}