{"id":"https://openalex.org/W2910509530","doi":"https://doi.org/10.1109/iros.2018.8593367","title":"Pose Estimation for Mobile Robots to Maximise Data Quality of Fixed-Focus Laser Diagnostics in Hazardous Environments","display_name":"Pose Estimation for Mobile Robots to Maximise Data Quality of Fixed-Focus Laser Diagnostics in Hazardous Environments","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2910509530","doi":"https://doi.org/10.1109/iros.2018.8593367","mag":"2910509530"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8593367","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593367","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://research.manchester.ac.uk/en/publications/8a7f5f20-a018-4caa-9555-d64bd30c2320","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102970482","display_name":"Andrew West","orcid":"https://orcid.org/0000-0003-4553-8640"},"institutions":[{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Andrew West","raw_affiliation_strings":["School of Electrical and Electronic Engineering, The University of Manchester, Manchester, UK"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, The University of Manchester, Manchester, UK","institution_ids":["https://openalex.org/I28407311"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080310566","display_name":"Simon Watson","orcid":"https://orcid.org/0000-0001-9783-0147"},"institutions":[{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Simon Watson","raw_affiliation_strings":["School of Electrical and Electronic Engineering, The University of Manchester, Manchester, UK"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, The University of Manchester, Manchester, UK","institution_ids":["https://openalex.org/I28407311"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011590665","display_name":"Barry Lennox","orcid":"https://orcid.org/0000-0003-0905-8324"},"institutions":[{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Barry Lennox","raw_affiliation_strings":["School of Electrical and Electronic Engineering, The University of Manchester, Manchester, UK"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, The University of Manchester, Manchester, UK","institution_ids":["https://openalex.org/I28407311"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5102970482"],"corresponding_institution_ids":["https://openalex.org/I28407311"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.19777177,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"68","issue":null,"first_page":"3599","last_page":"3604"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11854","display_name":"Laser-induced spectroscopy and plasma","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2211","display_name":"Mechanics of Materials"},"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/T11854","display_name":"Laser-induced spectroscopy and plasma","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2211","display_name":"Mechanics of Materials"},"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/T12157","display_name":"Geochemistry and Geologic Mapping","score":0.9570000171661377,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10325","display_name":"Astro and Planetary Science","score":0.944100022315979,"subfield":{"id":"https://openalex.org/subfields/3103","display_name":"Astronomy and Astrophysics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/nuclear-decommissioning","display_name":"Nuclear decommissioning","score":0.8174148201942444},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7934600114822388},{"id":"https://openalex.org/keywords/hazardous-waste","display_name":"Hazardous waste","score":0.6925873756408691},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.6634032130241394},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6566234230995178},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6320480108261108},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.5029396414756775},{"id":"https://openalex.org/keywords/laser","display_name":"Laser","score":0.4423381984233856},{"id":"https://openalex.org/keywords/quality","display_name":"Quality (philosophy)","score":0.43637317419052124},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.40958675742149353},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3961753845214844},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3840707540512085},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2504853308200836},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.08634001016616821}],"concepts":[{"id":"https://openalex.org/C175349315","wikidata":"https://www.wikidata.org/wiki/Q1938123","display_name":"Nuclear decommissioning","level":2,"score":0.8174148201942444},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7934600114822388},{"id":"https://openalex.org/C22507642","wikidata":"https://www.wikidata.org/wiki/Q1069369","display_name":"Hazardous waste","level":2,"score":0.6925873756408691},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.6634032130241394},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6566234230995178},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6320480108261108},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5029396414756775},{"id":"https://openalex.org/C520434653","wikidata":"https://www.wikidata.org/wiki/Q38867","display_name":"Laser","level":2,"score":0.4423381984233856},{"id":"https://openalex.org/C2779530757","wikidata":"https://www.wikidata.org/wiki/Q1207505","display_name":"Quality (philosophy)","level":2,"score":0.43637317419052124},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.40958675742149353},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3961753845214844},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3840707540512085},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2504853308200836},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.08634001016616821},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","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/C548081761","wikidata":"https://www.wikidata.org/wiki/Q180388","display_name":"Waste management","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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros.2018.8593367","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593367","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:pure.atira.dk:openaire/8a7f5f20-a018-4caa-9555-d64bd30c2320","is_oa":true,"landing_page_url":"https://research.manchester.ac.uk/en/publications/8a7f5f20-a018-4caa-9555-d64bd30c2320","pdf_url":null,"source":{"id":"https://openalex.org/S4306400662","display_name":"Research Explorer (The University of Manchester)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I28407311","host_organization_name":"University of Manchester","host_organization_lineage":["https://openalex.org/I28407311"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"West, A, Watson, S & Lennox, B 2018, 'Pose Estimation for Mobile Robots to Maximise Data Quality of Fixed-Focus Laser Diagnostics in Hazardous Environments', Paper presented at IEEE International Conference on Intelligent Robots and Systems (IROS) 2018, Madrid, Spain, 1/10/18 - 5/10/18. https://doi.org/10.1109/IROS.2018.8593367","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:pure.atira.dk:publications/8a7f5f20-a018-4caa-9555-d64bd30c2320","is_oa":false,"landing_page_url":"https://www.research.manchester.ac.uk/portal/en/publications/pose-estimation-for-mobile-robots-to-maximise-data-quality-of-fixedfocus-laser-diagnostics-in-hazardous-environments(8a7f5f20-a018-4caa-9555-d64bd30c2320).html","pdf_url":null,"source":{"id":"https://openalex.org/S4306400662","display_name":"Research Explorer (The University of Manchester)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I28407311","host_organization_name":"University of Manchester","host_organization_lineage":["https://openalex.org/I28407311"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""}],"best_oa_location":{"id":"pmh:oai:pure.atira.dk:openaire/8a7f5f20-a018-4caa-9555-d64bd30c2320","is_oa":true,"landing_page_url":"https://research.manchester.ac.uk/en/publications/8a7f5f20-a018-4caa-9555-d64bd30c2320","pdf_url":null,"source":{"id":"https://openalex.org/S4306400662","display_name":"Research Explorer (The University of Manchester)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I28407311","host_organization_name":"University of Manchester","host_organization_lineage":["https://openalex.org/I28407311"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"West, A, Watson, S & Lennox, B 2018, 'Pose Estimation for Mobile Robots to Maximise Data Quality of Fixed-Focus Laser Diagnostics in Hazardous Environments', Paper presented at IEEE International Conference on Intelligent Robots and Systems (IROS) 2018, Madrid, Spain, 1/10/18 - 5/10/18. https://doi.org/10.1109/IROS.2018.8593367","raw_type":"info:eu-repo/semantics/publishedVersion"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W69778294","https://openalex.org/W170770739","https://openalex.org/W1595159159","https://openalex.org/W1596516769","https://openalex.org/W1972024080","https://openalex.org/W1997762114","https://openalex.org/W2034706158","https://openalex.org/W2037431508","https://openalex.org/W2039110906","https://openalex.org/W2073074401","https://openalex.org/W2083846806","https://openalex.org/W2091612954","https://openalex.org/W2141440719","https://openalex.org/W2171330332","https://openalex.org/W2242258175","https://openalex.org/W2351117567","https://openalex.org/W2604952276","https://openalex.org/W2765209792","https://openalex.org/W3135520284"],"related_works":["https://openalex.org/W1575450301","https://openalex.org/W2384153412","https://openalex.org/W3216614199","https://openalex.org/W1976426536","https://openalex.org/W2905438468","https://openalex.org/W2317286314","https://openalex.org/W2346806197","https://openalex.org/W2185669471","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"Characterisation":[0],"of":[1,20,32,37,66,176,188],"nuclear":[2],"environments":[3],"is":[4,17,59,145,168],"critical":[5],"for":[6,135,152,157],"long":[7],"term":[8],"operation":[9],"and":[10,53,173,191],"decommissioning.":[11],"Laser":[12],"Induced":[13],"Breakdown":[14],"Spectroscopy":[15],"(LIBS)":[16],"an":[18],"example":[19],"a":[21,38,47,51,91,108,136],"scientific":[22],"instrument":[23],"that":[24],"could":[25],"be":[26,81,94,184],"deployed":[27,71,90],"to":[28,49,62,96,114,118,147,163,170],"aid":[29],"in":[30,75,155,197],"characterisation":[31,192],"unknown":[33,67],"environments.":[34,199],"LIBS":[35],"consists":[36],"high":[39],"intensity":[40],"pulsed":[41],"laser":[42,138],"being":[43],"focussed":[44],"down":[45],"onto":[46],"target":[48,178],"create":[50],"plasma,":[52],"optical":[54],"emission":[55],"from":[56],"the":[57,98,164,177],"plasma":[58],"then":[60],"used":[61,185],"determine":[63,148],"elemental":[64],"composition":[65],"materials.":[68],"For":[69],"robots":[70,196],"with":[72,161],"these":[73],"instruments":[74],"extreme":[76],"environments,":[77],"mission":[78],"time":[79],"can":[80,183],"limited":[82],"by":[83,122,179,194],"hazards":[84],"present":[85,107],"such":[86,132,140],"as":[87,133,141,186],"radiation.":[88],"Once":[89],"robot":[92,115,150],"must":[93],"able":[95,146,169],"collect":[97],"best":[99],"data":[100,109,120],"possible":[101],"whilst":[102,127],"maximising":[103],"operational":[104],"runtime.":[105],"We":[106],"quality":[110],"based":[111],"probabilistic":[112],"approach":[113,144,167],"pose":[116],"estimation":[117],"maximise":[119],"quality,":[121],"considering":[123],"optimum":[124,149],"sensor":[125],"placement":[126],"avoiding":[128],"harmful":[129],"environmental":[130],"features":[131],"radiation":[134],"fixed-focus":[137],"diagnostic":[139,159],"LIBS.":[142],"This":[143,182],"poses":[151],"arbitrary":[153,158],"targets":[154],"3D":[156],"mounting":[160],"respect":[162],"robot.":[165],"The":[166],"avoid":[171,174],"obstacles":[172],"occlusion":[175],"said":[180],"obstacles.":[181],"part":[187],"autonomous":[189],"investigation":[190],"performed":[193],"mobile":[195],"hazardous":[198]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
