{"id":"https://openalex.org/W4312759371","doi":"https://doi.org/10.1109/iros47612.2022.9981868","title":"DIJE: Dense Image Jacobian Estimation for Robust Robotic Self-Recognition and Visual Servoing","display_name":"DIJE: Dense Image Jacobian Estimation for Robust Robotic Self-Recognition and Visual Servoing","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312759371","doi":"https://doi.org/10.1109/iros47612.2022.9981868"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981868","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981868","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2507.00446","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5051624448","display_name":"Yasunori Toshimitsu","orcid":"https://orcid.org/0000-0003-4896-8742"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Yasunori Toshimitsu","raw_affiliation_strings":["Graduate School of Information Science and Technology, The University of Tokyo,Department of Mechano-Informatics,Tokyo,Japan,113-8656"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, The University of Tokyo,Department of Mechano-Informatics,Tokyo,Japan,113-8656","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087094940","display_name":"Kento Kawaharazuka","orcid":"https://orcid.org/0000-0002-7464-7187"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kento Kawaharazuka","raw_affiliation_strings":["Graduate School of Information Science and Technology, The University of Tokyo,Department of Mechano-Informatics,Tokyo,Japan,113-8656"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, The University of Tokyo,Department of Mechano-Informatics,Tokyo,Japan,113-8656","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005611021","display_name":"Akihiro Miki","orcid":"https://orcid.org/0000-0002-5850-2412"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Akihiro Miki","raw_affiliation_strings":["Graduate School of Information Science and Technology, The University of Tokyo,Department of Mechano-Informatics,Tokyo,Japan,113-8656"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, The University of Tokyo,Department of Mechano-Informatics,Tokyo,Japan,113-8656","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112883439","display_name":"Kei Okada","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kei Okada","raw_affiliation_strings":["Graduate School of Information Science and Technology, The University of Tokyo,Department of Mechano-Informatics,Tokyo,Japan,113-8656"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, The University of Tokyo,Department of Mechano-Informatics,Tokyo,Japan,113-8656","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047218430","display_name":"Masayuki Inaba","orcid":"https://orcid.org/0000-0003-1273-1567"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masayuki Inaba","raw_affiliation_strings":["Graduate School of Information Science and Technology, The University of Tokyo,Department of Mechano-Informatics,Tokyo,Japan,113-8656"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, The University of Tokyo,Department of Mechano-Informatics,Tokyo,Japan,113-8656","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5051624448"],"corresponding_institution_ids":["https://openalex.org/I74801974"],"apc_list":null,"apc_paid":null,"fwci":0.1799,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":{"value":0.53087124,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2219","last_page":"2226"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9994000196456909,"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":0.9994000196456909,"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":0.9896000027656555,"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/T12859","display_name":"Cell Image Analysis Techniques","score":0.9765999913215637,"subfield":{"id":"https://openalex.org/subfields/1304","display_name":"Biophysics"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/visual-servoing","display_name":"Visual servoing","score":0.879806637763977},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.7988163828849792},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7195855379104614},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6749593615531921},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6709635257720947},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6587361097335815},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6464268565177917},{"id":"https://openalex.org/keywords/optical-flow","display_name":"Optical flow","score":0.5903719663619995},{"id":"https://openalex.org/keywords/pixel","display_name":"Pixel","score":0.5068889260292053},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.48899519443511963},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.46019864082336426},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4476260542869568},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.4131709933280945},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.36023494601249695},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.24484741687774658},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1430264413356781}],"concepts":[{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.879806637763977},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.7988163828849792},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7195855379104614},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6749593615531921},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6709635257720947},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6587361097335815},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6464268565177917},{"id":"https://openalex.org/C155542232","wikidata":"https://www.wikidata.org/wiki/Q736111","display_name":"Optical flow","level":3,"score":0.5903719663619995},{"id":"https://openalex.org/C160633673","wikidata":"https://www.wikidata.org/wiki/Q355198","display_name":"Pixel","level":2,"score":0.5068889260292053},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.48899519443511963},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.46019864082336426},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4476260542869568},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.4131709933280945},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.36023494601249695},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.24484741687774658},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1430264413356781},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros47612.2022.9981868","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981868","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2507.00446","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2507.00446","pdf_url":"https://arxiv.org/pdf/2507.00446","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2507.00446","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2507.00446","pdf_url":"https://arxiv.org/pdf/2507.00446","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4312759371.pdf","grobid_xml":"https://content.openalex.org/works/W4312759371.grobid-xml"},"referenced_works_count":21,"referenced_works":["https://openalex.org/W1755205674","https://openalex.org/W1851410152","https://openalex.org/W2081431946","https://openalex.org/W2138953318","https://openalex.org/W2139718624","https://openalex.org/W2146306674","https://openalex.org/W2156901517","https://openalex.org/W2157323667","https://openalex.org/W2417087373","https://openalex.org/W2569517946","https://openalex.org/W2781951040","https://openalex.org/W2811406147","https://openalex.org/W2892252770","https://openalex.org/W2908823075","https://openalex.org/W2995369200","https://openalex.org/W3003170810","https://openalex.org/W3091053619","https://openalex.org/W3186096360","https://openalex.org/W4212774754","https://openalex.org/W6683358787","https://openalex.org/W6786093290"],"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/W2091554547","https://openalex.org/W2415692232","https://openalex.org/W2103062922","https://openalex.org/W2162299404"],"abstract_inverted_index":{"For":[0],"robots":[1],"to":[2,33,117,122,158],"move":[3],"in":[4,63,82],"the":[5,13,20,35,60,75,80,93,101,119,152,156],"real":[6,64],"world,":[7],"they":[8],"must":[9],"first":[10],"correctly":[11],"understand":[12],"state":[14],"of":[15,74,151],"its":[16,141],"own":[17],"body":[18,121],"and":[19,49,95,140],"tools":[21],"that":[22,54,147],"it":[23],"holds.":[24],"In":[25],"this":[26],"research,":[27],"we":[28],"propose":[29,106],"DIJE,":[30,113],"an":[31,45],"algorithm":[32],"estimate":[34],"image":[36,62],"Jacobian":[37],"for":[38,166],"every":[39],"pixel.":[40],"It":[41,66],"is":[42],"based":[43,111],"on":[44,59,70,112,135],"optical":[46],"flow":[47],"calculation":[48],"a":[50,83,107,136,162],"simplified":[51],"Kalman":[52],"Filter":[53],"can":[55,87,115],"be":[56,159],"efficiently":[57],"run":[58],"whole":[61],"time.":[65],"does":[67],"not":[68],"rely":[69],"markers":[71],"nor":[72],"knowledge":[73],"robotic":[76],"structure.":[77],"We":[78,104,145],"use":[79],"DIJE":[81],"self-recognition":[84],"process":[85],"which":[86,114],"robustly":[88],"distinguish":[89],"between":[90],"movement":[91],"by":[92,96],"robot":[94,139],"external":[97],"entities,":[98],"even":[99],"when":[100],"motion":[102],"overlaps.":[103],"also":[105],"visual":[108],"servoing":[109],"controller":[110],"learn":[116],"control":[118],"robot's":[120],"conduct":[123],"reaching":[124],"movements":[125],"or":[126],"bimanual":[127],"tool-tip":[128],"control.":[129],"The":[130],"proposed":[131],"algorithms":[132],"were":[133],"implemented":[134],"physical":[137],"musculoskeletal":[138],"performance":[142],"was":[143],"verified.":[144],"believe":[146],"such":[148],"global":[149],"estimation":[150],"visuomotor":[153],"policy":[154],"has":[155],"potential":[157],"extended":[160],"into":[161],"more":[163],"general":[164],"framework":[165],"manipulation.":[167]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1}],"updated_date":"2026-02-25T08:12:03.925757","created_date":"2025-10-10T00:00:00"}