{"id":"https://openalex.org/W4400701873","doi":"https://doi.org/10.1109/iros58592.2024.10801898","title":"A mathematical characterization of the convergence domain for Direct Visual Servoing","display_name":"A mathematical characterization of the convergence domain for Direct Visual Servoing","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4400701873","doi":"https://doi.org/10.1109/iros58592.2024.10801898"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10801898","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801898","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-04650438v1/file/2024_IROS_Belinda.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5104607198","display_name":"Meriem Belinda Naamani","orcid":null},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Meriem Belinda Naamani","raw_affiliation_strings":["IRL,CNRS-AIST JRL (Joint Robotics Laboratory),Tsukuba,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IRL,CNRS-AIST JRL (Joint Robotics Laboratory),Tsukuba,Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081323471","display_name":"Guillaume Caron","orcid":null},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Guillaume Caron","raw_affiliation_strings":["IRL,CNRS-AIST JRL (Joint Robotics Laboratory),Tsukuba,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IRL,CNRS-AIST JRL (Joint Robotics Laboratory),Tsukuba,Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014473932","display_name":"Mitsuharu Morisawa","orcid":"https://orcid.org/0000-0003-0056-4335"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Mitsuharu Morisawa","raw_affiliation_strings":["IRL,CNRS-AIST JRL (Joint Robotics Laboratory),Tsukuba,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IRL,CNRS-AIST JRL (Joint Robotics Laboratory),Tsukuba,Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5016222448","display_name":"El Mustapha Mouaddib","orcid":"https://orcid.org/0000-0002-5768-2220"},"institutions":[{"id":"https://openalex.org/I4647051","display_name":"Universit\u00e9 de Picardie Jules Verne","ror":"https://ror.org/01gyxrk03","country_code":"FR","type":"education","lineage":["https://openalex.org/I4647051"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"El Mustapha Mouaddib","raw_affiliation_strings":["University of Picardie Jules Verne,MIS Laboratory,Amiens,France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Picardie Jules Verne,MIS Laboratory,Amiens,France","institution_ids":["https://openalex.org/I4647051"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4846","last_page":"4853"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9957000017166138,"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":0.9957000017166138,"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/T11992","display_name":"CCD and CMOS Imaging Sensors","score":0.984000027179718,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T10427","display_name":"Visual perception and processing mechanisms","score":0.9455999732017517,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/visual-servoing","display_name":"Visual servoing","score":0.8854992985725403},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.6585344076156616},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6340703368186951},{"id":"https://openalex.org/keywords/characterization","display_name":"Characterization (materials science)","score":0.5789743661880493},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.46770164370536804},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.42301058769226074},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38774287700653076},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1776326298713684},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.1527741253376007},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.0835534930229187},{"id":"https://openalex.org/keywords/nanotechnology","display_name":"Nanotechnology","score":0.05834585428237915},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.055471450090408325}],"concepts":[{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.8854992985725403},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6585344076156616},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6340703368186951},{"id":"https://openalex.org/C2780841128","wikidata":"https://www.wikidata.org/wiki/Q5073781","display_name":"Characterization (materials science)","level":2,"score":0.5789743661880493},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.46770164370536804},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.42301058769226074},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38774287700653076},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1776326298713684},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.1527741253376007},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.0835534930229187},{"id":"https://openalex.org/C171250308","wikidata":"https://www.wikidata.org/wiki/Q11468","display_name":"Nanotechnology","level":1,"score":0.05834585428237915},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.055471450090408325},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros58592.2024.10801898","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801898","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-04650438v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04650438/document","pdf_url":"https://hal.science/hal-04650438v1/file/2024_IROS_Belinda.pdf","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"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":"IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:HAL:hal-04650438v2","is_oa":true,"landing_page_url":"https://hal.science/hal-04650438","pdf_url":"https://hal.science/hal-04650438v2/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"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":"IROS 2024 - IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, Oct 2024, Abu Dhabi, United Arab Emirates. pp.4846-4853, &#x27E8;10.1109/iros58592.2024.10801898&#x27E9;","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-04650438v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04650438/document","pdf_url":"https://hal.science/hal-04650438v1/file/2024_IROS_Belinda.pdf","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"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":"IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/10","display_name":"Reduced inequalities","score":0.550000011920929}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4400701873.pdf","grobid_xml":"https://content.openalex.org/works/W4400701873.grobid-xml"},"referenced_works_count":13,"referenced_works":["https://openalex.org/W1984845482","https://openalex.org/W2033819227","https://openalex.org/W2082991751","https://openalex.org/W2105229870","https://openalex.org/W2114347750","https://openalex.org/W2137750560","https://openalex.org/W2157808413","https://openalex.org/W2899559395","https://openalex.org/W3135928342","https://openalex.org/W3203168519","https://openalex.org/W4246119307","https://openalex.org/W4376890432","https://openalex.org/W4391454563"],"related_works":["https://openalex.org/W2126852585","https://openalex.org/W2367086100","https://openalex.org/W2352270872","https://openalex.org/W1520171478","https://openalex.org/W2386520554","https://openalex.org/W3024380338","https://openalex.org/W4317830657","https://openalex.org/W2127866683","https://openalex.org/W4293869118","https://openalex.org/W2118183560"],"abstract_inverted_index":{"Direct":[0],"Visual":[1],"Servoing":[2],"(DVS)":[3],"is":[4,72],"a":[5,19,43,82,91],"technique":[6],"that":[7,65,84],"controls":[8],"the":[9,14,28,47,55,66,69,75],"robot":[10],"motion":[11],"by":[12,18],"using":[13],"pixel":[15],"intensities":[16],"captured":[17],"camera.":[20],"DVS":[21,48],"demonstrates":[22],"high":[23],"accuracy":[24],"at":[25,34],"convergence,":[26],"prompting":[27],"development":[29],"of":[30,46,58,68,77],"various":[31],"methods":[32],"aimed":[33],"expanding":[35],"its":[36],"convergence":[37,49,70],"domain.In":[38],"this":[39],"paper,":[40],"we":[41,63],"propose":[42],"mathematical":[44],"characterization":[45],"domain":[50,71],"with":[51],"closed-form":[52],"expressions":[53],"for":[54],"controlled":[56],"degrees":[57],"freedom.":[59],"From":[60],"these":[61],"expressions,":[62],"concluded":[64],"extent":[67],"related":[73],"to":[74],"presence":[76],"isotropic":[78],"or":[79],"defocus":[80],"blur,":[81],"phenomenon":[83],"had":[85],"only":[86],"been":[87],"observed":[88],"previously":[89],"as":[90],"trend":[92],"in":[93],"empirical":[94],"experiments.":[95]},"counts_by_year":[],"updated_date":"2026-07-18T07:39:51.176621","created_date":"2025-10-10T00:00:00"}
