{"id":"https://openalex.org/W4404294674","doi":"https://doi.org/10.1109/m2vip62491.2024.10746186","title":"Robot Agnostic Visual Servoing considering kinematic constraints enabled by a decoupled network trajectory planner structure","display_name":"Robot Agnostic Visual Servoing considering kinematic constraints enabled by a decoupled network trajectory planner structure","publication_year":2024,"publication_date":"2024-10-03","ids":{"openalex":"https://openalex.org/W4404294674","doi":"https://doi.org/10.1109/m2vip62491.2024.10746186"},"language":"en","primary_location":{"id":"doi:10.1109/m2vip62491.2024.10746186","is_oa":false,"landing_page_url":"https://doi.org/10.1109/m2vip62491.2024.10746186","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 30th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)","raw_type":"proceedings-article"},"type":"article","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/A5048853380","display_name":"Constantin Schempp","orcid":"https://orcid.org/0000-0003-2916-3033"},"institutions":[{"id":"https://openalex.org/I70886390","display_name":"Karlsruhe University of Applied Sciences","ror":"https://ror.org/01c0m1t63","country_code":"DE","type":"education","lineage":["https://openalex.org/I70886390"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Constantin Schempp","raw_affiliation_strings":["Karlsruhe University of Applied Sciences (HKA),Department of Mechanical Engineering and Mechatronics,Germany"],"affiliations":[{"raw_affiliation_string":"Karlsruhe University of Applied Sciences (HKA),Department of Mechanical Engineering and Mechatronics,Germany","institution_ids":["https://openalex.org/I70886390"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103189764","display_name":"Christian Friedrich","orcid":"https://orcid.org/0000-0002-1882-5524"},"institutions":[{"id":"https://openalex.org/I70886390","display_name":"Karlsruhe University of Applied Sciences","ror":"https://ror.org/01c0m1t63","country_code":"DE","type":"education","lineage":["https://openalex.org/I70886390"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christian Friedrich","raw_affiliation_strings":["Karlsruhe University of Applied Sciences (HKA),Department of Mechanical Engineering and Mechatronics,Germany"],"affiliations":[{"raw_affiliation_string":"Karlsruhe University of Applied Sciences (HKA),Department of Mechanical Engineering and Mechatronics,Germany","institution_ids":["https://openalex.org/I70886390"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5048853380"],"corresponding_institution_ids":["https://openalex.org/I70886390"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.2031054,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9944999814033508,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9909999966621399,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/visual-servoing","display_name":"Visual servoing","score":0.945228099822998},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7585525512695312},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7554413080215454},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.7030043601989746},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7004669904708862},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6188303828239441},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5595274567604065},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5331900119781494},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.515915036201477},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.41232794523239136},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.35469475388526917},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2746640145778656},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2145499885082245},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.143947571516037}],"concepts":[{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.945228099822998},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7585525512695312},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7554413080215454},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.7030043601989746},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7004669904708862},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6188303828239441},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5595274567604065},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5331900119781494},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.515915036201477},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.41232794523239136},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35469475388526917},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2746640145778656},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2145499885082245},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.143947571516037},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/m2vip62491.2024.10746186","is_oa":false,"landing_page_url":"https://doi.org/10.1109/m2vip62491.2024.10746186","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 30th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W12410007","https://openalex.org/W601228132","https://openalex.org/W1975922055","https://openalex.org/W2157162351","https://openalex.org/W2167501464","https://openalex.org/W2225813005","https://openalex.org/W2620115845","https://openalex.org/W2901136733","https://openalex.org/W3003184678","https://openalex.org/W3015478096","https://openalex.org/W3027201070","https://openalex.org/W3035355652","https://openalex.org/W3149166261","https://openalex.org/W3174035324","https://openalex.org/W3216509389","https://openalex.org/W4210681951","https://openalex.org/W4225985159","https://openalex.org/W4383890012","https://openalex.org/W6600496096","https://openalex.org/W6738940082","https://openalex.org/W6756486208","https://openalex.org/W6781266648","https://openalex.org/W6796162849","https://openalex.org/W6843005945"],"related_works":["https://openalex.org/W2331850854","https://openalex.org/W3044940660","https://openalex.org/W2059363081","https://openalex.org/W4312096302","https://openalex.org/W2972304526","https://openalex.org/W2109003837","https://openalex.org/W2101598871","https://openalex.org/W2119312651","https://openalex.org/W2005471069","https://openalex.org/W2075639008"],"abstract_inverted_index":{"We":[0,115],"propose":[1],"a":[2,8,12,156],"visual":[3,121],"servoing":[4,122],"method":[5,89,104,118,134,154],"consisting":[6],"of":[7,53,87,102,140,147,169],"detection":[9,18],"network":[10,19],"and":[11,24,34,38,61,80,125,144,163],"velocity":[13,81],"trajectory":[14,46],"planner.":[15],"First,":[16],"the":[17,21,27,42,45,50,54,65,84,88,94,100,103,153],"estimates":[20],"objects":[22],"position":[23,138],"orientation":[25,39,145],"in":[26,73,161],"image":[28],"space.":[29],"Furthermore,":[30],"these":[31],"are":[32,69],"normalized":[33],"filtered.":[35],"The":[36],"direction":[37,78],"is":[40],"then":[41],"input":[43],"to":[44,105,155],"planner,":[47],"which":[48,159],"considers":[49],"kinematic":[51,66],"constrains":[52],"used":[55],"robotic":[56,107,131],"system.":[57],"This":[58,97],"allows":[59],"safe":[60],"stable":[62],"control,":[63],"since":[64],"boundary":[67],"values":[68],"taken":[70],"into":[71],"account":[72],"planning.":[74],"Also,":[75],"by":[76],"having":[77],"estimation":[79],"planner":[82],"separated,":[83],"learning":[85],"part":[86],"does":[90],"not":[91],"directly":[92],"influence":[93],"control":[95],"value.":[96],"also":[98],"enables":[99],"transfer":[101],"different":[106,120,130],"systems":[108],"without":[109,126],"retraining,":[110],"therefore":[111],"being":[112],"robot":[113,162,166],"agnostic.":[114],"evaluate":[116],"our":[117,170],"on":[119,128],"tasks":[123],"with":[124],"clutter":[127],"two":[129],"systems.":[132],"Our":[133],"achieved":[135],"mean":[136],"absolute":[137],"errors":[139,146],"<":[141,148],"0.5":[142],"mm":[143],"1\u00b0.":[149],"Additionally,":[150],"we":[151],"transferred":[152],"new":[157],"system":[158],"differs":[160],"camera,":[164],"emphasizing":[165],"agnostic":[167],"capability":[168],"method.":[171]},"counts_by_year":[],"updated_date":"2025-12-23T23:11:35.936235","created_date":"2024-11-13T00:00:00"}