{"id":"https://openalex.org/W2076049615","doi":"https://doi.org/10.1109/mhs.2012.6492430","title":"Visual attitude control using a virtual barycenter of a quadrangle that constructed from feature points for outdoor autonomous mobile robots","display_name":"Visual attitude control using a virtual barycenter of a quadrangle that constructed from feature points for outdoor autonomous mobile robots","publication_year":2012,"publication_date":"2012-04-01","ids":{"openalex":"https://openalex.org/W2076049615","doi":"https://doi.org/10.1109/mhs.2012.6492430","mag":"2076049615"},"language":"en","primary_location":{"id":"doi:10.1109/mhs.2012.6492430","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mhs.2012.6492430","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 International Symposium on Micro-NanoMechatronics and Human Science (MHS)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5025817427","display_name":"Hidefumi Kawamura","orcid":null},"institutions":[{"id":"https://openalex.org/I171481255","display_name":"Shibaura Institute of Technology","ror":"https://ror.org/020wjcq07","country_code":"JP","type":"education","lineage":["https://openalex.org/I171481255"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hidefumi Kawamura","raw_affiliation_strings":["Shibaura Institute of Technology, 3-7-5 Toyosu, Koto-ku, Tokyo 135-8548 JAPAN","Shibaura Institute of technology, 3-7-5, Toyosu, Koto-ku, Tokyo, 135-8548, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shibaura Institute of Technology, 3-7-5 Toyosu, Koto-ku, Tokyo 135-8548 JAPAN","institution_ids":["https://openalex.org/I171481255"]},{"raw_affiliation_string":"Shibaura Institute of technology, 3-7-5, Toyosu, Koto-ku, Tokyo, 135-8548, Japan","institution_ids":["https://openalex.org/I171481255"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048483288","display_name":"Shohei Iwata","orcid":null},"institutions":[{"id":"https://openalex.org/I171481255","display_name":"Shibaura Institute of Technology","ror":"https://ror.org/020wjcq07","country_code":"JP","type":"education","lineage":["https://openalex.org/I171481255"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shohei Iwata","raw_affiliation_strings":["Shibaura Institute of Technology, 3-7-5 Toyosu, Koto-ku, Tokyo 135-8548 JAPAN","Shibaura Institute of technology, 3-7-5, Toyosu, Koto-ku, Tokyo, 135-8548, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shibaura Institute of Technology, 3-7-5 Toyosu, Koto-ku, Tokyo 135-8548 JAPAN","institution_ids":["https://openalex.org/I171481255"]},{"raw_affiliation_string":"Shibaura Institute of technology, 3-7-5, Toyosu, Koto-ku, Tokyo, 135-8548, Japan","institution_ids":["https://openalex.org/I171481255"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071775051","display_name":"Shota Sahashi","orcid":null},"institutions":[{"id":"https://openalex.org/I171481255","display_name":"Shibaura Institute of Technology","ror":"https://ror.org/020wjcq07","country_code":"JP","type":"education","lineage":["https://openalex.org/I171481255"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shota Sahashi","raw_affiliation_strings":["Shibaura Institute of Technology, 3-7-5 Toyosu, Koto-ku, Tokyo 135-8548 JAPAN","Shibaura Institute of technology, 3-7-5, Toyosu, Koto-ku, Tokyo, 135-8548, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shibaura Institute of Technology, 3-7-5 Toyosu, Koto-ku, Tokyo 135-8548 JAPAN","institution_ids":["https://openalex.org/I171481255"]},{"raw_affiliation_string":"Shibaura Institute of technology, 3-7-5, Toyosu, Koto-ku, Tokyo, 135-8548, Japan","institution_ids":["https://openalex.org/I171481255"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110457538","display_name":"Tadahiro Hasegawa","orcid":null},"institutions":[{"id":"https://openalex.org/I171481255","display_name":"Shibaura Institute of Technology","ror":"https://ror.org/020wjcq07","country_code":"JP","type":"education","lineage":["https://openalex.org/I171481255"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tadahiro Hasegawa","raw_affiliation_strings":["Shibaura Institute of Technology, 3-7-5 Toyosu, Koto-ku, Tokyo 135-8548 JAPAN","Shibaura Institute of technology, 3-7-5, Toyosu, Koto-ku, Tokyo, 135-8548, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shibaura Institute of Technology, 3-7-5 Toyosu, Koto-ku, Tokyo 135-8548 JAPAN","institution_ids":["https://openalex.org/I171481255"]},{"raw_affiliation_string":"Shibaura Institute of technology, 3-7-5, Toyosu, Koto-ku, Tokyo, 135-8548, Japan","institution_ids":["https://openalex.org/I171481255"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I171481255"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.18384203,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"316","last_page":"318"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991000294685364,"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/quadrangle","display_name":"Quadrangle","score":0.8312884569168091},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7428550124168396},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.7279956340789795},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.672261118888855},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6434334516525269},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.622169017791748},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5819352269172668},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5241152048110962},{"id":"https://openalex.org/keywords/attitude-control","display_name":"Attitude control","score":0.4294887185096741},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19957733154296875},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.09063500165939331}],"concepts":[{"id":"https://openalex.org/C27258493","wikidata":"https://www.wikidata.org/wiki/Q7268308","display_name":"Quadrangle","level":2,"score":0.8312884569168091},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7428550124168396},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.7279956340789795},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.672261118888855},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6434334516525269},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.622169017791748},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5819352269172668},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5241152048110962},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.4294887185096741},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19957733154296875},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.09063500165939331},{"id":"https://openalex.org/C147176958","wikidata":"https://www.wikidata.org/wiki/Q77590","display_name":"Civil engineering","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/mhs.2012.6492430","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mhs.2012.6492430","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 International Symposium on Micro-NanoMechatronics and Human Science (MHS)","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":5,"referenced_works":["https://openalex.org/W2026709574","https://openalex.org/W2044140122","https://openalex.org/W2118877769","https://openalex.org/W2150839555","https://openalex.org/W6677548441"],"related_works":["https://openalex.org/W4237181552","https://openalex.org/W1563088842","https://openalex.org/W1903581","https://openalex.org/W1578917397","https://openalex.org/W137481974","https://openalex.org/W4252312427","https://openalex.org/W62814732","https://openalex.org/W1602359905","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"We":[0,108],"proposed":[1],"a":[2,17,66],"visual":[3,118,135],"attitude":[4,13,119,136],"control":[5,14,120,137],"for":[6,140],"an":[7],"outdoor":[8],"autonomous":[9,112],"mobile":[10,80,106,113,141],"robot.":[11,107],"The":[12,59,129],"method":[15],"uses":[16],"virtual":[18,55,71,92],"barycenter":[19,56,72,93],"of":[20,90,104],"the":[21,44,49,62,75,79,85,88,91,98,101,105,111,134],"quadrangle":[22,45,60],"that":[23,110,133],"is":[24,46,57,138],"constructed":[25],"from":[26],"four":[27,35],"feature":[28,36,51],"points":[29,37],"in":[30,95,100],"camera":[31],"image.":[32],"By":[33],"tracking":[34],"using":[38,48],"optical":[39],"flow":[40],"at":[41,74],"all":[42],"time,":[43],"updated":[47],"same":[50,76],"points,":[52],"and":[53],"its":[54,70],"calculated.":[58],"maintains":[61],"similar":[63],"figure":[64],"during":[65],"robot's":[67],"movement.":[68],"Therefore,":[69],"stays":[73],"position":[77,89],"when":[78],"robot":[81,114],"moves":[82],"straight.":[83],"On":[84],"other":[86],"hand,":[87],"varies":[94],"proportion":[96],"to":[97,123],"movement":[99],"horizontal":[102],"direction":[103],"demonstrated":[109],"equipped":[115],"with":[116],"this":[117],"was":[121],"able":[122],"move":[124],"exactly":[125],"between":[126],"way":[127],"points.":[128],"experimental":[130],"results":[131],"proved":[132],"useful":[139],"robots.":[142]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
