{"id":"https://openalex.org/W1997869659","doi":"https://doi.org/10.1109/robio.2012.6491044","title":"Obstacle modeling for manipulator using iterative least square (ILS) and iterative closest point (ICP) base on Kinect","display_name":"Obstacle modeling for manipulator using iterative least square (ILS) and iterative closest point (ICP) base on Kinect","publication_year":2012,"publication_date":"2012-12-01","ids":{"openalex":"https://openalex.org/W1997869659","doi":"https://doi.org/10.1109/robio.2012.6491044","mag":"1997869659"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2012.6491044","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2012.6491044","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5015620280","display_name":"Wantana Sukmanee","orcid":null},"institutions":[{"id":"https://openalex.org/I198105771","display_name":"Kasetsart University","ror":"https://ror.org/05gzceg21","country_code":"TH","type":"education","lineage":["https://openalex.org/I198105771"]}],"countries":["TH"],"is_corresponding":false,"raw_author_name":"Wantana Sukmanee","raw_affiliation_strings":["Electrical Engineering Department, University of Kasetsart, Bangkok, Thailand"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical Engineering Department, University of Kasetsart, Bangkok, Thailand","institution_ids":["https://openalex.org/I198105771"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020964649","display_name":"Miti Ruchanurucks","orcid":"https://orcid.org/0000-0002-5180-6659"},"institutions":[{"id":"https://openalex.org/I198105771","display_name":"Kasetsart University","ror":"https://ror.org/05gzceg21","country_code":"TH","type":"education","lineage":["https://openalex.org/I198105771"]}],"countries":["TH"],"is_corresponding":false,"raw_author_name":"Miti Ruchanurucks","raw_affiliation_strings":["Electrical Engineering Department, University of Kasetsart, Bangkok, Thailand"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical Engineering Department, University of Kasetsart, Bangkok, Thailand","institution_ids":["https://openalex.org/I198105771"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5062437970","display_name":"Panjawee Rakprayoon","orcid":null},"institutions":[{"id":"https://openalex.org/I198105771","display_name":"Kasetsart University","ror":"https://ror.org/05gzceg21","country_code":"TH","type":"education","lineage":["https://openalex.org/I198105771"]}],"countries":["TH"],"is_corresponding":false,"raw_author_name":"Panjawee Rakprayoon","raw_affiliation_strings":["Electrical Engineering Department, University of Kasetsart, Bangkok, Thailand"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical Engineering Department, University of Kasetsart, Bangkok, Thailand","institution_ids":["https://openalex.org/I198105771"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I198105771"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"672","last_page":"676"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9998000264167786,"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/T10638","display_name":"Optical measurement and interference techniques","score":0.9994999766349792,"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/iterative-closest-point","display_name":"Iterative closest point","score":0.9709368348121643},{"id":"https://openalex.org/keywords/iterative-method","display_name":"Iterative method","score":0.6515880823135376},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.614369809627533},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5847586989402771},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5637279152870178},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.5083009600639343},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.48685282468795776},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4786178469657898},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4721778929233551},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.4635343551635742},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.4451858401298523},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.4367721974849701},{"id":"https://openalex.org/keywords/iterative-refinement","display_name":"Iterative refinement","score":0.4361391067504883},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.4141598343849182},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.39312517642974854},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21641558408737183},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.07322275638580322}],"concepts":[{"id":"https://openalex.org/C195958017","wikidata":"https://www.wikidata.org/wiki/Q1675268","display_name":"Iterative closest point","level":3,"score":0.9709368348121643},{"id":"https://openalex.org/C159694833","wikidata":"https://www.wikidata.org/wiki/Q2321565","display_name":"Iterative method","level":2,"score":0.6515880823135376},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.614369809627533},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5847586989402771},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5637279152870178},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.5083009600639343},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.48685282468795776},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4786178469657898},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4721778929233551},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4635343551635742},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.4451858401298523},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.4367721974849701},{"id":"https://openalex.org/C2779982483","wikidata":"https://www.wikidata.org/wiki/Q6094420","display_name":"Iterative refinement","level":2,"score":0.4361391067504883},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.4141598343849182},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.39312517642974854},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21641558408737183},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.07322275638580322},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"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/robio.2012.6491044","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2012.6491044","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1605906521","https://openalex.org/W1965574731","https://openalex.org/W1983981168","https://openalex.org/W2001695893","https://openalex.org/W2079473005","https://openalex.org/W2125295601","https://openalex.org/W2125951956","https://openalex.org/W2132791489","https://openalex.org/W2133275063","https://openalex.org/W2134790337","https://openalex.org/W2141694543","https://openalex.org/W2153227934","https://openalex.org/W2171037494","https://openalex.org/W2532042576","https://openalex.org/W6636213204","https://openalex.org/W6641617661","https://openalex.org/W6679800241","https://openalex.org/W6681186971"],"related_works":["https://openalex.org/W2813834476","https://openalex.org/W4391129294","https://openalex.org/W3016861202","https://openalex.org/W2807666361","https://openalex.org/W2196111060","https://openalex.org/W4213431252","https://openalex.org/W4306760020","https://openalex.org/W2120071540","https://openalex.org/W2528465333","https://openalex.org/W1501002176"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,8,14,74,96],"method":[4,76,104],"to":[5,47,84],"distinguish":[6],"between":[7,31,77],"manipulator":[9,35],"and":[10,33,54,81,107],"its":[11],"surroundings":[12],"using":[13,38],"depth":[15,18],"sensor.":[16],"The":[17],"sensor":[19],"used":[20,112],"is":[21,26,68,105],"Kinect.":[22],"First":[23],"Kinect":[24,32],"calibration":[25,30],"addressed.":[27],"Then":[28],"coordinate":[29],"the":[34,49,52,57,60,78,93],"are":[36],"solved":[37],"iterative":[39,86],"least":[40],"square":[41],"(ILS)":[42],"algorithm.":[43,90],"At":[44],"this":[45,102],"point,":[46],"delete":[48],"robot":[50],"from":[51,66],"scene":[53],"keep":[55],"only":[56],"surrounding":[58],"surface,":[59],"accuracy":[61,94],"of":[62],"homogeneous":[63],"transformation":[64],"acquired":[65],"ILS":[67],"inadequate.":[69],"We":[70],"further":[71],"focus":[72],"on":[73],"matching":[75],"manipulator's":[79],"model":[80],"point":[82,88],"cloud,":[83],"use":[85],"closest":[87],"(ICP)":[89],"ICP":[91],"enhances":[92],"for":[95],"great":[97],"deal.":[98],"Experiment":[99],"shows":[100],"that":[101],"comprehensive":[103],"practical":[106],"robust.":[108],"It":[109],"can":[110],"be":[111],"in":[113],"dynamic":[114],"environment":[115],"as":[116],"well.":[117]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2016,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
