{"id":"https://openalex.org/W2114190273","doi":"https://doi.org/10.1109/robot.1987.1087821","title":"Model-driven determination of object pose for a visually servoed robot","display_name":"Model-driven determination of object pose for a visually servoed robot","publication_year":2005,"publication_date":"2005-03-23","ids":{"openalex":"https://openalex.org/W2114190273","doi":"https://doi.org/10.1109/robot.1987.1087821","mag":"2114190273"},"language":"en","primary_location":{"id":"doi:10.1109/robot.1987.1087821","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1987.1087821","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","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/A5029191792","display_name":"Wallace S. Rutkowski","orcid":null},"institutions":[{"id":"https://openalex.org/I186143895","display_name":"Lehigh University","ror":"https://ror.org/012afjb06","country_code":"US","type":"education","lineage":["https://openalex.org/I186143895"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"W. Rutkowski","raw_affiliation_strings":["Computer Science Department, Lehigh University, Bethlehem, PA","Lehigh University Bethlehem PA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science Department, Lehigh University, Bethlehem, PA","institution_ids":["https://openalex.org/I186143895"]},{"raw_affiliation_string":"Lehigh University Bethlehem PA","institution_ids":["https://openalex.org/I186143895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072923672","display_name":"R. Benton","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"R. Benton","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5108464643","display_name":"Ernest W. Kent","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"E. Kent","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.1402,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.86888671,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"4","issue":null,"first_page":"1419","last_page":"1428"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9977999925613403,"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/computer-science","display_name":"Computer science","score":0.7801872491836548},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7073622345924377},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.6889738440513611},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6586960554122925},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6138608455657959},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5207545757293701},{"id":"https://openalex.org/keywords/sensory-system","display_name":"Sensory system","score":0.5165508985519409},{"id":"https://openalex.org/keywords/cognitive-neuroscience-of-visual-object-recognition","display_name":"Cognitive neuroscience of visual object recognition","score":0.4168481230735779},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4093593955039978},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.33677971363067627}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7801872491836548},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7073622345924377},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.6889738440513611},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6586960554122925},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6138608455657959},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5207545757293701},{"id":"https://openalex.org/C94487597","wikidata":"https://www.wikidata.org/wiki/Q11101","display_name":"Sensory system","level":2,"score":0.5165508985519409},{"id":"https://openalex.org/C64876066","wikidata":"https://www.wikidata.org/wiki/Q5141226","display_name":"Cognitive neuroscience of visual object recognition","level":3,"score":0.4168481230735779},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4093593955039978},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.33677971363067627},{"id":"https://openalex.org/C180747234","wikidata":"https://www.wikidata.org/wiki/Q23373","display_name":"Cognitive psychology","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.1987.1087821","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1987.1087821","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/17","score":0.49000000953674316,"display_name":"Partnerships for the goals"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":6,"referenced_works":["https://openalex.org/W121511052","https://openalex.org/W1532977286","https://openalex.org/W2056649483","https://openalex.org/W3130379041","https://openalex.org/W6604967858","https://openalex.org/W6791083732"],"related_works":["https://openalex.org/W4388311650","https://openalex.org/W5922282","https://openalex.org/W1974056099","https://openalex.org/W4245343541","https://openalex.org/W2386077341","https://openalex.org/W563589758","https://openalex.org/W62490179","https://openalex.org/W2954004777","https://openalex.org/W2949638731","https://openalex.org/W2951102138"],"abstract_inverted_index":{"The":[0,48,61],"National":[1],"Bureau":[2],"of":[3,12,20,45,58,63,76,84,90,111,144,147],"Standards":[4],"robot":[5,46],"sensory":[6,13,33,41,91],"system":[7],"employs":[8],"multiple":[9],"hierarchical":[10],"levels":[11,19],"interpretation":[14],"that":[15,93],"interact":[16],"with":[17,125],"matching":[18],"world":[21],"modeling.":[22],"At":[23],"each":[24],"level,":[25],"the":[26,32,64,69,77,82,88,109,121,128,133,142],"world-modeling":[27,70],"processes":[28,50,71],"generate":[29],"hypotheses":[30,53],"about":[31],"data":[34,92,134],"based":[35],"on":[36],"a":[37,136],"priori":[38],"knowledge,":[39],"prior":[40],"input,":[42],"and":[43,114,139,149],"knowledge":[44],"motion.":[47],"sensory-interpretative":[49],"use":[51],"these":[52],"to":[54,72,123,130],"facilitate":[55],"their":[56,74],"analyses":[57,65],"new":[59],"data.":[60],"results":[62],"are":[66],"used":[67],"by":[68],"correct":[73],"models":[75],"environment.":[78],"This":[79,100],"interaction":[80],"requires":[81],"development":[83],"real-time":[85],"algorithms":[86],"for":[87,105],"analysis":[89],"can":[94],"usefully":[95],"employ":[96,131],"guidance":[97],"from":[98],"models.":[99],"paper":[101],"presents":[102],"an":[103],"algorithm":[104],"accomplishing":[106],"this":[107],"at":[108],"level":[110],"object":[112],"location":[113],"pose":[115],"determination.":[116],"Its":[117],"desirable":[118],"features":[119],"include":[120],"ability":[122,129],"deal":[124],"underconstrained":[126],"problems,":[127],"all":[132],"in":[135,141],"structured-light":[137],"image,":[138],"robustness":[140],"face":[143],"several":[145],"types":[146],"error":[148],"noise.":[150]},"counts_by_year":[{"year":2019,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}