{"id":"https://openalex.org/W2151387042","doi":"https://doi.org/10.1109/robot.2006.1642336","title":"Dynamic tracking of manipulators using visual feedback from an uncalibrated fixed camera","display_name":"Dynamic tracking of manipulators using visual feedback from an uncalibrated fixed camera","publication_year":2006,"publication_date":"2006-07-10","ids":{"openalex":"https://openalex.org/W2151387042","doi":"https://doi.org/10.1109/robot.2006.1642336","mag":"2151387042"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2006.1642336","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2006.1642336","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","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/A5100707660","display_name":"Yunhui Liu","orcid":"https://orcid.org/0000-0002-3625-6679"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yun-hui Liu","raw_affiliation_strings":["Chinese University of Hong Kong, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107772128","display_name":"Hesheng Wang","orcid":"https://orcid.org/0000-0002-9959-1634"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hesheng Wang","raw_affiliation_strings":["Chinese University of Hong Kong, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5006468005","display_name":"Dongxiang Zhou","orcid":null},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dongxiang Zhou","raw_affiliation_strings":["National University of Defense Technology, China"],"affiliations":[{"raw_affiliation_string":"National University of Defense Technology, China","institution_ids":["https://openalex.org/I170215575"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100707660"],"corresponding_institution_ids":["https://openalex.org/I177725633"],"apc_list":null,"apc_paid":null,"fwci":2.803,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.91633254,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"4124","last_page":"4129"},"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/T10638","display_name":"Optical measurement and interference techniques","score":0.9987999796867371,"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":0.9987000226974487,"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/image-plane","display_name":"Image plane","score":0.5510976910591125},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5034374594688416},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5012726783752441},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4973619282245636},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.48480215668678284},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47244957089424133},{"id":"https://openalex.org/keywords/visual-servoing","display_name":"Visual servoing","score":0.45039573311805725},{"id":"https://openalex.org/keywords/trace","display_name":"TRACE (psycholinguistics)","score":0.4134168028831482},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.4125934839248657},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4111672043800354},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.4104948043823242},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.37501218914985657},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.13428443670272827}],"concepts":[{"id":"https://openalex.org/C120515352","wikidata":"https://www.wikidata.org/wiki/Q2564580","display_name":"Image plane","level":3,"score":0.5510976910591125},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5034374594688416},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5012726783752441},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4973619282245636},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.48480215668678284},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47244957089424133},{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.45039573311805725},{"id":"https://openalex.org/C75291252","wikidata":"https://www.wikidata.org/wiki/Q1315756","display_name":"TRACE (psycholinguistics)","level":2,"score":0.4134168028831482},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.4125934839248657},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4111672043800354},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.4104948043823242},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.37501218914985657},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.13428443670272827},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2006.1642336","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2006.1642336","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","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":29,"referenced_works":["https://openalex.org/W1554457116","https://openalex.org/W1598890653","https://openalex.org/W1758349354","https://openalex.org/W1851410152","https://openalex.org/W1895548784","https://openalex.org/W2008537926","https://openalex.org/W2046201292","https://openalex.org/W2049998393","https://openalex.org/W2083483041","https://openalex.org/W2100172545","https://openalex.org/W2104897525","https://openalex.org/W2108286364","https://openalex.org/W2109744918","https://openalex.org/W2112790098","https://openalex.org/W2124904960","https://openalex.org/W2143597104","https://openalex.org/W2149417194","https://openalex.org/W2152164805","https://openalex.org/W2153818557","https://openalex.org/W2161505441","https://openalex.org/W2165678395","https://openalex.org/W2167501464","https://openalex.org/W2167890514","https://openalex.org/W2171929585","https://openalex.org/W4248304976","https://openalex.org/W6633403730","https://openalex.org/W6635459026","https://openalex.org/W6637808587","https://openalex.org/W6675447969"],"related_works":["https://openalex.org/W2126852585","https://openalex.org/W2096032076","https://openalex.org/W2141878121","https://openalex.org/W2141913430","https://openalex.org/W2979521970","https://openalex.org/W1609986274","https://openalex.org/W1832761836","https://openalex.org/W2089801374","https://openalex.org/W2131050923","https://openalex.org/W2755898301"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,8,14,27,105,138],"new":[4,44],"controller":[5],"for":[6,149],"controlling":[7],"number":[9],"of":[10,26,37,65,93,100,161,170],"feature":[11,163],"points":[12],"on":[13,22,56],"robot":[15],"manipulator":[16],"to":[17,49,75,97,108,124,132,137],"trace":[18],"desired":[19],"trajectories":[20],"specified":[21],"the":[23,32,38,51,63,66,77,81,90,94,101,110,115,127,142,151,154,162,171,179],"image":[24,78,120,159,172],"plane":[25],"fixed":[28],"camera,":[29],"provided":[30],"that":[31,85,126],"intrinsic":[33],"and":[34,157,177],"extrinsic":[35],"parameters":[36,53,112,129],"camera":[39],"are":[40,130],"not":[41],"calibrated.":[42],"A":[43],"adaptive":[45],"algorithm":[46,148],"is":[47],"developed":[48],"estimate":[50],"unknown":[52],"on-line":[54,147],"based":[55],"three":[57],"original":[58],"ideas.":[59],"First,":[60],"we":[61,86,103,140],"use":[62],"pseudo-inverse":[64],"depth-independent":[67],"interaction":[68,121],"matrix,":[69],"proposed":[70],"in":[71,118],"our":[72],"earlier":[73],"work,":[74],"map":[76],"errors":[79,152,173],"onto":[80],"joint":[82],"space":[83],"so":[84],"can":[87],"linearly":[88],"parameterize":[89],"closed-loop":[91],"dynamics":[92],"system.":[95],"Second,":[96],"guarantee":[98],"existence":[99],"pseudo-inverse,":[102],"introduce":[104],"potential":[106],"force":[107],"drive":[109],"estimated":[111,128,155],"away":[113],"from":[114],"values":[116,135],"resulting":[117],"singular":[119],"matrix.":[122],"Third,":[123],"ensure":[125],"convergent":[131],"their":[133],"true":[134],"up":[136],"scale,":[139],"combine":[141],"Slotine-Li":[143],"method":[144,176],"with":[145],"an":[146],"minimizing":[150],"between":[153],"projections":[156],"real":[158],"coordinates":[160],"points.":[164],"We":[165],"have":[166],"proved":[167],"asymptotic":[168],"convergence":[169],"by":[174,181],"Lyapunov":[175],"demonstrated":[178],"performance":[180],"experiments":[182]},"counts_by_year":[{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
