{"id":"https://openalex.org/W2160696113","doi":"https://doi.org/10.1109/robot.2009.5152384","title":"Dynamic estimation of homography transformations on the special linear group for visual servo control","display_name":"Dynamic estimation of homography transformations on the special linear group for visual servo control","publication_year":2009,"publication_date":"2009-05-01","ids":{"openalex":"https://openalex.org/W2160696113","doi":"https://doi.org/10.1109/robot.2009.5152384","mag":"2160696113"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2009.5152384","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152384","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-04647499","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5045362195","display_name":"Ezio Malis","orcid":"https://orcid.org/0000-0002-6584-6790"},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en informatique et en automatique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1326498283"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"E. Malis","raw_affiliation_strings":["INRIA Grenoble, Sophia-Antipolis, France","AROBAS - Advanced Robotics and Autonomous Systems (2004 route des Lucioles BP 93 06902 Sophia Antipolis - France)"],"affiliations":[{"raw_affiliation_string":"INRIA Grenoble, Sophia-Antipolis, France","institution_ids":["https://openalex.org/I1326498283"]},{"raw_affiliation_string":"AROBAS - Advanced Robotics and Autonomous Systems (2004 route des Lucioles BP 93 06902 Sophia Antipolis - France)","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052963738","display_name":"Tarek Hamel","orcid":"https://orcid.org/0000-0002-7779-1264"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210106479","display_name":"Laboratoire d'Informatique, Signaux et Syst\u00e8mes de Sophia Antipolis","ror":"https://ror.org/01215r597","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I201841394","https://openalex.org/I4210106479","https://openalex.org/I4210159245"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"T. Hamel","raw_affiliation_strings":["I3S-CNRS Les Algorithmes, Sophia-Antipolis, France","I3S - Laboratoire d'Informatique, Signaux, et Syst\u00e8mes de Sophia Antipolis (2000, route des Lucioles - Les Algorithmes - b\u00e2t. Euclide B 06900 Sophia Antipolis - France)"],"affiliations":[{"raw_affiliation_string":"I3S-CNRS Les Algorithmes, Sophia-Antipolis, France","institution_ids":["https://openalex.org/I4210106479","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"I3S - Laboratoire d'Informatique, Signaux, et Syst\u00e8mes de Sophia Antipolis (2000, route des Lucioles - Les Algorithmes - b\u00e2t. Euclide B 06900 Sophia Antipolis - France)","institution_ids":["https://openalex.org/I4210106479"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011097720","display_name":"Robert Mahony","orcid":"https://orcid.org/0000-0002-7803-2868"},"institutions":[{"id":"https://openalex.org/I118347636","display_name":"Australian National University","ror":"https://ror.org/019wvm592","country_code":"AU","type":"education","lineage":["https://openalex.org/I118347636"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"R. Mahony","raw_affiliation_strings":["Department of Engineering, Australian National University, ACT, Australia","ANU - Australian National University - Department of engineering (Australia)"],"affiliations":[{"raw_affiliation_string":"Department of Engineering, Australian National University, ACT, Australia","institution_ids":["https://openalex.org/I118347636"]},{"raw_affiliation_string":"ANU - Australian National University - Department of engineering (Australia)","institution_ids":["https://openalex.org/I118347636"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036552594","display_name":"Pascal Morin","orcid":"https://orcid.org/0000-0003-3360-8269"},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en informatique et en automatique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1326498283"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"P. Morin","raw_affiliation_strings":["INRIA Grenoble, Sophia-Antipolis, France","AROBAS - Advanced Robotics and Autonomous Systems (2004 route des Lucioles BP 93 06902 Sophia Antipolis - France)"],"affiliations":[{"raw_affiliation_string":"INRIA Grenoble, Sophia-Antipolis, France","institution_ids":["https://openalex.org/I1326498283"]},{"raw_affiliation_string":"AROBAS - Advanced Robotics and Autonomous Systems (2004 route des Lucioles BP 93 06902 Sophia Antipolis - France)","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5045362195"],"corresponding_institution_ids":["https://openalex.org/I1326498283"],"apc_list":null,"apc_paid":null,"fwci":1.9414,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.88453909,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1498","last_page":"1503"},"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":0.9986000061035156,"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/T13114","display_name":"Image Processing Techniques and Applications","score":0.995199978351593,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/homography","display_name":"Homography","score":0.8530246019363403},{"id":"https://openalex.org/keywords/visual-servoing","display_name":"Visual servoing","score":0.7821188569068909},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6721017956733704},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.6163049936294556},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5992666482925415},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5773855447769165},{"id":"https://openalex.org/keywords/servo-control","display_name":"Servo control","score":0.5252525210380554},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5191144943237305},{"id":"https://openalex.org/keywords/group","display_name":"Group (periodic table)","score":0.488137811422348},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4870172142982483},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.45447924733161926},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4447437524795532},{"id":"https://openalex.org/keywords/servo","display_name":"Servo","score":0.4389594793319702},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.42306622862815857},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2654637396335602},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2559412717819214}],"concepts":[{"id":"https://openalex.org/C28751775","wikidata":"https://www.wikidata.org/wiki/Q2112539","display_name":"Homography","level":4,"score":0.8530246019363403},{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.7821188569068909},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6721017956733704},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.6163049936294556},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5992666482925415},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5773855447769165},{"id":"https://openalex.org/C32731416","wikidata":"https://www.wikidata.org/wiki/Q7455930","display_name":"Servo control","level":3,"score":0.5252525210380554},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5191144943237305},{"id":"https://openalex.org/C2781311116","wikidata":"https://www.wikidata.org/wiki/Q83306","display_name":"Group (periodic table)","level":2,"score":0.488137811422348},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4870172142982483},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.45447924733161926},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4447437524795532},{"id":"https://openalex.org/C107354338","wikidata":"https://www.wikidata.org/wiki/Q1937153","display_name":"Servo","level":2,"score":0.4389594793319702},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.42306622862815857},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2654637396335602},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2559412717819214},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C75280867","wikidata":"https://www.wikidata.org/wiki/Q877775","display_name":"Projective space","level":3,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C177846678","wikidata":"https://www.wikidata.org/wiki/Q1501864","display_name":"Projective test","level":2,"score":0.0},{"id":"https://openalex.org/C178790620","wikidata":"https://www.wikidata.org/wiki/Q11351","display_name":"Organic chemistry","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":3,"locations":[{"id":"doi:10.1109/robot.2009.5152384","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152384","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-04647499v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04647499","pdf_url":null,"source":{"id":"https://openalex.org/S4406922461","display_name":"SPIRE - Sciences Po Institutional REpository","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation (ICRA 2009), May 2009, Kobe, Japan. pp.1498-1503, ⟨10.1109/ROBOT.2009.5152384⟩","raw_type":"Conference papers"},{"id":"pmh:oai:openresearch-repository.anu.edu.au:1885/24790","is_oa":false,"landing_page_url":"http://hdl.handle.net/1885/24790","pdf_url":null,"source":{"id":"https://openalex.org/S4306402539","display_name":"ANU Open Research (Australian National University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I118347636","host_organization_name":"Australian National University","host_organization_lineage":["https://openalex.org/I118347636"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Proceedings of IEEE International Conference on Robotics and Automation (ICRA 2009)","raw_type":"Conference paper"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-04647499v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04647499","pdf_url":null,"source":{"id":"https://openalex.org/S4406922461","display_name":"SPIRE - Sciences Po Institutional REpository","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation (ICRA 2009), May 2009, Kobe, Japan. pp.1498-1503, ⟨10.1109/ROBOT.2009.5152384⟩","raw_type":"Conference papers"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W29820467","https://openalex.org/W1233635381","https://openalex.org/W1559749952","https://openalex.org/W1977628593","https://openalex.org/W2024763827","https://openalex.org/W2032930149","https://openalex.org/W2098050284","https://openalex.org/W2100249329","https://openalex.org/W2108590711","https://openalex.org/W2111691855","https://openalex.org/W2114302218","https://openalex.org/W2116394929","https://openalex.org/W2125691646","https://openalex.org/W2129086727","https://openalex.org/W2136492961","https://openalex.org/W2136517446","https://openalex.org/W2139299166","https://openalex.org/W2143988270","https://openalex.org/W2152526946","https://openalex.org/W2154101061","https://openalex.org/W2166957155","https://openalex.org/W2167501464","https://openalex.org/W2197742442","https://openalex.org/W3104122060","https://openalex.org/W6628170318","https://openalex.org/W6644457214"],"related_works":["https://openalex.org/W2237534","https://openalex.org/W2144045120","https://openalex.org/W2069235576","https://openalex.org/W4378965915","https://openalex.org/W2325567779","https://openalex.org/W2133614587","https://openalex.org/W2006540188","https://openalex.org/W2367220495","https://openalex.org/W4236881204","https://openalex.org/W1598822447"],"abstract_inverted_index":{"In":[0,45],"the":[1,16,30,33,38,41,50,56],"last":[2],"decade,":[3],"many":[4],"vision-based":[5],"robot":[6],"controllers":[7],"have":[8],"been":[9],"designed":[10],"using":[11],"Cartesian":[12],"information":[13],"encoded":[14],"in":[15],"homography":[17,42],"transformation":[18],"that":[19],"links":[20],"two":[21],"images":[22],"of":[23,32,40,55,58,83],"a":[24,63],"planar":[25],"object.":[26],"For":[27],"any":[28],"approach,":[29],"performance":[31],"closed-loop":[34,81],"system":[35],"depends":[36],"on":[37],"quality":[39],"estimates":[43,72],"obtained.":[44],"this":[46],"paper,":[47],"we":[48],"exploit":[49],"special":[51],"linear":[52],"Lie-group":[53],"structure":[54],"set":[57],"all":[59],"homographies":[60,68],"to":[61,66,79],"develop":[62],"dynamic":[64],"observer":[65],"estimate":[67],"online.":[69],"The":[70],"resulting":[71],"are":[73],"effective":[74],"and":[75],"can":[76],"be":[77],"used":[78],"improve":[80],"response":[82],"several":[84],"visual":[85],"servoing":[86],"algorithms.":[87]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":3},{"year":2012,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}