{"id":"https://openalex.org/W2129703048","doi":"https://doi.org/10.1109/robot.2009.5152671","title":"A temptative to reach a visual singular configuration using Halley's method.","display_name":"A temptative to reach a visual singular configuration using Halley's method.","publication_year":2009,"publication_date":"2009-05-01","ids":{"openalex":"https://openalex.org/W2129703048","doi":"https://doi.org/10.1109/robot.2009.5152671","mag":"2129703048"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2009.5152671","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152671","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://inria.hal.science/inria-00436756","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5058162322","display_name":"Mohamed Marey","orcid":"https://orcid.org/0000-0002-2105-7239"},"institutions":[{"id":"https://openalex.org/I4210133778","display_name":"Centre Inria de l'Universit\u00e9 de Rennes","ror":"https://ror.org/04040yw90","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1326498283","https://openalex.org/I4210133778"]},{"id":"https://openalex.org/I2802519937","display_name":"Institut de Recherche en Informatique et Syst\u00e8mes Al\u00e9atoires","ror":"https://ror.org/00myn0z94","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I205703379","https://openalex.org/I2802204017","https://openalex.org/I2802519937","https://openalex.org/I28221208","https://openalex.org/I4210127572","https://openalex.org/I4210159245","https://openalex.org/I56067802"]},{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"M. Marey","raw_affiliation_strings":["INRIA, Centre Rennes-Bretagne Atlantique, IRISA, Rennes, France","INRIA, Centre Rennes-Bretagne Atlantique, IRISA, Campus de Beaulieu, F35042 Rennescedex, France"],"affiliations":[{"raw_affiliation_string":"INRIA, Centre Rennes-Bretagne Atlantique, IRISA, Rennes, France","institution_ids":["https://openalex.org/I4210133778","https://openalex.org/I2802519937","https://openalex.org/I1326498283"]},{"raw_affiliation_string":"INRIA, Centre Rennes-Bretagne Atlantique, IRISA, Campus de Beaulieu, F35042 Rennescedex, France","institution_ids":["https://openalex.org/I1326498283"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037712031","display_name":"Fran\u00e7ois Chaumette","orcid":"https://orcid.org/0000-0002-1238-4385"},"institutions":[{"id":"https://openalex.org/I2802519937","display_name":"Institut de Recherche en Informatique et Syst\u00e8mes Al\u00e9atoires","ror":"https://ror.org/00myn0z94","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I205703379","https://openalex.org/I2802204017","https://openalex.org/I2802519937","https://openalex.org/I28221208","https://openalex.org/I4210127572","https://openalex.org/I4210159245","https://openalex.org/I56067802"]},{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I4210133778","display_name":"Centre Inria de l'Universit\u00e9 de Rennes","ror":"https://ror.org/04040yw90","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1326498283","https://openalex.org/I4210133778"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"F. Chaumette","raw_affiliation_strings":["INRIA, Centre Rennes-Bretagne Atlantique, IRISA, Rennes, France","INRIA, Centre Rennes-Bretagne Atlantique, IRISA, Campus de Beaulieu, F35042 Rennescedex, France"],"affiliations":[{"raw_affiliation_string":"INRIA, Centre Rennes-Bretagne Atlantique, IRISA, Rennes, France","institution_ids":["https://openalex.org/I4210133778","https://openalex.org/I2802519937","https://openalex.org/I1326498283"]},{"raw_affiliation_string":"INRIA, Centre Rennes-Bretagne Atlantique, IRISA, Campus de Beaulieu, F35042 Rennescedex, France","institution_ids":["https://openalex.org/I1326498283"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5058162322"],"corresponding_institution_ids":["https://openalex.org/I1326498283","https://openalex.org/I2802519937","https://openalex.org/I4210133778"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.16505072,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"1122","last_page":"1127"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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/T13114","display_name":"Image Processing Techniques and Applications","score":0.9990000128746033,"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"}},{"id":"https://openalex.org/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9916999936103821,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/visual-servoing","display_name":"Visual servoing","score":0.8341522812843323},{"id":"https://openalex.org/keywords/hessian-matrix","display_name":"Hessian matrix","score":0.7175804376602173},{"id":"https://openalex.org/keywords/maxima-and-minima","display_name":"Maxima and minima","score":0.686908483505249},{"id":"https://openalex.org/keywords/singularity","display_name":"Singularity","score":0.5647627115249634},{"id":"https://openalex.org/keywords/singular-point-of-a-curve","display_name":"Singular point of a curve","score":0.5578643679618835},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5567978024482727},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5218340754508972},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4893648028373718},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.4626949727535248},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.44686761498451233},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.43817374110221863},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4338109493255615},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.39735525846481323},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3939964771270752},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.37127912044525146},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.30356988310813904},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.23359349370002747},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.10227417945861816}],"concepts":[{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.8341522812843323},{"id":"https://openalex.org/C203616005","wikidata":"https://www.wikidata.org/wiki/Q620495","display_name":"Hessian matrix","level":2,"score":0.7175804376602173},{"id":"https://openalex.org/C186633575","wikidata":"https://www.wikidata.org/wiki/Q845060","display_name":"Maxima and minima","level":2,"score":0.686908483505249},{"id":"https://openalex.org/C16171025","wikidata":"https://www.wikidata.org/wiki/Q863349","display_name":"Singularity","level":2,"score":0.5647627115249634},{"id":"https://openalex.org/C200917960","wikidata":"https://www.wikidata.org/wiki/Q3847057","display_name":"Singular point of a curve","level":2,"score":0.5578643679618835},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5567978024482727},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5218340754508972},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4893648028373718},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.4626949727535248},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.44686761498451233},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43817374110221863},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4338109493255615},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.39735525846481323},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3939964771270752},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.37127912044525146},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.30356988310813904},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.23359349370002747},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.10227417945861816},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"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/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/robot.2009.5152671","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152671","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:CiteSeerX.psu:10.1.1.212.7733","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.212.7733","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://hal.inria.fr/docs/00/43/67/56/PDF/2009_icra_marey.pdf","raw_type":"text"},{"id":"pmh:oai:HAL:inria-00436756v1","is_oa":true,"landing_page_url":"https://inria.hal.science/inria-00436756","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"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":"IEEE Int. Conf. on Robotics and Automation, ICRA'09, 2009, Kobe, Japan, Japan. pp.1122-1127","raw_type":"Conference papers"}],"best_oa_location":{"id":"pmh:oai:HAL:inria-00436756v1","is_oa":true,"landing_page_url":"https://inria.hal.science/inria-00436756","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"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":"IEEE Int. Conf. on Robotics and Automation, ICRA'09, 2009, Kobe, Japan, Japan. pp.1122-1127","raw_type":"Conference papers"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W95951989","https://openalex.org/W1244977614","https://openalex.org/W1514444483","https://openalex.org/W1559749952","https://openalex.org/W1855815789","https://openalex.org/W1973256573","https://openalex.org/W2001291741","https://openalex.org/W2015003349","https://openalex.org/W2058544403","https://openalex.org/W2082991751","https://openalex.org/W2090963365","https://openalex.org/W2105085370","https://openalex.org/W2113260111","https://openalex.org/W2119312651","https://openalex.org/W2137750560","https://openalex.org/W2157808413","https://openalex.org/W2329667520","https://openalex.org/W4206820429","https://openalex.org/W6603957185"],"related_works":["https://openalex.org/W2153649672","https://openalex.org/W2946416050","https://openalex.org/W2053020039","https://openalex.org/W2719918066","https://openalex.org/W2378485171","https://openalex.org/W3129244444","https://openalex.org/W4213308522","https://openalex.org/W2910890793","https://openalex.org/W293555363","https://openalex.org/W2065244705"],"abstract_inverted_index":{"Image-based":[0],"visual":[1],"servoing":[2],"has":[3],"been":[4],"found":[5],"to":[6,40,67,70,81],"give":[7],"satisfactory":[8],"accurate":[9,102],"and":[10,15,22,59],"robust":[11,43],"results.":[12],"However,":[13],"singularity":[14],"local":[16],"minima":[17],"may":[18],"appear":[19],"causing":[20],"stability":[21],"convergence":[23],"problems.":[24],"In":[25],"this":[26],"paper,":[27],"we":[28],"present":[29],"new":[30,53],"control":[31,54,86],"schemes":[32],"based":[33],"on":[34,92],"Halley's":[35],"method":[36],"as":[37],"a":[38,42,93,100],"temptative":[39],"obtain":[41],"system":[44,97],"even":[45],"when":[46],"the":[47,57,60,65,85],"desired":[48],"configuration":[49],"is":[50],"singular.":[51],"The":[52],"scheme":[55],"use":[56],"first":[58],"second":[61],"order":[62],"derivatives":[63],"of":[64,74],"error":[66],"be":[68,82,105],"regulated":[69],"zero.":[71],"Hessian":[72],"matrices":[73],"an":[75],"image":[76],"point":[77],"are":[78],"thus":[79],"determined":[80],"used":[83],"in":[84],"schemes.":[87],"Preliminary":[88],"experimental":[89],"results":[90],"obtained":[91,106],"6":[94],"dof":[95],"eye-in-hand":[96],"shows":[98],"that":[99],"more":[101],"positioning":[103],"can":[104],"compared":[107],"with":[108],"classical":[109],"methods.":[110]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}