{"id":"https://openalex.org/W2946150305","doi":"https://doi.org/10.1109/tase.2019.2918141","title":"SCALAR: Simultaneous Calibration of 2-D Laser and Robot Kinematic Parameters Using Planarity and Distance Constraints","display_name":"SCALAR: Simultaneous Calibration of 2-D Laser and Robot Kinematic Parameters Using Planarity and Distance Constraints","publication_year":2019,"publication_date":"2019-06-19","ids":{"openalex":"https://openalex.org/W2946150305","doi":"https://doi.org/10.1109/tase.2019.2918141","mag":"2946150305"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2019.2918141","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2019.2918141","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1905.07625","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Teguh Santoso Lembono","orcid":"https://orcid.org/0000-0003-2210-6220"},"institutions":[{"id":"https://openalex.org/I7495430","display_name":"Idiap Research Institute","ror":"https://ror.org/05932h694","country_code":"CH","type":"facility","lineage":["https://openalex.org/I7495430"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Teguh Santoso Lembono","raw_affiliation_strings":["Idiap Research Institute, Martigny, Switzerland"],"affiliations":[{"raw_affiliation_string":"Idiap Research Institute, Martigny, Switzerland","institution_ids":["https://openalex.org/I7495430"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Francisco Suarez-Ruiz","orcid":"https://orcid.org/0000-0003-2107-3279"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Francisco Suarez-Ruiz","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":null,"display_name":"Quang-Cuong Pham","orcid":"https://orcid.org/0000-0001-9605-4940"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Quang-Cuong Pham","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I7495430"],"apc_list":null,"apc_paid":null,"fwci":27.5692,"has_fulltext":false,"cited_by_count":42,"citation_normalized_percentile":{"value":0.99111036,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"16","issue":"4","first_page":"1971","last_page":"1979"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.3889999985694885,"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":0.3889999985694885,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.2370000034570694,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.0608999989926815,"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/calibration","display_name":"Calibration","score":0.7182000279426575},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6593000292778015},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.633899986743927},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.619700014591217},{"id":"https://openalex.org/keywords/laser","display_name":"Laser","score":0.5794000029563904},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.554099977016449},{"id":"https://openalex.org/keywords/robot-calibration","display_name":"Robot calibration","score":0.552299976348877},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5443999767303467},{"id":"https://openalex.org/keywords/nonlinear-programming","display_name":"Nonlinear programming","score":0.49790000915527344},{"id":"https://openalex.org/keywords/laser-tracker","display_name":"Laser tracker","score":0.48330000042915344}],"concepts":[{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.7182000279426575},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6593000292778015},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.633899986743927},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.619700014591217},{"id":"https://openalex.org/C520434653","wikidata":"https://www.wikidata.org/wiki/Q38867","display_name":"Laser","level":2,"score":0.5794000029563904},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.554099977016449},{"id":"https://openalex.org/C192299074","wikidata":"https://www.wikidata.org/wiki/Q2160034","display_name":"Robot calibration","level":5,"score":0.552299976348877},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5443999767303467},{"id":"https://openalex.org/C115527620","wikidata":"https://www.wikidata.org/wiki/Q769909","display_name":"Nonlinear programming","level":3,"score":0.49790000915527344},{"id":"https://openalex.org/C43210895","wikidata":"https://www.wikidata.org/wiki/Q2447583","display_name":"Laser tracker","level":3,"score":0.48330000042915344},{"id":"https://openalex.org/C68260962","wikidata":"https://www.wikidata.org/wiki/Q7200967","display_name":"Planarity testing","level":2,"score":0.4575999975204468},{"id":"https://openalex.org/C57691317","wikidata":"https://www.wikidata.org/wiki/Q1289248","display_name":"Scalar (mathematics)","level":2,"score":0.4489000141620636},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.44859999418258667},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.3962000012397766},{"id":"https://openalex.org/C20625954","wikidata":"https://www.wikidata.org/wiki/Q543533","display_name":"Coplanarity","level":2,"score":0.37450000643730164},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3723999857902527},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.3695000112056732},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3603000044822693},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.3598000109195709},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3587999939918518},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.35190001130104065},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3474999964237213},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.31859999895095825},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31859999895095825},{"id":"https://openalex.org/C137209882","wikidata":"https://www.wikidata.org/wiki/Q1403517","display_name":"Measurement uncertainty","level":2,"score":0.31839999556541443},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29490000009536743},{"id":"https://openalex.org/C141349535","wikidata":"https://www.wikidata.org/wiki/Q1361664","display_name":"Laser scanning","level":3,"score":0.29409998655319214},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.287200003862381},{"id":"https://openalex.org/C19619285","wikidata":"https://www.wikidata.org/wiki/Q196372","display_name":"Observational error","level":2,"score":0.27459999918937683},{"id":"https://openalex.org/C2985143356","wikidata":"https://www.wikidata.org/wiki/Q1426632","display_name":"Laser ranging","level":3,"score":0.27149999141693115},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.2680000066757202},{"id":"https://openalex.org/C2986158284","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Distance measurement","level":2,"score":0.2678000032901764},{"id":"https://openalex.org/C55660270","wikidata":"https://www.wikidata.org/wiki/Q5164377","display_name":"Constrained optimization","level":2,"score":0.25609999895095825},{"id":"https://openalex.org/C184389593","wikidata":"https://www.wikidata.org/wiki/Q603159","display_name":"Curve fitting","level":2,"score":0.2531999945640564}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tase.2019.2918141","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2019.2918141","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:1905.07625","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1905.07625","pdf_url":"https://arxiv.org/pdf/1905.07625","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:infoscience.epfl.ch:275383","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/275383","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://infoscience.epfl.ch/record/275383","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1905.07625","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1905.07625","pdf_url":"https://arxiv.org/pdf/1905.07625","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5313779304","display_name":null,"funder_award_id":"780684","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320320709","display_name":"National Research Foundation Singapore","ror":"https://ror.org/03cpyc314"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1525998562","https://openalex.org/W1965771958","https://openalex.org/W1992656747","https://openalex.org/W2004811386","https://openalex.org/W2028046311","https://openalex.org/W2056731056","https://openalex.org/W2058447477","https://openalex.org/W2086156965","https://openalex.org/W2092210497","https://openalex.org/W2097822397","https://openalex.org/W2120749643","https://openalex.org/W2140781725","https://openalex.org/W2146906497","https://openalex.org/W2158164471","https://openalex.org/W2159777280","https://openalex.org/W2163965645","https://openalex.org/W2344590414","https://openalex.org/W2547924221","https://openalex.org/W2772783460","https://openalex.org/W2775349123","https://openalex.org/W2783764623","https://openalex.org/W2883228675","https://openalex.org/W2887785894","https://openalex.org/W2963816708","https://openalex.org/W6638866197","https://openalex.org/W6680028861","https://openalex.org/W6691189842","https://openalex.org/W6753492243"],"related_works":[],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"propose":[4],"SCALAR,":[5],"a":[6,16,24,40,51,58,71],"calibration":[7,36,67],"method":[8],"to":[9,31,62,83,118,124],"simultaneously":[10],"calibrate":[11],"the":[12,20,32,63,76,79,85,91,97,108,111],"kinematic":[13],"parameters":[14,22],"of":[15,23],"6-DoF":[17],"robot":[18],"and":[19,57,78,87,90,110,121],"extrinsic":[21],"2-D":[25],"laser":[26,77],"range":[27],"finder":[28],"(LRF)":[29],"attached":[30,61],"robot's":[33,64],"flange.":[34,65],"The":[35,66],"setup":[37],"requires":[38],"only":[39],"flat":[41],"plate":[42],"with":[43],"two":[44],"small":[45],"holes":[46],"carved":[47],"on":[48],"it":[49],"at":[50],"known":[52],"distance":[53,88],"from":[54,116,122],"each":[55],"other":[56],"sharp":[59],"tool-tip":[60,80],"is":[68,94],"formulated":[69],"as":[70],"nonlinear":[72],"optimization":[73,92],"problem":[74,93],"where":[75],"are":[81],"used":[82],"provide":[84],"planar":[86],"constraints,":[89],"solved":[95],"using":[96],"Levenberg-Marquardt":[98],"algorithm.":[99],"We":[100],"demonstrate":[101],"through":[102],"experiments":[103],"that":[104],"SCALAR":[105],"can":[106],"reduce":[107],"mean":[109],"maximum":[112],"tool":[113],"position":[114],"error":[115],"0.44":[117],"0.19":[119],"mm":[120],"1.41":[123],"0.50":[125],"mm,":[126],"respectively.":[127]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":4}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2019-05-29T00:00:00"}