{"id":"https://openalex.org/W7161159284","doi":"https://doi.org/10.1109/tase.2026.3693129","title":"A Triangular Pyramid Geometry-Guided Hand\u2013Eye Calibration Framework for Line Laser Cameras With Constrained Optimization","display_name":"A Triangular Pyramid Geometry-Guided Hand\u2013Eye Calibration Framework for Line Laser Cameras With Constrained Optimization","publication_year":2026,"publication_date":"2026-01-01","ids":{"openalex":"https://openalex.org/W7161159284","doi":"https://doi.org/10.1109/tase.2026.3693129"},"language":null,"primary_location":{"id":"doi:10.1109/tase.2026.3693129","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2026.3693129","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":["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/A5136174982","display_name":"Yingxiong Wang","orcid":"https://orcid.org/0009-0004-3274-1804"},"institutions":[{"id":"https://openalex.org/I23632641","display_name":"Shanghai University of Electric Power","ror":"https://ror.org/02w4tny03","country_code":"CN","type":"education","lineage":["https://openalex.org/I23632641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yingxiong Wang","raw_affiliation_strings":["Faculty of Artificial Intelligence, Shanghai University of Electric Power, Shanghai, China"],"raw_orcid":"https://orcid.org/0009-0004-3274-1804","affiliations":[{"raw_affiliation_string":"Faculty of Artificial Intelligence, Shanghai University of Electric Power, Shanghai, China","institution_ids":["https://openalex.org/I23632641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136183667","display_name":"Jianliang Mao","orcid":"https://orcid.org/0000-0001-8979-2646"},"institutions":[{"id":"https://openalex.org/I23632641","display_name":"Shanghai University of Electric Power","ror":"https://ror.org/02w4tny03","country_code":"CN","type":"education","lineage":["https://openalex.org/I23632641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianliang Mao","raw_affiliation_strings":["Faculty of Artificial Intelligence, Shanghai University of Electric Power, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0001-8979-2646","affiliations":[{"raw_affiliation_string":"Faculty of Artificial Intelligence, Shanghai University of Electric Power, Shanghai, China","institution_ids":["https://openalex.org/I23632641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136119984","display_name":"Zhiyong Dai","orcid":null},"institutions":[{"id":"https://openalex.org/I2801919588","display_name":"Shanghai Library","ror":"https://ror.org/022d5rd48","country_code":"CN","type":"archive","lineage":["https://openalex.org/I2801919588"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiyong Dai","raw_affiliation_strings":["Shanghai Publishing and Printing College, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Publishing and Printing College, Shanghai, China","institution_ids":["https://openalex.org/I2801919588"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100676785","display_name":"Fei Xia","orcid":"https://orcid.org/0000-0003-4343-1444"},"institutions":[{"id":"https://openalex.org/I23632641","display_name":"Shanghai University of Electric Power","ror":"https://ror.org/02w4tny03","country_code":"CN","type":"education","lineage":["https://openalex.org/I23632641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fei Xia","raw_affiliation_strings":["Faculty of Artificial Intelligence, Shanghai University of Electric Power, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0003-0793-3113","affiliations":[{"raw_affiliation_string":"Faculty of Artificial Intelligence, Shanghai University of Electric Power, Shanghai, China","institution_ids":["https://openalex.org/I23632641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136092388","display_name":"Chuanlin Zhang","orcid":"https://orcid.org/0000-0001-6052-1682"},"institutions":[{"id":"https://openalex.org/I23632641","display_name":"Shanghai University of Electric Power","ror":"https://ror.org/02w4tny03","country_code":"CN","type":"education","lineage":["https://openalex.org/I23632641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chuanlin Zhang","raw_affiliation_strings":["Faculty of Artificial Intelligence, Shanghai University of Electric Power, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0001-6052-1682","affiliations":[{"raw_affiliation_string":"Faculty of Artificial Intelligence, Shanghai University of Electric Power, Shanghai, China","institution_ids":["https://openalex.org/I23632641"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5136172930","display_name":"Huaicheng Yan","orcid":null},"institutions":[{"id":"https://openalex.org/I23632641","display_name":"Shanghai University of Electric Power","ror":"https://ror.org/02w4tny03","country_code":"CN","type":"education","lineage":["https://openalex.org/I23632641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huaicheng Yan","raw_affiliation_strings":["Faculty of Artificial Intelligence, Shanghai University of Electric Power, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0001-5496-1809","affiliations":[{"raw_affiliation_string":"Faculty of Artificial Intelligence, Shanghai University of Electric Power, Shanghai, China","institution_ids":["https://openalex.org/I23632641"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.7621668,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"23","issue":null,"first_page":"9720","last_page":"9733"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10638","display_name":"Optical measurement and interference techniques","score":0.3734000027179718,"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/T10638","display_name":"Optical measurement and interference techniques","score":0.3734000027179718,"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/T14163","display_name":"Astronomical Observations and Instrumentation","score":0.11720000207424164,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/T11583","display_name":"Advanced Measurement and Metrology Techniques","score":0.09749999642372131,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.6689000129699707},{"id":"https://openalex.org/keywords/constrained-optimization","display_name":"Constrained optimization","score":0.5910999774932861},{"id":"https://openalex.org/keywords/line","display_name":"Line (geometry)","score":0.5084999799728394},{"id":"https://openalex.org/keywords/pyramid","display_name":"Pyramid (geometry)","score":0.4611999988555908},{"id":"https://openalex.org/keywords/laser","display_name":"Laser","score":0.41670000553131104},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3783000111579895},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.37130001187324524},{"id":"https://openalex.org/keywords/minification","display_name":"Minification","score":0.3052000105381012}],"concepts":[{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.6689000129699707},{"id":"https://openalex.org/C55660270","wikidata":"https://www.wikidata.org/wiki/Q5164377","display_name":"Constrained optimization","level":2,"score":0.5910999774932861},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.534500002861023},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5282999873161316},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.5084999799728394},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4887000024318695},{"id":"https://openalex.org/C142575187","wikidata":"https://www.wikidata.org/wiki/Q3358290","display_name":"Pyramid (geometry)","level":2,"score":0.4611999988555908},{"id":"https://openalex.org/C520434653","wikidata":"https://www.wikidata.org/wiki/Q38867","display_name":"Laser","level":2,"score":0.41670000553131104},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3783000111579895},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.37130001187324524},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3109000027179718},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.3052000105381012},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.2937000095844269},{"id":"https://openalex.org/C9417928","wikidata":"https://www.wikidata.org/wiki/Q1070689","display_name":"Image processing","level":3,"score":0.2784000039100647},{"id":"https://openalex.org/C115527620","wikidata":"https://www.wikidata.org/wiki/Q769909","display_name":"Nonlinear programming","level":3,"score":0.27709999680519104},{"id":"https://openalex.org/C141349535","wikidata":"https://www.wikidata.org/wiki/Q1361664","display_name":"Laser scanning","level":3,"score":0.2759999930858612},{"id":"https://openalex.org/C2989514635","wikidata":"https://www.wikidata.org/wiki/Q5164377","display_name":"Constrained optimization problem","level":3,"score":0.2696000039577484},{"id":"https://openalex.org/C5339829","wikidata":"https://www.wikidata.org/wiki/Q1425977","display_name":"Machine vision","level":2,"score":0.26249998807907104},{"id":"https://openalex.org/C2987595161","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Optimization algorithm","level":2,"score":0.26159998774528503},{"id":"https://openalex.org/C193581530","wikidata":"https://www.wikidata.org/wiki/Q683778","display_name":"Structured light","level":2,"score":0.260699987411499},{"id":"https://openalex.org/C2984025587","wikidata":"https://www.wikidata.org/wiki/Q38867","display_name":"Laser beams","level":3,"score":0.25780001282691956},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.25769999623298645},{"id":"https://openalex.org/C99862985","wikidata":"https://www.wikidata.org/wiki/Q10858068","display_name":"Production line","level":2,"score":0.25589999556541443},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.2508000135421753}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2026.3693129","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2026.3693129","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1271446606","display_name":null,"funder_award_id":"62203292","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Hand-eye":[0],"calibration":[1,24,57,99,144],"of":[2,63,76,146],"line":[3],"laser":[4,87],"cameras":[5],"(LLCs)":[6],"is":[7,107],"a":[8,54,64,110,132,143],"prerequisite":[9],"for":[10,68],"accurate":[11],"3D":[12],"measurement":[13],"and":[14,40,85,96,114,127,156,163],"reliable":[15,158],"welding":[16,21,135],"path":[17],"execution":[18],"in":[19],"robotic":[20,134],"systems.":[22],"However,":[23],"methods":[25],"based":[26,149],"on":[27,131,150],"planar":[28],"or":[29],"spherical":[30],"targets":[31],"often":[32],"exhibit":[33],"fitting":[34],"ambiguity,":[35],"sensitivity":[36],"to":[37],"illumination":[38],"variations,":[39],"limited":[41],"robustness":[42],"under":[43],"industrial":[44],"operating":[45],"conditions.":[46],"To":[47],"address":[48],"these":[49,102],"limitations,":[50],"this":[51],"paper":[52],"presents":[53],"novel":[55],"hand\u2013eye":[56],"framework":[58],"guided":[59],"by":[60],"the":[61,72,77,80,104,139,151],"geometry":[62],"triangular":[65,78],"pyramid":[66],"target":[67],"LLCs.":[69],"By":[70],"exploiting":[71],"surface":[73],"normal":[74],"discontinuities":[75],"pyramid,":[79],"proposed":[81,140],"approach":[82],"induces":[83],"stable":[84],"unique":[86],"extremum":[88],"features":[89],"during":[90],"scanning,":[91],"enabling":[92],"consistent":[93],"feature":[94],"extraction":[95],"well-posed":[97],"geometric":[98],"constraints.":[100],"Under":[101],"constraints,":[103],"hand-eye":[105],"transformation":[106],"formulated":[108],"as":[109],"constrained":[111],"optimization":[112],"problem":[113],"solved":[115],"using":[116],"sequential":[117],"least":[118],"squares":[119],"quadratic":[120],"programming":[121],"(SLSQP),":[122],"which":[123],"enforces":[124],"rotational":[125],"orthogonality":[126],"bounded":[128],"translation.":[129],"Experiments":[130],"real":[133],"system":[136],"show":[137],"that":[138],"method":[141],"achieves":[142],"error":[145],"0.648":[147],"mm":[148],"bootstrap":[152],"95%":[153],"confidence":[154],"analysis,":[155],"maintains":[157],"performance":[159],"across":[160],"both":[161],"comparative":[162],"field":[164],"evaluations.":[165]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-05-15T00:00:00"}