{"id":"https://openalex.org/W2898323530","doi":"https://doi.org/10.1109/tcst.2018.2873541","title":"Decoupled Intensity-Based Nonmetric Visual Servo Control","display_name":"Decoupled Intensity-Based Nonmetric Visual Servo Control","publication_year":2018,"publication_date":"2018-10-26","ids":{"openalex":"https://openalex.org/W2898323530","doi":"https://doi.org/10.1109/tcst.2018.2873541","mag":"2898323530"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2018.2873541","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2018.2873541","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Control Systems Technology","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.sorbonne-universite.fr/hal-02901281","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101545086","display_name":"Geraldo Silveira","orcid":"https://orcid.org/0000-0001-6645-0301"},"institutions":[{"id":"https://openalex.org/I181391015","display_name":"Universidade Estadual de Campinas (UNICAMP)","ror":"https://ror.org/04wffgt70","country_code":"BR","type":"education","lineage":["https://openalex.org/I181391015"]},{"id":"https://openalex.org/I4210142333","display_name":"Centro de Tecnologia da Informa\u00e7\u00e3o Renato Archer","ror":"https://ror.org/044nfga98","country_code":"BR","type":"government","lineage":["https://openalex.org/I4210142333","https://openalex.org/I4210151455"]}],"countries":["BR"],"is_corresponding":true,"raw_author_name":"Geraldo Silveira","raw_affiliation_strings":["Robotics and Computer Vision Research Group, Center for Information Technology Renato Archer, Brazil","LSC - UNICAMP - Computer Systems Laboratory [Campinas] (LSC - Computer Systems Laboratory Av. Albert Einstein, 1251 - Cidade Universit\u00e1ria Campinas - SP - Brazil 13083-852 - Brazil)"],"affiliations":[{"raw_affiliation_string":"Robotics and Computer Vision Research Group, Center for Information Technology Renato Archer, Brazil","institution_ids":["https://openalex.org/I4210142333"]},{"raw_affiliation_string":"LSC - UNICAMP - Computer Systems Laboratory [Campinas] (LSC - Computer Systems Laboratory Av. Albert Einstein, 1251 - Cidade Universit\u00e1ria Campinas - SP - Brazil 13083-852 - Brazil)","institution_ids":["https://openalex.org/I181391015"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033465413","display_name":"Luiz G. B. Mirisola","orcid":"https://orcid.org/0000-0002-2689-452X"},"institutions":[{"id":"https://openalex.org/I107428990","display_name":"Instituto Tecnol\u00f3gico de Aeron\u00e1utica","ror":"https://ror.org/05vh67662","country_code":"BR","type":"education","lineage":["https://openalex.org/I107428990"]},{"id":"https://openalex.org/I4210123805","display_name":"Instituto de Aeron\u00e1utica e Espa\u00e7o","ror":"https://ror.org/025n1fp68","country_code":"BR","type":"other","lineage":["https://openalex.org/I4210123805"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Luiz Mirisola","raw_affiliation_strings":["Division of Computer Science, Technological Institute of Aeronautics, S\u00e3o Jos\u00e9 dos Campos, Brazil","ITA - Technological Institute of Aeronautics (Sao Jos\u00e9 dos Campos - Brazil)"],"affiliations":[{"raw_affiliation_string":"Division of Computer Science, Technological Institute of Aeronautics, S\u00e3o Jos\u00e9 dos Campos, Brazil","institution_ids":["https://openalex.org/I4210123805"]},{"raw_affiliation_string":"ITA - Technological Institute of Aeronautics (Sao Jos\u00e9 dos Campos - Brazil)","institution_ids":["https://openalex.org/I107428990"]}]},{"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/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I39804081","display_name":"Sorbonne Universit\u00e9","ror":"https://ror.org/02en5vm52","country_code":"FR","type":"education","lineage":["https://openalex.org/I39804081"]},{"id":"https://openalex.org/I4210150358","display_name":"Institut Syst\u00e8mes Intelligents et de Robotique","ror":"https://ror.org/05neq8668","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I154526488","https://openalex.org/I39804081","https://openalex.org/I4210150358","https://openalex.org/I4210159245"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Pascal Morin","raw_affiliation_strings":["CNRS, Institut des Syst\u00e8mes Intelligents et de Robotique, Sorbonne Universit\u00e9, Paris, France","SYROCO - Syst\u00e8mes robotiques Conception et Commande (ISIR, Sorbonne-Universit\u00e9, Boite courrier 173 4 Place JUSSIEU 75252 Paris cedex 05 - France)","ISIR - Institut des Syst\u00e8mes Intelligents et de Robotique (Sorbonne-Universit\u00e9, Boite courrier 173 4 Place JUSSIEU 75252 Paris cedex 05 - France)"],"affiliations":[{"raw_affiliation_string":"CNRS, Institut des Syst\u00e8mes Intelligents et de Robotique, Sorbonne Universit\u00e9, Paris, France","institution_ids":["https://openalex.org/I4210150358","https://openalex.org/I39804081","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"SYROCO - Syst\u00e8mes robotiques Conception et Commande (ISIR, Sorbonne-Universit\u00e9, Boite courrier 173 4 Place JUSSIEU 75252 Paris cedex 05 - France)","institution_ids":["https://openalex.org/I39804081","https://openalex.org/I4210150358"]},{"raw_affiliation_string":"ISIR - Institut des Syst\u00e8mes Intelligents et de Robotique (Sorbonne-Universit\u00e9, Boite courrier 173 4 Place JUSSIEU 75252 Paris cedex 05 - France)","institution_ids":["https://openalex.org/I39804081","https://openalex.org/I4210150358"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5101545086"],"corresponding_institution_ids":["https://openalex.org/I181391015","https://openalex.org/I4210142333"],"apc_list":null,"apc_paid":null,"fwci":0.7446,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.77529317,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"28","issue":"2","first_page":"566","last_page":"573"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9926000237464905,"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":0.9818000197410583,"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/visual-servoing","display_name":"Visual servoing","score":0.6456376314163208},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6149144172668457},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5783004760742188},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5223663449287415},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5133944749832153},{"id":"https://openalex.org/keywords/diagonal","display_name":"Diagonal","score":0.4840044677257538},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.46358251571655273},{"id":"https://openalex.org/keywords/decoupling","display_name":"Decoupling (probability)","score":0.426815927028656},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.40933147072792053},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.31192445755004883},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.1993696689605713},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19750308990478516},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13354867696762085},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.10022461414337158}],"concepts":[{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.6456376314163208},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6149144172668457},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5783004760742188},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5223663449287415},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5133944749832153},{"id":"https://openalex.org/C130367717","wikidata":"https://www.wikidata.org/wiki/Q189791","display_name":"Diagonal","level":2,"score":0.4840044677257538},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.46358251571655273},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.426815927028656},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.40933147072792053},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.31192445755004883},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.1993696689605713},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19750308990478516},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13354867696762085},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.10022461414337158},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tcst.2018.2873541","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2018.2873541","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Control Systems Technology","raw_type":"journal-article"},{"id":"pmh:oai:HAL:hal-02901281v1","is_oa":true,"landing_page_url":"https://hal.sorbonne-universite.fr/hal-02901281","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 Transactions on Control Systems Technology, 2020, 28 (2), pp.566-573. &#x27E8;10.1109/TCST.2018.2873541&#x27E9;","raw_type":"Journal articles"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-02901281v1","is_oa":true,"landing_page_url":"https://hal.sorbonne-universite.fr/hal-02901281","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 Transactions on Control Systems Technology, 2020, 28 (2), pp.566-573. &#x27E8;10.1109/TCST.2018.2873541&#x27E9;","raw_type":"Journal articles"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6365022944","display_name":null,"funder_award_id":"FAPESP\u20132017/22603-0","funder_id":"https://openalex.org/F4320320997","funder_display_name":"Funda\u00e7\u00e3o de Amparo \u00e0 Pesquisa do Estado de S\u00e3o Paulo"}],"funders":[{"id":"https://openalex.org/F4320320997","display_name":"Funda\u00e7\u00e3o de Amparo \u00e0 Pesquisa do Estado de S\u00e3o Paulo","ror":"https://ror.org/02ddkpn78"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1529220606","https://openalex.org/W1571920131","https://openalex.org/W1579142030","https://openalex.org/W1964781183","https://openalex.org/W1998541829","https://openalex.org/W2055486741","https://openalex.org/W2080559363","https://openalex.org/W2082991751","https://openalex.org/W2088098578","https://openalex.org/W2090700124","https://openalex.org/W2100249329","https://openalex.org/W2104110509","https://openalex.org/W2124356874","https://openalex.org/W2125148654","https://openalex.org/W2130092640","https://openalex.org/W2136860008","https://openalex.org/W2137924757","https://openalex.org/W2138598618","https://openalex.org/W2139996173","https://openalex.org/W2145248757","https://openalex.org/W2146730441","https://openalex.org/W2152526946","https://openalex.org/W2162897325","https://openalex.org/W2164980264","https://openalex.org/W2168947801","https://openalex.org/W2171423024","https://openalex.org/W2345110532","https://openalex.org/W2489822048","https://openalex.org/W4255438484","https://openalex.org/W6634788456","https://openalex.org/W6649838552"],"related_works":["https://openalex.org/W2126852585","https://openalex.org/W2367086100","https://openalex.org/W2352270872","https://openalex.org/W2386520554","https://openalex.org/W1520171478","https://openalex.org/W4317830657","https://openalex.org/W3024380338","https://openalex.org/W2127866683","https://openalex.org/W2065095941","https://openalex.org/W2099513764"],"abstract_inverted_index":{"This":[0,60],"brief":[1,61],"addresses":[2],"the":[3,10,22,72,79,97,104,110],"problem":[4],"of":[5,24,78,112,124],"vision-based":[6],"robot":[7],"control":[8,48,74],"where":[9],"equilibrium":[11],"state":[12],"is":[13,92,134],"defined":[14],"via":[15],"a":[16,42,63,113,143],"goal":[17],"image.":[18],"Specifically,":[19],"we":[20],"consider":[21],"class":[23,40],"intensity-based":[25,65],"nonmetric":[26,66],"solutions,":[27],"which":[28],"provide":[29],"for":[30],"high":[31],"accuracy,":[32],"versatility,":[33],"and":[34,46,55,85,130,150],"robustness.":[35],"Existing":[36],"techniques":[37],"within":[38],"that":[39,70],"present":[41],"fully":[43,114],"coupled":[44],"translational":[45,73],"rotational":[47],"error":[49,75],"dynamics,":[50,76],"what":[51],"increases":[52],"analysis":[53,123],"complexity":[54],"may":[56],"degrade":[57],"system":[58,91],"performance.":[59],"proposes":[62],"new":[64],"visual":[67],"servoing":[68],"technique":[69,107],"decouples":[71],"regardless":[77],"observed":[80],"object":[81],"characteristics,":[82],"camera":[83],"displacements,":[84],"their":[86],"relative":[87],"poses.":[88],"The":[89,121],"obtained":[90],"thus":[93],"lower":[94],"triangular":[95],"in":[96,147],"general":[98,106],"case.":[99],"For":[100],"some":[101],"practical":[102],"cases,":[103],"proposed":[105],"leads":[108],"to":[109],"Grail":[111],"decoupled":[115],"(i.e.,":[116],"strictly":[117],"diagonal)":[118],"linear":[119],"dynamics.":[120],"theoretical":[122],"local":[125,127],"diffeomorphism,":[126],"exponential":[128],"stability,":[129],"those":[131],"decoupling":[132],"properties":[133],"provided.":[135],"Improved":[136],"performances":[137],"are":[138],"also":[139],"experimentally":[140],"confirmed":[141],"using":[142],"6-DoF":[144],"robotic":[145],"arm":[146],"various":[148],"positioning":[149],"tracking":[151],"tasks.":[152]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
