{"id":"https://openalex.org/W4377235269","doi":"https://doi.org/10.1109/tie.2023.3277072","title":"Homography-Based Visual Servoing of Eye-in-Hand Robots With Exact Depth Estimation","display_name":"Homography-Based Visual Servoing of Eye-in-Hand Robots With Exact Depth Estimation","publication_year":2023,"publication_date":"2023-05-22","ids":{"openalex":"https://openalex.org/W4377235269","doi":"https://doi.org/10.1109/tie.2023.3277072"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2023.3277072","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2023.3277072","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","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/A5037980789","display_name":"Beixian Lai","orcid":"https://orcid.org/0000-0002-0313-3445"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Beixian Lai","raw_affiliation_strings":["School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-0313-3445","affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083398034","display_name":"Zhiwen Li","orcid":"https://orcid.org/0000-0002-1451-1325"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiwen Li","raw_affiliation_strings":["School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-1451-1325","affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063378661","display_name":"Weibing Li","orcid":"https://orcid.org/0000-0002-7970-9076"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weibing Li","raw_affiliation_strings":["School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-7970-9076","affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019906827","display_name":"Chenguang Yang","orcid":"https://orcid.org/0000-0001-5255-5559"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chenguang Yang","raw_affiliation_strings":["College of Automation Science and Engineering, South China University of Technology, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0001-5255-5559","affiliations":[{"raw_affiliation_string":"College of Automation Science and Engineering, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015092734","display_name":"Yongping Pan","orcid":"https://orcid.org/0000-0002-8587-6065"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongping Pan","raw_affiliation_strings":["School of Advanced Manufacturing, Sun Yat-sen University, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-8587-6065","affiliations":[{"raw_affiliation_string":"School of Advanced Manufacturing, Sun Yat-sen University, Shenzhen, China","institution_ids":["https://openalex.org/I157773358"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.34,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.9048683,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"71","issue":"4","first_page":"3832","last_page":"3841"},"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/T13114","display_name":"Image Processing Techniques and Applications","score":0.9991000294685364,"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/T11569","display_name":"Optical Coherence Tomography Applications","score":0.9905999898910522,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.8808239102363586},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7250866889953613},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.677513837814331},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.6527824401855469},{"id":"https://openalex.org/keywords/homography","display_name":"Homography","score":0.6041252613067627},{"id":"https://openalex.org/keywords/monocular-vision","display_name":"Monocular vision","score":0.535418689250946},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.535280168056488},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.513629138469696},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.50799161195755},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.49600180983543396},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.47372737526893616},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.4729844331741333},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.45858973264694214},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.36137819290161133}],"concepts":[{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.8808239102363586},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7250866889953613},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.677513837814331},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.6527824401855469},{"id":"https://openalex.org/C28751775","wikidata":"https://www.wikidata.org/wiki/Q2112539","display_name":"Homography","level":4,"score":0.6041252613067627},{"id":"https://openalex.org/C158829959","wikidata":"https://www.wikidata.org/wiki/Q1640606","display_name":"Monocular vision","level":2,"score":0.535418689250946},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.535280168056488},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.513629138469696},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.50799161195755},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.49600180983543396},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.47372737526893616},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.4729844331741333},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.45858973264694214},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.36137819290161133},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2023.3277072","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2023.3277072","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.8199999928474426}],"awards":[{"id":"https://openalex.org/G5222414796","display_name":null,"funder_award_id":"23lgzy004","funder_id":"https://openalex.org/F4320321160","funder_display_name":"Sun Yat-sen University"}],"funders":[{"id":"https://openalex.org/F4320321160","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W607660670","https://openalex.org/W1233635381","https://openalex.org/W1514444483","https://openalex.org/W1569800225","https://openalex.org/W1575596356","https://openalex.org/W2026514405","https://openalex.org/W2033819227","https://openalex.org/W2044773577","https://openalex.org/W2070100112","https://openalex.org/W2082991751","https://openalex.org/W2095404487","https://openalex.org/W2098087953","https://openalex.org/W2100249329","https://openalex.org/W2105085370","https://openalex.org/W2113265921","https://openalex.org/W2113757769","https://openalex.org/W2130995426","https://openalex.org/W2132835528","https://openalex.org/W2139121338","https://openalex.org/W2140400355","https://openalex.org/W2141145685","https://openalex.org/W2151674957","https://openalex.org/W2156171810","https://openalex.org/W2161942079","https://openalex.org/W2167501464","https://openalex.org/W2292922312","https://openalex.org/W2485992890","https://openalex.org/W2565233142","https://openalex.org/W2787504052","https://openalex.org/W2789185723","https://openalex.org/W2796246008","https://openalex.org/W2906146416","https://openalex.org/W2964222556","https://openalex.org/W2978213765","https://openalex.org/W2997267381","https://openalex.org/W3016434138","https://openalex.org/W3158711688","https://openalex.org/W3189384752","https://openalex.org/W3209305734","https://openalex.org/W3211405631","https://openalex.org/W4206673201","https://openalex.org/W4236881204","https://openalex.org/W4312222218","https://openalex.org/W6628170318"],"related_works":["https://openalex.org/W2171817899","https://openalex.org/W2376367950","https://openalex.org/W213797040","https://openalex.org/W2620386921","https://openalex.org/W571470105","https://openalex.org/W1851410152","https://openalex.org/W2091554547","https://openalex.org/W3213997683","https://openalex.org/W2069235576","https://openalex.org/W2995270189"],"abstract_inverted_index":{"Visual":[0],"servoing":[1,76],"can":[2],"effectively":[3],"control":[4],"robots":[5],"using":[6],"visual":[7,62,75],"feedback":[8],"to":[9,35,113,124],"improve":[10],"their":[11],"intelligence":[12],"and":[13,106,143,160],"reliability.":[14],"For":[15],"a":[16,21,72,98,107,140,149,163],"feature":[17,52,67,104,131],"point":[18,53],"detected":[19],"by":[20],"monocular":[22,90],"camera,":[23],"the":[24,30,39,44,48,51,57,80,129,133,177,180],"time-varying":[25],"depth":[26,49,94,121,146],"appearing":[27],"nonlinearly":[28],"in":[29,61,119],"Jacobian":[31],"matrix":[32],"is":[33,54,95,111,136,139],"difficult":[34],"be":[36],"measured":[37],"without":[38],"prior":[40],"geometry":[41],"knowledge":[42],"of":[43,50,56,85,101,132,169,179],"observed":[45],"object.":[46],"Hence,":[47],"one":[55],"major":[58],"uncertain":[59,93],"parameters":[60,116],"servoing.":[63],"Considering":[64],"unknown":[65],"Cartesian":[66,103],"positions,":[68],"this":[69],"study":[70],"presents":[71],"dynamics-based":[73,141],"homography-based":[74],"(HBVS)":[77],"controller":[78],"for":[79],"three-dimensional":[81],"(3-D)":[82],"pose":[83],"regulation":[84],"eye-in-hand":[86],"robot":[87,165],"arms":[88],"with":[89,166],"cameras.":[91],"The":[92],"represented":[96],"as":[97],"linear":[99],"form":[100],"its":[102],"position,":[105],"composite":[108],"learning":[109],"law":[110],"applied":[112],"estimate":[114],"position":[115],"accurately,":[117],"resulting":[118],"exact":[120,145],"estimation.":[122],"Compared":[123],"existing":[125],"adaptive":[126],"HBVS":[127],"methods,":[128],"distinctive":[130],"proposed":[134,181],"method":[135],"that":[137],"it":[138],"design":[142],"guarantees":[144],"estimation":[147],"under":[148],"much":[150],"weaker":[151],"condition":[152],"termed":[153],"interval":[154],"excitation":[155],"than":[156],"persistent":[157],"excitation.":[158],"Simulations":[159],"experiments":[161],"on":[162],"collaborative":[164],"7":[167],"degrees":[168],"freedom":[170],"named":[171],"Franka":[172],"Emika":[173],"Panda":[174],"have":[175],"verified":[176],"effectiveness":[178],"method.":[182]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
