{"id":"https://openalex.org/W4382119023","doi":"https://doi.org/10.1109/tim.2023.3289560","title":"Image-Based Visual Servoing for Position Alignment With Orthogonal Binocular Vision","display_name":"Image-Based Visual Servoing for Position Alignment With Orthogonal Binocular Vision","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4382119023","doi":"https://doi.org/10.1109/tim.2023.3289560"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2023.3289560","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2023.3289560","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"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 Instrumentation and Measurement","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/A5033809979","display_name":"Tiantian Hao","orcid":"https://orcid.org/0000-0002-6013-6976"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]},{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Tiantian Hao","raw_affiliation_strings":["Institute of Automation, Chinese Academy of Sciences, Beijing, China","School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]},{"raw_affiliation_string":"School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016826662","display_name":"De Xu","orcid":"https://orcid.org/0000-0002-7221-1654"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"De Xu","raw_affiliation_strings":["Institute of Automation, Chinese Academy of Sciences, Beijing, China","School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]},{"raw_affiliation_string":"School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4210165038"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003819876","display_name":"Fangbo Qin","orcid":"https://orcid.org/0000-0002-4085-0857"},"institutions":[{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]},{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fangbo Qin","raw_affiliation_strings":["Institute of Automation, Chinese Academy of Sciences, Beijing, China","School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]},{"raw_affiliation_string":"School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4210165038"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5033809979"],"corresponding_institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210094879","https://openalex.org/I4210100255","https://openalex.org/I4210165038"],"apc_list":null,"apc_paid":null,"fwci":2.3367,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.90413955,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"72","issue":null,"first_page":"1","last_page":"10"},"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/T13114","display_name":"Image Processing Techniques and Applications","score":0.9984999895095825,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9980000257492065,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/visual-servoing","display_name":"Visual servoing","score":0.8680598735809326},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.8538839817047119},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.8103474974632263},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6209500432014465},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.6069007515907288},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5463613867759705},{"id":"https://openalex.org/keywords/machine-vision","display_name":"Machine vision","score":0.538547158241272},{"id":"https://openalex.org/keywords/image-plane","display_name":"Image plane","score":0.49755170941352844},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.48061221837997437},{"id":"https://openalex.org/keywords/optical-axis","display_name":"Optical axis","score":0.4780450463294983},{"id":"https://openalex.org/keywords/active-vision","display_name":"Active vision","score":0.44244781136512756},{"id":"https://openalex.org/keywords/camera-resectioning","display_name":"Camera resectioning","score":0.4389286935329437},{"id":"https://openalex.org/keywords/vergence","display_name":"Vergence (optics)","score":0.4378432333469391},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.34368669986724854},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.2703637480735779},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22111931443214417},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16240194439888}],"concepts":[{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.8680598735809326},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.8538839817047119},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8103474974632263},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6209500432014465},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.6069007515907288},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5463613867759705},{"id":"https://openalex.org/C5339829","wikidata":"https://www.wikidata.org/wiki/Q1425977","display_name":"Machine vision","level":2,"score":0.538547158241272},{"id":"https://openalex.org/C120515352","wikidata":"https://www.wikidata.org/wiki/Q2564580","display_name":"Image plane","level":3,"score":0.49755170941352844},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.48061221837997437},{"id":"https://openalex.org/C3756478","wikidata":"https://www.wikidata.org/wiki/Q3410566","display_name":"Optical axis","level":3,"score":0.4780450463294983},{"id":"https://openalex.org/C193611912","wikidata":"https://www.wikidata.org/wiki/Q4677596","display_name":"Active vision","level":2,"score":0.44244781136512756},{"id":"https://openalex.org/C110898773","wikidata":"https://www.wikidata.org/wiki/Q2933935","display_name":"Camera resectioning","level":2,"score":0.4389286935329437},{"id":"https://openalex.org/C88199966","wikidata":"https://www.wikidata.org/wiki/Q632617","display_name":"Vergence (optics)","level":2,"score":0.4378432333469391},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.34368669986724854},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.2703637480735779},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22111931443214417},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16240194439888},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C15336307","wikidata":"https://www.wikidata.org/wiki/Q1766051","display_name":"Lens (geology)","level":2,"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/C78762247","wikidata":"https://www.wikidata.org/wiki/Q1273174","display_name":"Petroleum engineering","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tim.2023.3289560","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2023.3289560","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"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 Instrumentation and Measurement","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","score":0.44999998807907104,"display_name":"Industry, innovation and infrastructure"}],"awards":[{"id":"https://openalex.org/G2994394706","display_name":null,"funder_award_id":"62103413","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7217911764","display_name":null,"funder_award_id":"62273341","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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W1220877948","https://openalex.org/W1978534204","https://openalex.org/W1998314598","https://openalex.org/W2008298024","https://openalex.org/W2082991751","https://openalex.org/W2101402208","https://openalex.org/W2135386771","https://openalex.org/W2139121338","https://openalex.org/W2167532125","https://openalex.org/W2295524408","https://openalex.org/W2313752765","https://openalex.org/W2344472776","https://openalex.org/W2403523233","https://openalex.org/W2571255201","https://openalex.org/W2592733455","https://openalex.org/W2626705768","https://openalex.org/W2765496735","https://openalex.org/W2885347335","https://openalex.org/W2886946457","https://openalex.org/W2926550000","https://openalex.org/W2957908720","https://openalex.org/W2965157250","https://openalex.org/W3001049514","https://openalex.org/W3003184678","https://openalex.org/W3003618985","https://openalex.org/W3007967032","https://openalex.org/W3097588288","https://openalex.org/W3099896382","https://openalex.org/W3131267413","https://openalex.org/W3166243738","https://openalex.org/W4206106108","https://openalex.org/W4220888007","https://openalex.org/W4225985159","https://openalex.org/W4226071192","https://openalex.org/W4292862907","https://openalex.org/W4313139066","https://openalex.org/W4327663536","https://openalex.org/W4361858473","https://openalex.org/W4376254763","https://openalex.org/W6628199138","https://openalex.org/W6745453541","https://openalex.org/W6785538922"],"related_works":["https://openalex.org/W3020931357","https://openalex.org/W1482128329","https://openalex.org/W3150738183","https://openalex.org/W2096032076","https://openalex.org/W2141878121","https://openalex.org/W2141913430","https://openalex.org/W2979521970","https://openalex.org/W1627415758","https://openalex.org/W2295911540","https://openalex.org/W1609986274"],"abstract_inverted_index":{"Image-based":[0],"visual":[1,109],"servoing":[2,110],"methods":[3],"have":[4],"been":[5],"widely":[6],"used":[7],"in":[8,124,162,190],"many":[9],"areas":[10],"including":[11],"the":[12,18,29,34,47,51,83,90,103,114,133,144,148,152,155,163,166,181,191],"position":[13,122,159],"alignment":[14,44,123,160],"for":[15,89,100,121,132,187],"assembly.":[16,196],"However,":[17],"parallel":[19],"vision":[20,66,117,168],"system":[21,67,118,169],"suffers":[22],"from":[23],"low":[24],"sensitivity":[25,99],"to":[26,33,41,97],"motion":[27,101],"along":[28,46,102],"optical":[30,48,72,104],"axis":[31,49],"due":[32],"camera\u2019s":[35],"perspective":[36],"characteristics,":[37],"which":[38],"can":[39],"lead":[40],"a":[42,125],"larger":[43],"error":[45],"of":[50,86,143,154,193],"camera":[52],"and":[53,81,170],"affect":[54],"subsequent":[55],"tasks.":[56],"To":[57],"address":[58],"this":[59],"issue,":[60],"an":[61,107],"innovative":[62],"binocular":[63],"Eye-to-Hand":[64],"(ETH)":[65],"with":[68,113,165],"two":[69],"cameras":[70],"whose":[71],"axes":[73],"are":[74,172],"approximate":[75],"orthogonal":[76],"is":[77,95,119,137],"designed.":[78],"By":[79],"deriving":[80],"analyzing":[82],"interaction":[84],"matrix":[85,136],"point":[87],"feature":[88],"proposed":[91,115,156,167,182],"system,":[92],"its":[93],"ability":[94],"demonstrated":[96],"improve":[98],"axis.":[105],"Furthermore,":[106],"image-based":[108],"control":[111],"method":[112,131,171,183],"ETH":[116],"developed":[120,138],"screw":[126],"grasping":[127],"experiment.":[128],"A":[129],"calibration":[130],"image":[134],"Jacobian":[135],"based":[139],"on":[140],"active":[141],"motions":[142],"robot\u2019s":[145],"end-effector.":[146],"Finally,":[147],"experimental":[149],"results":[150,178],"verify":[151],"effectiveness":[153],"methods.":[157],"The":[158,177],"errors":[161],"experiments":[164],"less":[173],"than":[174],"0.5":[175],"mm.":[176],"indicate":[179],"that":[180],"holds":[184],"great":[185],"potential":[186],"industrial":[188],"applications":[189],"area":[192],"small":[194],"components":[195]},"counts_by_year":[{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}