{"id":"https://openalex.org/W4414110855","doi":"https://doi.org/10.1109/tim.2025.3608335","title":"IcoTag3D: Enhanced 6-DoF Pose Estimation for Robotic Arms Using TriangleTag Markers on an Icosahedron","display_name":"IcoTag3D: Enhanced 6-DoF Pose Estimation for Robotic Arms Using TriangleTag Markers on an Icosahedron","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4414110855","doi":"https://doi.org/10.1109/tim.2025.3608335"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2025.3608335","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2025.3608335","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/A5119587068","display_name":"Qingying He","orcid":"https://orcid.org/0009-0006-9676-1307"},"institutions":[{"id":"https://openalex.org/I184843921","display_name":"Hebei University of Technology","ror":"https://ror.org/018hded08","country_code":"CN","type":"education","lineage":["https://openalex.org/I184843921"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qingying He","raw_affiliation_strings":["School of Artificial Intelligence and Data Science, Hebei University of Technology, Tianjin, China"],"raw_orcid":"https://orcid.org/0009-0006-9676-1307","affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence and Data Science, Hebei University of Technology, Tianjin, China","institution_ids":["https://openalex.org/I184843921"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000378474","display_name":"Xiao Li","orcid":"https://orcid.org/0000-0002-4330-6849"},"institutions":[{"id":"https://openalex.org/I184843921","display_name":"Hebei University of Technology","ror":"https://ror.org/018hded08","country_code":"CN","type":"education","lineage":["https://openalex.org/I184843921"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiao Li","raw_affiliation_strings":["School of Artificial Intelligence and Data Science, Hebei University of Technology, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-4330-6849","affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence and Data Science, Hebei University of Technology, Tianjin, China","institution_ids":["https://openalex.org/I184843921"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5119587069","display_name":"Chengming Tian","orcid":"https://orcid.org/0009-0007-3449-1468"},"institutions":[{"id":"https://openalex.org/I184843921","display_name":"Hebei University of Technology","ror":"https://ror.org/018hded08","country_code":"CN","type":"education","lineage":["https://openalex.org/I184843921"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chengming Tian","raw_affiliation_strings":["School of Artificial Intelligence and Data Science, Hebei University of Technology, Tianjin, China"],"raw_orcid":"https://orcid.org/0009-0007-3449-1468","affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence and Data Science, Hebei University of Technology, Tianjin, China","institution_ids":["https://openalex.org/I184843921"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108921544","display_name":"Fukui Shen","orcid":"https://orcid.org/0009-0009-8430-5752"},"institutions":[{"id":"https://openalex.org/I184843921","display_name":"Hebei University of Technology","ror":"https://ror.org/018hded08","country_code":"CN","type":"education","lineage":["https://openalex.org/I184843921"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fangyu Shen","raw_affiliation_strings":["School of Artificial Intelligence and Data Science, Hebei University of Technology, Tianjin, China"],"raw_orcid":"https://orcid.org/0009-0009-8430-5752","affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence and Data Science, Hebei University of Technology, Tianjin, China","institution_ids":["https://openalex.org/I184843921"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069912296","display_name":"Yuanyuan Liu","orcid":"https://orcid.org/0000-0001-8719-1572"},"institutions":[{"id":"https://openalex.org/I184843921","display_name":"Hebei University of Technology","ror":"https://ror.org/018hded08","country_code":"CN","type":"education","lineage":["https://openalex.org/I184843921"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuanyuan Liu","raw_affiliation_strings":["School of Artificial Intelligence and Data Science, Hebei University of Technology, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0001-8719-1572","affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence and Data Science, Hebei University of Technology, Tianjin, China","institution_ids":["https://openalex.org/I184843921"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057318263","display_name":"Hao Sun","orcid":"https://orcid.org/0000-0003-3750-1856"},"institutions":[{"id":"https://openalex.org/I184843921","display_name":"Hebei University of Technology","ror":"https://ror.org/018hded08","country_code":"CN","type":"education","lineage":["https://openalex.org/I184843921"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Sun","raw_affiliation_strings":["School of Artificial Intelligence and Data Science, Hebei University of Technology, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0003-3750-1856","affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence and Data Science, Hebei University of Technology, Tianjin, China","institution_ids":["https://openalex.org/I184843921"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I184843921"],"apc_list":null,"apc_paid":null,"fwci":0.8497,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.76951505,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"74","issue":null,"first_page":"1","last_page":"15"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.995199978351593,"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"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.995199978351593,"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":0.9634000062942505,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9376000165939331,"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/fiducial-marker","display_name":"Fiducial marker","score":0.9016000032424927},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.8683000206947327},{"id":"https://openalex.org/keywords/translation","display_name":"Translation (biology)","score":0.6085000038146973},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.551800012588501},{"id":"https://openalex.org/keywords/reprojection-error","display_name":"Reprojection error","score":0.5480999946594238},{"id":"https://openalex.org/keywords/triangulation","display_name":"Triangulation","score":0.5425999760627747},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.5351999998092651},{"id":"https://openalex.org/keywords/ransac","display_name":"RANSAC","score":0.5264999866485596},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.48240000009536743}],"concepts":[{"id":"https://openalex.org/C173974348","wikidata":"https://www.wikidata.org/wiki/Q1469893","display_name":"Fiducial marker","level":2,"score":0.9016000032424927},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.8683000206947327},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8026999831199646},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7757999897003174},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.6085000038146973},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6039000153541565},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.551800012588501},{"id":"https://openalex.org/C23903533","wikidata":"https://www.wikidata.org/wiki/Q17122739","display_name":"Reprojection error","level":3,"score":0.5480999946594238},{"id":"https://openalex.org/C135981907","wikidata":"https://www.wikidata.org/wiki/Q188056","display_name":"Triangulation","level":2,"score":0.5425999760627747},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.5351999998092651},{"id":"https://openalex.org/C114744707","wikidata":"https://www.wikidata.org/wiki/Q218533","display_name":"RANSAC","level":3,"score":0.5264999866485596},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.48240000009536743},{"id":"https://openalex.org/C153715457","wikidata":"https://www.wikidata.org/wiki/Q254183","display_name":"Augmented reality","level":2,"score":0.43320000171661377},{"id":"https://openalex.org/C36613465","wikidata":"https://www.wikidata.org/wiki/Q4636322","display_name":"3D pose estimation","level":3,"score":0.4097999930381775},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.38370001316070557},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.37770000100135803},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.36340001225471497},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.3517000079154968},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.34779998660087585},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.31859999895095825},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.3156999945640564},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.3127000033855438},{"id":"https://openalex.org/C523889960","wikidata":"https://www.wikidata.org/wiki/Q160695","display_name":"Torso","level":2,"score":0.29280000925064087},{"id":"https://openalex.org/C146160929","wikidata":"https://www.wikidata.org/wiki/Q751290","display_name":"Euler angles","level":2,"score":0.27810001373291016},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.27549999952316284},{"id":"https://openalex.org/C137209882","wikidata":"https://www.wikidata.org/wiki/Q1403517","display_name":"Measurement uncertainty","level":2,"score":0.27070000767707825},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.2612000107765198},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.25209999084472656}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tim.2025.3608335","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2025.3608335","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":[],"awards":[{"id":"https://openalex.org/G1322059818","display_name":null,"funder_award_id":"JCYJ20220530112609022","funder_id":"https://openalex.org/F4320327832","funder_display_name":"Shantou Science and Technology Project"},{"id":"https://openalex.org/G3824267511","display_name":null,"funder_award_id":"JCYJ20210324103800001","funder_id":"https://openalex.org/F4320327832","funder_display_name":"Shantou Science and Technology Project"}],"funders":[{"id":"https://openalex.org/F4320327832","display_name":"Shantou Science and Technology Project","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W1991544872","https://openalex.org/W1994349244","https://openalex.org/W2052436153","https://openalex.org/W2083736156","https://openalex.org/W2096758544","https://openalex.org/W2125188427","https://openalex.org/W2127972053","https://openalex.org/W2164139712","https://openalex.org/W2181274189","https://openalex.org/W2460955018","https://openalex.org/W2561257955","https://openalex.org/W2766079582","https://openalex.org/W2810468710","https://openalex.org/W2962711902","https://openalex.org/W2963220103","https://openalex.org/W2963542378","https://openalex.org/W2965469031","https://openalex.org/W3091963586","https://openalex.org/W3136558929","https://openalex.org/W3165858509","https://openalex.org/W3189228481","https://openalex.org/W3198665734","https://openalex.org/W3204423341","https://openalex.org/W4206814198","https://openalex.org/W4211222994","https://openalex.org/W4226323606","https://openalex.org/W4291121098","https://openalex.org/W4311598730","https://openalex.org/W4313059657","https://openalex.org/W4366386374","https://openalex.org/W4381896199","https://openalex.org/W4385338527","https://openalex.org/W4386472840","https://openalex.org/W4391097113","https://openalex.org/W4401416463","https://openalex.org/W4403511060"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"High-precision":[0],"pose":[1,23,57],"estimation":[2,24,73],"using":[3,105,125],"fiducial":[4,38,49],"markers":[5,87,202],"has":[6],"many":[7],"applications":[8],"in":[9,112],"medical":[10],"device":[11],"tracking,":[12],"virtual":[13],"reality":[14],"alignment,":[15],"navigation,":[16],"and":[17,25,34,70,75,90,160,181],"more.":[18],"However,":[19],"the":[20,32,37,62,67,82,86,93,96,106,113,126,138,145,153,166,185,197,210],"accuracy":[21,74],"of":[22,36,81,99,115,147,155,199,212],"detection":[26],"capabilities":[27],"are":[28,88,103,122],"often":[29],"constrained":[30],"by":[31,144],"shape":[33],"scale":[35],"marker":[39,50,68],"plane.":[40],"In":[41],"this":[42],"paper,":[43],"we":[44],"propose":[45],"a":[46,53],"triangular":[47],"planar":[48],"affixed":[51],"to":[52,196,203],"positive":[54],"icosahedron":[55],"for":[56],"estimation.":[58],"This":[59,109],"design":[60],"expands":[61],"angular":[63],"observation":[64],"range,":[65],"increases":[66],"scale,":[69],"consequently":[71],"enhances":[72],"recognition":[76,193],"distance.":[77],"The":[78,132,163],"2D":[79],"coordinates":[80,98],"feature":[83,101],"points":[84,102,121],"from":[85,92,165],"detected":[89],"extracted":[91],"environment.":[94],"Subsequently,":[95],"3D":[97],"these":[100],"obtained":[104],"triangulation":[107],"method.":[108,131],"process":[110],"results":[111,164],"formation":[114],"2D-3D":[116],"point":[117],"pairs.":[118],"High-quality":[119],"interior":[120],"then":[123],"filtered":[124],"Random":[127],"Sample":[128],"Consensus":[129],"(RANSAC)":[130],"initial":[133],"position":[134],"is":[135],"determined":[136],"through":[137,157],"Efficient":[139],"PnP":[140],"(EPnP)":[141],"method,":[142],"followed":[143],"application":[146],"Levenberg-Marquardt":[148],"(LM)":[149],"optimization.":[150],"We":[151],"evaluated":[152],"performance":[154],"IcoTag3D":[156,171],"both":[158],"simulations":[159],"physical":[161],"experiments.":[162],"simulation":[167],"experiments":[168,206],"indicate":[169],"that":[170],"exhibits":[172],"significantly":[173],"lower":[174],"maximum":[175],"rotation":[176],"angle":[177],"error,":[178,180],"reprojection":[179],"translation":[182],"error":[183],"at":[184],"submillimeter":[186],"level.":[187],"Additionally,":[188],"it":[189],"demonstrates":[190],"an":[191],"improved":[192],"distance":[194],"compared":[195],"method":[198],"attaching":[200],"ArUco":[201],"icosahedra.":[204],"Physical":[205],"have":[207],"further":[208],"confirmed":[209],"feasibility":[211],"IcoTag3D.":[213]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
