{"id":"https://openalex.org/W2104110509","doi":"https://doi.org/10.1109/tro.2012.2190875","title":"Direct Visual Servoing: Vision-Based Estimation and Control Using Only Nonmetric Information","display_name":"Direct Visual Servoing: Vision-Based Estimation and Control Using Only Nonmetric Information","publication_year":2012,"publication_date":"2012-04-11","ids":{"openalex":"https://openalex.org/W2104110509","doi":"https://doi.org/10.1109/tro.2012.2190875","mag":"2104110509"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2012.2190875","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2012.2190875","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-02907953","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5069031750","display_name":"Geraldo Silveira","orcid":"https://orcid.org/0000-0002-1965-3963"},"institutions":[{"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":["Center for Information Technology Renato Archer, Division of Robotics and Computer Vision, Campinas, CEP, Brazil","Div. of Robot. & Comput. Vision, Center for Inf. Technol. Renato Archer, Campinas, Brazil"],"affiliations":[{"raw_affiliation_string":"Center for Information Technology Renato Archer, Division of Robotics and Computer Vision, Campinas, CEP, Brazil","institution_ids":["https://openalex.org/I4210142333"]},{"raw_affiliation_string":"Div. of Robot. & Comput. Vision, Center for Inf. Technol. Renato Archer, Campinas, Brazil","institution_ids":["https://openalex.org/I4210142333"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5108074127","display_name":"Ezio Malis","orcid":null},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en informatique et en automatique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1326498283"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Ezio Malis","raw_affiliation_strings":["French National Institute for Research in Computer Science and Control, Sophia-Antipolis, France","French National Institute for Research in Computer Science and Control, Sophia-Antipolis, France#TAB#"],"affiliations":[{"raw_affiliation_string":"French National Institute for Research in Computer Science and Control, Sophia-Antipolis, France","institution_ids":[]},{"raw_affiliation_string":"French National Institute for Research in Computer Science and Control, Sophia-Antipolis, France#TAB#","institution_ids":["https://openalex.org/I1326498283"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5069031750"],"corresponding_institution_ids":["https://openalex.org/I4210142333"],"apc_list":null,"apc_paid":null,"fwci":4.1182,"has_fulltext":false,"cited_by_count":71,"citation_normalized_percentile":{"value":0.94843836,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"28","issue":"4","first_page":"974","last_page":"980"},"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":0.9995999932289124,"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/T10638","display_name":"Optical measurement and interference techniques","score":0.9991000294685364,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/visual-servoing","display_name":"Visual servoing","score":0.949284553527832},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7981538772583008},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7655004262924194},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6720044612884521},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6282855868339539},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5637232065200806},{"id":"https://openalex.org/keywords/pixel","display_name":"Pixel","score":0.43599390983581543},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4355083107948303}],"concepts":[{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.949284553527832},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7981538772583008},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7655004262924194},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6720044612884521},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6282855868339539},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5637232065200806},{"id":"https://openalex.org/C160633673","wikidata":"https://www.wikidata.org/wiki/Q355198","display_name":"Pixel","level":2,"score":0.43599390983581543},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4355083107948303},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tro.2012.2190875","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2012.2190875","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"},{"id":"pmh:oai:HAL:hal-02907953v1","is_oa":true,"landing_page_url":"https://hal.science/hal-02907953","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Robotics, 2012, 28 (4), pp.974-980. &#x27E8;10.1109/TRO.2012.2190875&#x27E9;","raw_type":"Journal articles"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-02907953v1","is_oa":true,"landing_page_url":"https://hal.science/hal-02907953","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Robotics, 2012, 28 (4), pp.974-980. &#x27E8;10.1109/TRO.2012.2190875&#x27E9;","raw_type":"Journal articles"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.7699999809265137}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W154232367","https://openalex.org/W187586930","https://openalex.org/W1687739456","https://openalex.org/W1994732751","https://openalex.org/W2080559363","https://openalex.org/W2082991751","https://openalex.org/W2088098578","https://openalex.org/W2098050284","https://openalex.org/W2105229870","https://openalex.org/W2136031415","https://openalex.org/W2136860008","https://openalex.org/W2139996173","https://openalex.org/W2146730441","https://openalex.org/W2171765266","https://openalex.org/W2489822048","https://openalex.org/W2517833154","https://openalex.org/W4255438484","https://openalex.org/W6679919403"],"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/W110066474","https://openalex.org/W2099513764"],"abstract_inverted_index":{"This":[0,173],"paper":[1,19],"addresses":[2],"the":[3,33,47,58,65,70,84,93,98,102,107,131,142,176],"problem":[4],"of":[5,32,51,64,69,83,116,120,144,178],"stabilizing":[6],"a":[7,10,14,75],"robot":[8,40],"at":[9],"pose":[11],"specified":[12],"via":[13],"reference":[15,103],"image.":[16],"Specifically,":[17],"this":[18,140],"focuses":[20],"on":[21],"six":[22],"degrees-of-freedom":[23],"visual":[24,77,158],"servoing":[25,52,78,121,159],"techniques":[26,56],"that":[27,80,96,130,157],"require":[28],"neither":[29],"metric":[30],"information":[31],"observed":[34],"object":[35,66],"nor":[36],"precise":[37],"camera":[38,71],"and/or":[39,68],"calibration":[41],"parameters.":[42,113],"Not":[43],"requiring":[44],"them":[45],"improves":[46],"flexibility":[48],"and":[49,105,118,153,165,170,181],"robustness":[50],"tasks.":[53],"However,":[54],"existing":[55],"within":[57],"focused":[59],"class":[60],"need":[61],"prior":[62],"knowledge":[63],"shape":[67],"motion.":[72],"We":[73,127],"present":[74],"new":[76],"technique":[79,89],"requires":[81],"none":[82],"aforementioned":[85],"information.":[86],"The":[87,114],"proposed":[88,132],"directly":[90],"exploits":[91],"1)":[92],"projective":[94],"parameters":[95],"relate":[97],"current":[99],"image":[100],"with":[101],"one":[104],"2)":[106],"pixel":[108],"intensities":[109],"to":[110],"obtain":[111],"these":[112],"level":[115],"versatility":[117],"accuracy":[119],"tasks":[122],"are,":[123],"thus,":[124],"further":[125],"improved.":[126],"also":[128],"show":[129],"nonmetric":[133],"scheme":[134],"allows":[135],"for":[136],"path":[137],"planning.":[138],"In":[139],"way,":[141],"domain":[143],"convergence":[145],"is":[146],"greatly":[147],"enlarged":[148],"as":[149],"well.":[150],"Theoretical":[151],"proofs":[152],"experimental":[154],"results":[155],"demonstrate":[156],"can,":[160],"indeed,":[161],"be":[162],"highly":[163],"accurate":[164],"robust,":[166],"despite":[167],"unknown":[168],"objects":[169],"imaging":[171],"conditions.":[172],"naturally":[174],"encompasses":[175],"cases":[177],"color":[179],"images":[180],"illumination":[182],"changes.":[183]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":8},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":8},{"year":2013,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
