{"id":"https://openalex.org/W2526570224","doi":"https://doi.org/10.1109/tro.2016.2604482","title":"Moments-Based Ultrasound Visual Servoing: From a Mono- to Multiplane Approach","display_name":"Moments-Based Ultrasound Visual Servoing: From a Mono- to Multiplane Approach","publication_year":2016,"publication_date":"2016-09-27","ids":{"openalex":"https://openalex.org/W2526570224","doi":"https://doi.org/10.1109/tro.2016.2604482","mag":"2526570224"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2016.2604482","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2016.2604482","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","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://inria.hal.science/hal-01385661","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5110447800","display_name":"Caroline Nadeau","orcid":null},"institutions":[{"id":"https://openalex.org/I56067802","display_name":"Universit\u00e9 de Rennes","ror":"https://ror.org/015m7wh34","country_code":"FR","type":"education","lineage":["https://openalex.org/I56067802"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Caroline Nadeau","raw_affiliation_strings":["University of Rennes I, Rennes, France","Lagadic - Visual servoing in robotics, computer vision, and augmented reality (Campus de Beaulieu 35042 Rennes cedex - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Rennes I, Rennes, France","institution_ids":["https://openalex.org/I56067802"]},{"raw_affiliation_string":"Lagadic - Visual servoing in robotics, computer vision, and augmented reality (Campus de Beaulieu 35042 Rennes cedex - France)","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068761808","display_name":"Alexandre Krupa","orcid":"https://orcid.org/0000-0001-9981-8694"},"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/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I2802519937","display_name":"Institut de Recherche en Informatique et Syst\u00e8mes Al\u00e9atoires","ror":"https://ror.org/00myn0z94","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I205703379","https://openalex.org/I2802204017","https://openalex.org/I2802519937","https://openalex.org/I28221208","https://openalex.org/I4210127572","https://openalex.org/I4210159245","https://openalex.org/I56067802"]},{"id":"https://openalex.org/I4210133778","display_name":"Centre Inria de l'Universit\u00e9 de Rennes","ror":"https://ror.org/04040yw90","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1326498283","https://openalex.org/I4210133778"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Alexandre Krupa","raw_affiliation_strings":["INRIA Rennes-Bretagne Atlantique and IRISA (CNRS UMR 6074), Rennes, France","Lagadic - Visual servoing in robotics, computer vision, and augmented reality (Campus de Beaulieu 35042 Rennes cedex - France)"],"raw_orcid":"https://orcid.org/0000-0001-9981-8694","affiliations":[{"raw_affiliation_string":"INRIA Rennes-Bretagne Atlantique and IRISA (CNRS UMR 6074), Rennes, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I2802519937","https://openalex.org/I4210133778"]},{"raw_affiliation_string":"Lagadic - Visual servoing in robotics, computer vision, and augmented reality (Campus de Beaulieu 35042 Rennes cedex - France)","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073276956","display_name":"Jan Petr","orcid":"https://orcid.org/0000-0002-3201-6002"},"institutions":[{"id":"https://openalex.org/I2801798921","display_name":"Helmholtz-Zentrum Dresden-Rossendorf","ror":"https://ror.org/01zy2cs03","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2801798921"]},{"id":"https://openalex.org/I2802519937","display_name":"Institut de Recherche en Informatique et Syst\u00e8mes Al\u00e9atoires","ror":"https://ror.org/00myn0z94","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I205703379","https://openalex.org/I2802204017","https://openalex.org/I2802519937","https://openalex.org/I28221208","https://openalex.org/I4210127572","https://openalex.org/I4210159245","https://openalex.org/I56067802"]},{"id":"https://openalex.org/I4387152452","display_name":"Empenn","ror":"https://ror.org/02hp31992","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I1326498283","https://openalex.org/I154526488","https://openalex.org/I205703379","https://openalex.org/I2802204017","https://openalex.org/I2802519937","https://openalex.org/I28221208","https://openalex.org/I4210127572","https://openalex.org/I4210133778","https://openalex.org/I4210159245","https://openalex.org/I4387152452","https://openalex.org/I56067802","https://openalex.org/I56067802"]}],"countries":["DE","FR"],"is_corresponding":false,"raw_author_name":"Jan Petr","raw_affiliation_strings":["Helmholtz-Zentrum Dresden-Rossendorf, Dresden, Germany","VisAGeS - Vision, Action et Gestion d'informations en Sant\u00e9 (Irisa, Campus de Beaulieu 35042 Rennes cedex - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Helmholtz-Zentrum Dresden-Rossendorf, Dresden, Germany","institution_ids":["https://openalex.org/I2801798921"]},{"raw_affiliation_string":"VisAGeS - Vision, Action et Gestion d'informations en Sant\u00e9 (Irisa, Campus de Beaulieu 35042 Rennes cedex - France)","institution_ids":["https://openalex.org/I2802519937","https://openalex.org/I4387152452"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066059428","display_name":"Christian Barillot","orcid":"https://orcid.org/0000-0002-1589-7696"},"institutions":[{"id":"https://openalex.org/I154526488","display_name":"Inserm","ror":"https://ror.org/02vjkv261","country_code":"FR","type":"government","lineage":["https://openalex.org/I154526488"]},{"id":"https://openalex.org/I2802519937","display_name":"Institut de Recherche en Informatique et Syst\u00e8mes Al\u00e9atoires","ror":"https://ror.org/00myn0z94","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I205703379","https://openalex.org/I2802204017","https://openalex.org/I2802519937","https://openalex.org/I28221208","https://openalex.org/I4210127572","https://openalex.org/I4210159245","https://openalex.org/I56067802"]},{"id":"https://openalex.org/I4387152452","display_name":"Empenn","ror":"https://ror.org/02hp31992","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I1326498283","https://openalex.org/I154526488","https://openalex.org/I205703379","https://openalex.org/I2802204017","https://openalex.org/I2802519937","https://openalex.org/I28221208","https://openalex.org/I4210127572","https://openalex.org/I4210133778","https://openalex.org/I4210159245","https://openalex.org/I4387152452","https://openalex.org/I56067802","https://openalex.org/I56067802"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Christian Barillot","raw_affiliation_strings":["INSERM U746, Rennes, France","VisAGeS - Vision, Action et Gestion d'informations en Sant\u00e9 (Irisa, Campus de Beaulieu 35042 Rennes cedex - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"INSERM U746, Rennes, France","institution_ids":["https://openalex.org/I154526488"]},{"raw_affiliation_string":"VisAGeS - Vision, Action et Gestion d'informations en Sant\u00e9 (Irisa, Campus de Beaulieu 35042 Rennes cedex - France)","institution_ids":["https://openalex.org/I2802519937","https://openalex.org/I4387152452"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":8,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8425,"has_fulltext":false,"cited_by_count":26,"citation_normalized_percentile":{"value":0.78814756,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"32","issue":"6","first_page":"1558","last_page":"1564"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9995999932289124,"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":0.9995999932289124,"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/T10052","display_name":"Medical Image Segmentation Techniques","score":0.9975000023841858,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9973000288009644,"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":0.8448374271392822},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7947911024093628},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7725479006767273},{"id":"https://openalex.org/keywords/imaging-phantom","display_name":"Imaging phantom","score":0.6878020167350769},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.637593150138855},{"id":"https://openalex.org/keywords/image-plane","display_name":"Image plane","score":0.5130399465560913},{"id":"https://openalex.org/keywords/servo","display_name":"Servo","score":0.4877098500728607},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.4710124731063843},{"id":"https://openalex.org/keywords/servo-control","display_name":"Servo control","score":0.467551589012146},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.3632698059082031},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.09065186977386475},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08832651376724243}],"concepts":[{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.8448374271392822},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7947911024093628},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7725479006767273},{"id":"https://openalex.org/C104293457","wikidata":"https://www.wikidata.org/wiki/Q28324852","display_name":"Imaging phantom","level":2,"score":0.6878020167350769},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.637593150138855},{"id":"https://openalex.org/C120515352","wikidata":"https://www.wikidata.org/wiki/Q2564580","display_name":"Image plane","level":3,"score":0.5130399465560913},{"id":"https://openalex.org/C107354338","wikidata":"https://www.wikidata.org/wiki/Q1937153","display_name":"Servo","level":2,"score":0.4877098500728607},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.4710124731063843},{"id":"https://openalex.org/C32731416","wikidata":"https://www.wikidata.org/wiki/Q7455930","display_name":"Servo control","level":3,"score":0.467551589012146},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.3632698059082031},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.09065186977386475},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08832651376724243}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tro.2016.2604482","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2016.2604482","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","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-01385661v1","is_oa":true,"landing_page_url":"https://inria.hal.science/hal-01385661","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 Robotics, 2016, 32 (6), pp.1558-1564. ⟨10.1109/TRO.2016.2604482⟩","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-01385661v1","is_oa":true,"landing_page_url":"https://inria.hal.science/hal-01385661","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 Robotics, 2016, 32 (6), pp.1558-1564. ⟨10.1109/TRO.2016.2604482⟩","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1997204337","https://openalex.org/W2006171429","https://openalex.org/W2019220080","https://openalex.org/W2045783741","https://openalex.org/W2049633694","https://openalex.org/W2072593457","https://openalex.org/W2082991751","https://openalex.org/W2099358917","https://openalex.org/W2104425370","https://openalex.org/W2113137767","https://openalex.org/W2115664739","https://openalex.org/W2120415087","https://openalex.org/W2124067196","https://openalex.org/W2132447169","https://openalex.org/W2141878121","https://openalex.org/W2153880884","https://openalex.org/W2157593358","https://openalex.org/W2160076678","https://openalex.org/W2160608400","https://openalex.org/W2170701495","https://openalex.org/W6682882678"],"related_works":["https://openalex.org/W2325567779","https://openalex.org/W2096032076","https://openalex.org/W2133614587","https://openalex.org/W2006540188","https://openalex.org/W2367220495","https://openalex.org/W2141878121","https://openalex.org/W2141913430","https://openalex.org/W2979521970","https://openalex.org/W2088603790","https://openalex.org/W4236881204"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,11,87,107,114],"new":[4],"image-based":[5],"visual":[6],"servoing":[7],"approach":[8,81],"to":[9,33,48,67],"control":[10],"robotic":[12,103],"system":[13],"equipped":[14],"with":[15,31,110],"an":[16,25,34],"ultrasound":[17],"(US)":[18],"imaging":[19],"device.":[20],"The":[21],"presented":[22],"method":[23,98],"allows":[24],"automatic":[26],"positioning":[27],"of":[28,36,54,94,113],"the":[29,55,69,111,120],"probe":[30,95,117],"respect":[32],"object":[35,70],"interest.":[37],"Moments-based":[38],"image":[39,74,91],"features":[40],"are":[41],"computed":[42],"from":[43,102],"three":[44,121],"orthogonal":[45],"US":[46,90,108,122],"images":[47],"servo":[49],"in-plane":[50],"and":[51],"out-of-plane":[52],"motions":[53],"system.":[56],"An":[57],"efficient":[58],"segmentation":[59],"method,":[60],"based":[61,85],"on":[62,86,106],"graph-cut":[63],"strategy,":[64],"is":[65],"proposed":[66],"extract":[68],"contour":[71],"in":[72,92],"each":[73],"plane.":[75],"Simulation":[76],"results":[77],"demonstrate":[78],"that":[79,118],"this":[80],"improves":[82],"upon":[83],"techniques":[84],"single":[88],"2-D":[89],"terms":[93],"positioning.":[96],"Our":[97],"was":[99],"also":[100],"validated":[101],"experiments":[104],"performed":[105],"phantom":[109],"use":[112],"motorized":[115],"3-D":[116],"provides":[119],"images.":[123]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":3},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":1}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}