{"id":"https://openalex.org/W3033735261","doi":"https://doi.org/10.1109/tro.2020.2987857","title":"Vision-Based Robotic Traversal of Textureless Smooth Surfaces","display_name":"Vision-Based Robotic Traversal of Textureless Smooth Surfaces","publication_year":2020,"publication_date":"2020-06-02","ids":{"openalex":"https://openalex.org/W3033735261","doi":"https://doi.org/10.1109/tro.2020.2987857","mag":"3033735261"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2020.2987857","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2020.2987857","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5069419368","display_name":"Patrick Keenan","orcid":null},"institutions":[{"id":"https://openalex.org/I530967","display_name":"Toronto Metropolitan University","ror":"https://ror.org/05g13zd79","country_code":"CA","type":"education","lineage":["https://openalex.org/I530967"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Patrick Keenan","raw_affiliation_strings":["Department of Mechanical and Industrial Engineering, Ryerson University, Toronto, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering, Ryerson University, Toronto, Canada","institution_ids":["https://openalex.org/I530967"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025228155","display_name":"Farrokh Janabi\u2010Sharifi","orcid":"https://orcid.org/0000-0002-0314-0688"},"institutions":[{"id":"https://openalex.org/I530967","display_name":"Toronto Metropolitan University","ror":"https://ror.org/05g13zd79","country_code":"CA","type":"education","lineage":["https://openalex.org/I530967"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Farrokh Janabi-Sharifi","raw_affiliation_strings":["Department of Mechanical and Industrial Engineering, Ryerson University, Toronto, Canada"],"raw_orcid":"https://orcid.org/0000-0002-0314-0688","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering, Ryerson University, Toronto, Canada","institution_ids":["https://openalex.org/I530967"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013531537","display_name":"Akbar Assa","orcid":"https://orcid.org/0000-0001-6844-2583"},"institutions":[{"id":"https://openalex.org/I4210157170","display_name":"Magna International (Canada)","ror":"https://ror.org/0537cvg39","country_code":"CA","type":"company","lineage":["https://openalex.org/I4210157170"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Akbar Assa","raw_affiliation_strings":["Magna International, Aurora, Canada"],"raw_orcid":"https://orcid.org/0000-0001-6844-2583","affiliations":[{"raw_affiliation_string":"Magna International, Aurora, Canada","institution_ids":["https://openalex.org/I4210157170"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2875,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.54851975,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"36","issue":"4","first_page":"1287","last_page":"1306"},"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/T10638","display_name":"Optical measurement and interference techniques","score":0.9965000152587891,"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/T11245","display_name":"Advanced Numerical Analysis Techniques","score":0.9961000084877014,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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":0.9308990240097046},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6552267670631409},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6176029443740845},{"id":"https://openalex.org/keywords/tree-traversal","display_name":"Tree traversal","score":0.5713275671005249},{"id":"https://openalex.org/keywords/surface","display_name":"Surface (topology)","score":0.536735475063324},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5246382355690002},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5066261887550354},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.48289060592651367},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.28869521617889404},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.13380402326583862},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.11636322736740112}],"concepts":[{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.9308990240097046},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6552267670631409},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6176029443740845},{"id":"https://openalex.org/C140745168","wikidata":"https://www.wikidata.org/wiki/Q1210082","display_name":"Tree traversal","level":2,"score":0.5713275671005249},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.536735475063324},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5246382355690002},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5066261887550354},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.48289060592651367},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.28869521617889404},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.13380402326583862},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.11636322736740112},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2020.2987857","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2020.2987857","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"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7799999713897705,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[{"id":"https://openalex.org/G4516933292","display_name":null,"funder_award_id":"#430531-12","funder_id":"https://openalex.org/F4320334593","funder_display_name":"Natural Sciences and Engineering Research Council of Canada"},{"id":"https://openalex.org/G8979710487","display_name":null,"funder_award_id":"#203060-12","funder_id":"https://openalex.org/F4320334593","funder_display_name":"Natural Sciences and Engineering Research Council of Canada"}],"funders":[{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W24370626","https://openalex.org/W1514444483","https://openalex.org/W1551371275","https://openalex.org/W1565212980","https://openalex.org/W1600752240","https://openalex.org/W1971886711","https://openalex.org/W2018207148","https://openalex.org/W2037284303","https://openalex.org/W2052790699","https://openalex.org/W2054895621","https://openalex.org/W2055504119","https://openalex.org/W2061332156","https://openalex.org/W2075238618","https://openalex.org/W2082991751","https://openalex.org/W2084106722","https://openalex.org/W2088159861","https://openalex.org/W2099864828","https://openalex.org/W2099888975","https://openalex.org/W2100249329","https://openalex.org/W2102266604","https://openalex.org/W2104206904","https://openalex.org/W2104845659","https://openalex.org/W2108919563","https://openalex.org/W2118370371","https://openalex.org/W2146730441","https://openalex.org/W2165088725","https://openalex.org/W2171367852","https://openalex.org/W2306421343","https://openalex.org/W2412589610","https://openalex.org/W2984066441","https://openalex.org/W3210232381","https://openalex.org/W4205649593","https://openalex.org/W4246841765","https://openalex.org/W6664036629","https://openalex.org/W6698036692","https://openalex.org/W6803376173"],"related_works":["https://openalex.org/W4293869118","https://openalex.org/W2107326529","https://openalex.org/W286997960","https://openalex.org/W2152244067","https://openalex.org/W165596340","https://openalex.org/W2051826626","https://openalex.org/W2516826372","https://openalex.org/W1529033440","https://openalex.org/W2979079341","https://openalex.org/W2331674254"],"abstract_inverted_index":{"This":[0],"investigation":[1],"focuses":[2],"on":[3,36,93],"servoing":[4,34,68],"a":[5,11,127],"robot's":[6],"tool":[7],"with":[8,61,125],"respect":[9],"to":[10,70],"smooth":[12],"workpiece":[13],"surface":[14,95],"by":[15],"making":[16],"use":[17],"of":[18,54,66,79,109],"the":[19,51,62,94,110],"surface's":[20],"characteristic":[21],"local":[22,101],"differential":[23],"properties.":[24],"A":[25,76,90],"novel":[26,77],"formulation":[27],"for":[28,104],"6":[29],"degree-of-freedom":[30],"(DoF)":[31],"textureless":[32],"visual":[33,67],"based":[35],"these":[37],"properties":[38],"is":[39,97,106,113],"proposed,":[40],"which":[41,100],"extends":[42],"an":[43,120],"existing":[44],"3-DoF":[45],"scheme.":[46],"Our":[47],"approach":[48],"naturally":[49],"combines":[50],"geometric":[52,91],"tools":[53,65],"computer-aided":[55],"design":[56],"and":[57,83,117,130],"machining":[58],"(CAD/CAM)":[59],"theory":[60],"manipulator":[63],"control":[64],"synergistically":[69],"achieve":[71],"full":[72],"6-DoF":[73,105],"pose":[74],"control.":[75],"family":[78],"observed":[80],"feature":[81],"sets":[82],"their":[84],"associated":[85],"interaction":[86],"matrices":[87],"are":[88],"presented.":[89],"condition":[92],"shape":[96],"derived":[98],"under":[99],"asymptotic":[102],"stability":[103],"guaranteed.":[107],"Validation":[108],"proposed":[111],"method":[112],"performed":[114],"in":[115],"simulation":[116],"experiment":[118],"using":[119],"articulated":[121],"desktop":[122],"robot":[123],"equipped":[124],"only":[126],"monocular":[128],"camera":[129],"16":[131],"laser":[132],"pointers.":[133]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}