{"id":"https://openalex.org/W4385656543","doi":"https://doi.org/10.1109/tro.2023.3299533","title":"Robot\u2013Camera Calibration in Tightly Constrained Environment Using Interactive Perception","display_name":"Robot\u2013Camera Calibration in Tightly Constrained Environment Using Interactive Perception","publication_year":2023,"publication_date":"2023-08-08","ids":{"openalex":"https://openalex.org/W4385656543","doi":"https://doi.org/10.1109/tro.2023.3299533"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2023.3299533","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2023.3299533","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5010124359","display_name":"Fangxun Zhong","orcid":"https://orcid.org/0000-0002-1151-1995"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Fangxun Zhong","raw_affiliation_strings":["T Stone Robotics Institute, Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, SAR, China"],"raw_orcid":"https://orcid.org/0000-0002-1151-1995","affiliations":[{"raw_affiliation_string":"T Stone Robotics Institute, Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, SAR, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100365257","display_name":"Bin Li","orcid":"https://orcid.org/0000-0003-1684-8869"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Bin Li","raw_affiliation_strings":["T Stone Robotics Institute, Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, SAR, China"],"raw_orcid":"https://orcid.org/0000-0003-1684-8869","affiliations":[{"raw_affiliation_string":"T Stone Robotics Institute, Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, SAR, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041869772","display_name":"Wei Chen","orcid":"https://orcid.org/0000-0002-9065-3771"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Wei Chen","raw_affiliation_strings":["T Stone Robotics Institute, Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, SAR, China"],"raw_orcid":"https://orcid.org/0000-0002-9065-3771","affiliations":[{"raw_affiliation_string":"T Stone Robotics Institute, Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, SAR, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100707660","display_name":"Yunhui Liu","orcid":"https://orcid.org/0000-0002-3625-6679"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yun-Hui Liu","raw_affiliation_strings":["T Stone Robotics Institute, Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, SAR, China"],"raw_orcid":"https://orcid.org/0000-0002-3625-6679","affiliations":[{"raw_affiliation_string":"T Stone Robotics Institute, Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, SAR, China","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.5719,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.85468215,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"39","issue":"6","first_page":"4952","last_page":"4970"},"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":0.9991999864578247,"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":0.9983000159263611,"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/computer-vision","display_name":"Computer vision","score":0.7314122915267944},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6881942749023438},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6774539947509766},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6273253560066223},{"id":"https://openalex.org/keywords/robot-calibration","display_name":"Robot calibration","score":0.4750345051288605},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4620683789253235},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.46057865023612976},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.4549713432788849},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.45230960845947266},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.4498455226421356},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.41624295711517334},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3858003318309784},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.3742350935935974},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17849871516227722}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7314122915267944},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6881942749023438},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6774539947509766},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6273253560066223},{"id":"https://openalex.org/C192299074","wikidata":"https://www.wikidata.org/wiki/Q2160034","display_name":"Robot calibration","level":5,"score":0.4750345051288605},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4620683789253235},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.46057865023612976},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.4549713432788849},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.45230960845947266},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.4498455226421356},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.41624295711517334},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3858003318309784},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.3742350935935974},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17849871516227722},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2023.3299533","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2023.3299533","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":58,"referenced_works":["https://openalex.org/W1487127700","https://openalex.org/W1588787446","https://openalex.org/W1845558254","https://openalex.org/W2031953663","https://openalex.org/W2033975778","https://openalex.org/W2041684917","https://openalex.org/W2061417916","https://openalex.org/W2062103315","https://openalex.org/W2064904149","https://openalex.org/W2070371549","https://openalex.org/W2077544344","https://openalex.org/W2093220968","https://openalex.org/W2094801294","https://openalex.org/W2101707625","https://openalex.org/W2107105904","https://openalex.org/W2113735881","https://openalex.org/W2121349631","https://openalex.org/W2123446940","https://openalex.org/W2127220039","https://openalex.org/W2127514693","https://openalex.org/W2139442815","https://openalex.org/W2147102157","https://openalex.org/W2150382645","https://openalex.org/W2159461149","https://openalex.org/W2165214338","https://openalex.org/W2297878380","https://openalex.org/W2337977475","https://openalex.org/W2370549573","https://openalex.org/W2416872609","https://openalex.org/W2499669286","https://openalex.org/W2543474865","https://openalex.org/W2561316912","https://openalex.org/W2610305606","https://openalex.org/W2739374696","https://openalex.org/W2743321363","https://openalex.org/W2792810896","https://openalex.org/W2895611215","https://openalex.org/W2897317266","https://openalex.org/W2909896524","https://openalex.org/W2952554474","https://openalex.org/W2963774609","https://openalex.org/W2965365980","https://openalex.org/W3001016550","https://openalex.org/W3022580094","https://openalex.org/W3042353022","https://openalex.org/W3099641329","https://openalex.org/W3100943374","https://openalex.org/W3105287169","https://openalex.org/W3111138708","https://openalex.org/W3118928504","https://openalex.org/W3145205896","https://openalex.org/W3155981689","https://openalex.org/W3195533065","https://openalex.org/W3205231824","https://openalex.org/W3215912778","https://openalex.org/W4250589301","https://openalex.org/W4280511593","https://openalex.org/W4285307549"],"related_works":["https://openalex.org/W1886477626","https://openalex.org/W2762381663","https://openalex.org/W4317826762","https://openalex.org/W218732962","https://openalex.org/W1988479431","https://openalex.org/W1540467731","https://openalex.org/W1979383880","https://openalex.org/W2139206564","https://openalex.org/W4242231179","https://openalex.org/W2112883795"],"abstract_inverted_index":{"Manipulation":[0],"in":[1,9,58,182],"tight":[2,59,189],"environment":[3],"is":[4,96,122],"challenging":[5],"but":[6,86],"increasingly":[7],"common":[8],"vision-guided":[10],"robotic":[11],"applications.":[12],"The":[13],"significantly":[14],"reduced":[15],"amount":[16],"of":[17,24,132,159,167,179,184],"available":[18,57],"feedback":[19,55],"(limited":[20],"visual":[21],"cues,":[22],"field":[23],"view,":[25],"robot":[26,76,88,168],"motion":[27,64,190],"space,":[28],"etc.)":[29],"hinders":[30],"solving":[31,139],"the":[32,53,75,80,105,115,129,136,140,157],"hand-eye":[33],"relationship":[34],"accurately.":[35],"In":[36,173],"this":[37],"article,":[38],"we":[39,175],"propose":[40],"a":[41,67],"new":[42],"generic":[43],"approach":[44],"for":[45,74,138],"online":[46],"robot\u2013camera":[47],"calibration":[48,148],"that":[49],"could":[50],"deal":[51],"with":[52,71],"least":[54],"input":[56],"environment:":[60],"an":[61],"arbitrarily":[62],"restricted":[63],"space":[65,191],"and":[66,186],"single":[68],"feature":[69,107],"point":[70],"unknown":[72],"position":[73],"end-effector.":[77],"We":[78,102],"introduce":[79],"interactive":[81,106],"perception":[82],"to":[83,90,114,162,193],"generate":[84],"prescribed":[85],"tunable":[87],"motions":[89],"reveal":[91],"high-dimensional":[92],"sensory":[93],"feedback,":[94,127],"which":[95],"not":[97],"obtainable":[98],"from":[99],"static":[100],"images.":[101],"then":[103],"define":[104],"plane":[108],"(IFP),":[109],"whose":[110],"spatial":[111],"property":[112],"corresponds":[113],"robot-actuating":[116],"trajectories.":[117],"A":[118],"depth-free":[119],"adaptive":[120],"controller":[121],"proposed":[123],"based":[124],"on":[125],"image":[126],"where":[128],"converged":[130],"orientation":[131],"IFP":[133],"directly":[134],"harvests":[135],"data":[137,152],"hand\u2013eye":[141],"relationship.":[142],"Our":[143],"algorithm":[144,181],"requires":[145],"neither":[146],"external":[147,197],"sensors/objects":[149],"nor":[150],"large-scale":[151],"acquisition":[153],"process.":[154],"Simulations":[155],"demonstrate":[156],"validity":[158],"our":[160,180],"method":[161],"accurately":[163],"calibrate":[164],"different":[165],"types":[166],"under":[169,188],"various":[170],"system":[171],"set-ups.":[172],"experiments,":[174],"show":[176],"good":[177],"results":[178],"terms":[183],"accuracy":[185],"consistency":[187],"compared":[192],"existing":[194],"approaches":[195],"using":[196],"objects":[198],"and/or":[199],"optimization.":[200]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
