{"id":"https://openalex.org/W4389104974","doi":"https://doi.org/10.1109/tsmc.2023.3329415","title":"Hybrid Visual Servoing Control for Underwater Vehicle Manipulator Systems With Multiple Cameras","display_name":"Hybrid Visual Servoing Control for Underwater Vehicle Manipulator Systems With Multiple Cameras","publication_year":2023,"publication_date":"2023-11-28","ids":{"openalex":"https://openalex.org/W4389104974","doi":"https://doi.org/10.1109/tsmc.2023.3329415"},"language":"en","primary_location":{"id":"doi:10.1109/tsmc.2023.3329415","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2023.3329415","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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 Systems, Man, and Cybernetics: Systems","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/A5101994218","display_name":"Jiyong Li","orcid":"https://orcid.org/0009-0009-1857-5818"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jiyong Li","raw_affiliation_strings":["National Key Laboratory of Science and Technology of Underwater Vehicle, Harbin Engineering University, Harbin, China","Tianjin Navigation Instruments Research Institute, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Key Laboratory of Science and Technology of Underwater Vehicle, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]},{"raw_affiliation_string":"Tianjin Navigation Instruments Research Institute, Tianjin, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086812979","display_name":"Xinyu Bian","orcid":null},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinyu Bian","raw_affiliation_strings":["National Key Laboratory of Science and Technology of Underwater Vehicle, Harbin Engineering University, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Key Laboratory of Science and Technology of Underwater Vehicle, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028027471","display_name":"Hai Huang","orcid":"https://orcid.org/0000-0001-7764-0442"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hai Huang","raw_affiliation_strings":["National Key Laboratory of Science and Technology of Underwater Vehicle, Harbin Engineering University, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0001-7764-0442","affiliations":[{"raw_affiliation_string":"National Key Laboratory of Science and Technology of Underwater Vehicle, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110814626","display_name":"Tao Jiang","orcid":"https://orcid.org/0000-0002-5905-7904"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tao Jiang","raw_affiliation_strings":["National Key Laboratory of Science and Technology of Underwater Vehicle, Harbin Engineering University, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0001-9829-9300","affiliations":[{"raw_affiliation_string":"National Key Laboratory of Science and Technology of Underwater Vehicle, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100773845","display_name":"Yihui Liu","orcid":"https://orcid.org/0000-0002-8758-2482"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yihui Liu","raw_affiliation_strings":["National Key Laboratory of Science and Technology of Underwater Vehicle, Harbin Engineering University, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Key Laboratory of Science and Technology of Underwater Vehicle, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102776212","display_name":"Lei Wan","orcid":"https://orcid.org/0009-0001-6900-2114"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Wan","raw_affiliation_strings":["National Key Laboratory of Science and Technology of Underwater Vehicle, Harbin Engineering University, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Key Laboratory of Science and Technology of Underwater Vehicle, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5101994218"],"corresponding_institution_ids":["https://openalex.org/I151727225"],"apc_list":null,"apc_paid":null,"fwci":2.3147,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.87699642,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"54","issue":"3","first_page":"1742","last_page":"1754"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T10531","display_name":"Advanced Vision and Imaging","score":0.9986000061035156,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9955999851226807,"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/visual-servoing","display_name":"Visual servoing","score":0.9248809814453125},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.5633233189582825},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5282791256904602},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.498931884765625},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4831402003765106},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.46822094917297363},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.41525495052337646},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3380581736564636},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1857072412967682},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.16974541544914246}],"concepts":[{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.9248809814453125},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.5633233189582825},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5282791256904602},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.498931884765625},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4831402003765106},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.46822094917297363},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.41525495052337646},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3380581736564636},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1857072412967682},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.16974541544914246},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tsmc.2023.3329415","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2023.3329415","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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 Systems, Man, and Cybernetics: Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8199999928474426,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[{"id":"https://openalex.org/G2792922415","display_name":null,"funder_award_id":"52025111","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4710913493","display_name":null,"funder_award_id":"U21A20490","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7863112931","display_name":null,"funder_award_id":"LH2020F026","funder_id":"https://openalex.org/F4320323085","funder_display_name":"Natural Science Foundation of Heilongjiang Province"},{"id":"https://openalex.org/G8477208703","display_name":null,"funder_award_id":"61633009","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320323085","display_name":"Natural Science Foundation of Heilongjiang Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1518169716","https://openalex.org/W2001287404","https://openalex.org/W2016628928","https://openalex.org/W2016770250","https://openalex.org/W2022716248","https://openalex.org/W2026393324","https://openalex.org/W2034737584","https://openalex.org/W2045968916","https://openalex.org/W2124904960","https://openalex.org/W2133032748","https://openalex.org/W2202045407","https://openalex.org/W2512056218","https://openalex.org/W2544719997","https://openalex.org/W2562934139","https://openalex.org/W2586545655","https://openalex.org/W2607515124","https://openalex.org/W2620643565","https://openalex.org/W2736057638","https://openalex.org/W2752368885","https://openalex.org/W2755898301","https://openalex.org/W2765405438","https://openalex.org/W2793078863","https://openalex.org/W2898238472","https://openalex.org/W2906047344","https://openalex.org/W2914150474","https://openalex.org/W2934307726","https://openalex.org/W2935207045","https://openalex.org/W2981243826","https://openalex.org/W2991196524","https://openalex.org/W2996706038","https://openalex.org/W3154955638","https://openalex.org/W4214611286","https://openalex.org/W4289653511","https://openalex.org/W4312910124","https://openalex.org/W4323313544","https://openalex.org/W4327559543","https://openalex.org/W6681394968"],"related_works":["https://openalex.org/W2126852585","https://openalex.org/W2367086100","https://openalex.org/W2352270872","https://openalex.org/W1520171478","https://openalex.org/W2386520554","https://openalex.org/W3024380338","https://openalex.org/W4317830657","https://openalex.org/W2127866683","https://openalex.org/W4293702207","https://openalex.org/W2385165696"],"abstract_inverted_index":{"To":[0],"realize":[1,94],"underwater":[2,16],"accurate":[3,97],"vision-based":[4],"operations,":[5,98],"this":[6],"article":[7],"proposes":[8],"a":[9,22,74,99],"hybrid":[10,101],"visual":[11,28,50,102],"servoing":[12,29,51,103],"control":[13,53],"scheme":[14,31,54,104,118,122],"for":[15],"vehicle":[17],"manipulator":[18],"systems":[19],"(UVMSs)":[20],"toward":[21],"moving":[23],"target.":[24],"First,":[25],"the":[26,36,42,57,70,84,87,116,120,127,139,144],"position-based":[27],"(PBVS)":[30],"is":[32,60,66,80,110],"purposed":[33],"based":[34,55],"on":[35,56],"binocular":[37],"camera.":[38],"Second,":[39],"to":[40,68,82,93,114,125,137],"reduce":[41],"influence":[43],"of":[44,86,143],"hand-eye":[45],"system":[46],"uncertainties,":[47],"an":[48,133],"uncalibrated":[49],"(UVS)":[52],"monocular":[58],"camera":[59],"presented.":[61],"The":[62],"partitioned":[63],"Broyden\u2019s":[64,77],"method":[65,79],"utilized":[67],"estimate":[69],"Jacobian":[71,106],"matrix,":[72],"and":[73,119,132,141],"modified":[75],"adaptive":[76],"class":[78],"proposed":[81],"obtain":[83],"approximation":[85],"residual":[88],"matrix.":[89],"Afterward,":[90],"in":[91],"order":[92],"long":[95],"range":[96],"novel":[100],"with":[105],"matrix":[107],"fusion":[108],"algorithm":[109],"presented":[111,145],"not":[112],"only":[113],"combine":[115],"PBVS":[117],"UVS":[121],"but":[123],"also":[124],"avoid":[126],"trial":[128],"movements\u2019":[129],"influence.":[130],"Simulations":[131],"experiment":[134],"are":[135],"conducted":[136],"testify":[138],"robustness":[140],"effectiveness":[142],"scheme.":[146]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}