{"id":"https://openalex.org/W2144344445","doi":"https://doi.org/10.1109/70.660862","title":"Kinematic calibration of an active head-eye system","display_name":"Kinematic calibration of an active head-eye system","publication_year":1998,"publication_date":"1998-01-01","ids":{"openalex":"https://openalex.org/W2144344445","doi":"https://doi.org/10.1109/70.660862","mag":"2144344445"},"language":"en","primary_location":{"id":"doi:10.1109/70.660862","is_oa":false,"landing_page_url":"https://doi.org/10.1109/70.660862","pdf_url":null,"source":{"id":"https://openalex.org/S116420536","display_name":"IEEE Transactions on Robotics and Automation","issn_l":"1042-296X","issn":["1042-296X","2374-958X"],"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 and Automation","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/A5000280752","display_name":"Mengxiang Li","orcid":"https://orcid.org/0000-0002-4993-0992"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Mengxiang Li","raw_affiliation_strings":["Department of Numerical Analysis and Computing Science, Royal Institute of Technology, Stockholm, Sweden","Dept. of Numerical Anal. & Comput. Sci., R Inst. of Technol., Stockholm, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Numerical Analysis and Computing Science, Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"Dept. of Numerical Anal. & Comput. Sci., R Inst. of Technol., Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5000280752"],"corresponding_institution_ids":["https://openalex.org/I86987016"],"apc_list":null,"apc_paid":null,"fwci":0.9844,"has_fulltext":false,"cited_by_count":31,"citation_normalized_percentile":{"value":0.79558926,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"14","issue":"1","first_page":"153","last_page":"158"},"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":0.9995999932289124,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/kinematics","display_name":"Kinematics","score":0.769088864326477},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.699654757976532},{"id":"https://openalex.org/keywords/translation","display_name":"Translation (biology)","score":0.6539394855499268},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.630753755569458},{"id":"https://openalex.org/keywords/transformation-matrix","display_name":"Transformation matrix","score":0.6006500720977783},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5789669156074524},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.573664665222168},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5347183346748352},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5140749216079712},{"id":"https://openalex.org/keywords/rotation-matrix","display_name":"Rotation matrix","score":0.4985074996948242},{"id":"https://openalex.org/keywords/head","display_name":"Head (geology)","score":0.47028470039367676},{"id":"https://openalex.org/keywords/nonlinear-programming","display_name":"Nonlinear programming","score":0.4528811573982239},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3875540494918823},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.36949414014816284},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.32951289415359497},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10357105731964111},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.09860420227050781}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.769088864326477},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.699654757976532},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.6539394855499268},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.630753755569458},{"id":"https://openalex.org/C165443888","wikidata":"https://www.wikidata.org/wiki/Q1482183","display_name":"Transformation matrix","level":3,"score":0.6006500720977783},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5789669156074524},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.573664665222168},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5347183346748352},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5140749216079712},{"id":"https://openalex.org/C83633838","wikidata":"https://www.wikidata.org/wiki/Q1256564","display_name":"Rotation matrix","level":2,"score":0.4985074996948242},{"id":"https://openalex.org/C2780312720","wikidata":"https://www.wikidata.org/wiki/Q5689100","display_name":"Head (geology)","level":2,"score":0.47028470039367676},{"id":"https://openalex.org/C115527620","wikidata":"https://www.wikidata.org/wiki/Q769909","display_name":"Nonlinear programming","level":3,"score":0.4528811573982239},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3875540494918823},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.36949414014816284},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.32951289415359497},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10357105731964111},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.09860420227050781},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C105580179","wikidata":"https://www.wikidata.org/wiki/Q188928","display_name":"Messenger RNA","level":3,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C114793014","wikidata":"https://www.wikidata.org/wiki/Q52109","display_name":"Geomorphology","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},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/70.660862","is_oa":false,"landing_page_url":"https://doi.org/10.1109/70.660862","pdf_url":null,"source":{"id":"https://openalex.org/S116420536","display_name":"IEEE Transactions on Robotics and Automation","issn_l":"1042-296X","issn":["1042-296X","2374-958X"],"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 and Automation","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.8299999833106995,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1868209283","https://openalex.org/W1923308556","https://openalex.org/W1975208928","https://openalex.org/W2011111079","https://openalex.org/W2021599527","https://openalex.org/W2093220968","https://openalex.org/W2094801294","https://openalex.org/W2107105904","https://openalex.org/W2107768848","https://openalex.org/W2121857021","https://openalex.org/W2124147849","https://openalex.org/W2133412516","https://openalex.org/W2150382645","https://openalex.org/W2153845261","https://openalex.org/W2798909945","https://openalex.org/W6639140471","https://openalex.org/W6682953435"],"related_works":["https://openalex.org/W1986672664","https://openalex.org/W2490859597","https://openalex.org/W2023857585","https://openalex.org/W2052334218","https://openalex.org/W3185867475","https://openalex.org/W2008187602","https://openalex.org/W2368577664","https://openalex.org/W3202948279","https://openalex.org/W2381024407","https://openalex.org/W1989890335"],"abstract_inverted_index":{"Usually,":[0],"a":[1,6,12,17,76,112,115,118,146],"head-eye":[2,79],"system":[3,18,100,123],"comprises":[4],"of":[5,8,15,32,35,46,49,58,101,132,164],"pair":[7],"cameras":[9,37,51],"mounted":[10],"on":[11,171],"platform.":[13],"Calibration":[14],"such":[16],"can":[19],"be":[20,159],"divided":[21],"into":[22,136],"two":[23,137],"parts.":[24],"The":[25],"first":[26],"part":[27,42],"is":[28,53,87,105],"concerned":[29],"with":[30,44],"calibration":[31,45,57,68,93],"intrinsic":[33],"parameters":[34,48],"the":[36,40,50,59,73,91,106,122,128,151,162],"where":[38,103,121],"as":[39],"second":[41],"deals":[43],"extrinsic":[47],"which":[52,110,140],"realized":[54],"through":[55],"kinematic":[56,67],"system.":[60,80],"In":[61,117],"this":[62,66,85,183],"paper,":[63],"we":[64,71],"solve":[65,97],"problem.":[69],"First":[70],"formulate":[72],"problem":[74,86],"for":[75,150,161],"6-degree-of-freedom":[77],"(DOF)":[78],"It":[81],"turns":[82],"out":[83],"that":[84],"very":[88],"similar":[89],"to":[90,96],"hand-eye":[92],"problem,":[94],"i.e.,":[95],"an":[98],"equation":[99],"AX=XB,":[102],"X":[104,133],"unknown":[107],"transformation":[108],"matrix":[109],"contains":[111],"rotation":[113,129],"and":[114,130,167,174,180],"translation.":[116],"special":[119],"case,":[120],"has":[124],"only":[125],"rotational":[126],"motion,":[127],"translation":[131],"are":[134,141,169,178],"decomposed":[135],"independent":[138],"equations":[139],"solved":[142],"separately.":[143],"We":[144],"propose":[145],"nonlinear":[147],"optimization":[148],"solution":[149],"rotation.":[152],"Algorithms":[153],"from":[154],"early":[155],"work":[156],"have":[157],"also":[158],"implemented":[160],"purpose":[163],"comparison.":[165],"Experiments":[166],"tests":[168],"performed":[170],"both":[172],"synthetic":[173],"real":[175],"data.":[176],"Results":[177],"compared":[179],"presented":[181],"in":[182],"paper.":[184]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
