{"id":"https://openalex.org/W1998385551","doi":"https://doi.org/10.1145/1865909.1865945","title":"Mathematical metrology for evaluating a 6DOF visual servoing system","display_name":"Mathematical metrology for evaluating a 6DOF visual servoing system","publication_year":2009,"publication_date":"2009-09-21","ids":{"openalex":"https://openalex.org/W1998385551","doi":"https://doi.org/10.1145/1865909.1865945","mag":"1998385551"},"language":"en","primary_location":{"id":"doi:10.1145/1865909.1865945","is_oa":false,"landing_page_url":"https://doi.org/10.1145/1865909.1865945","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 9th Workshop on Performance Metrics for Intelligent Systems","raw_type":"proceedings-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/A5080509063","display_name":"Mili Shah","orcid":"https://orcid.org/0000-0003-1789-6985"},"institutions":[{"id":"https://openalex.org/I165556055","display_name":"Loyola University Maryland","ror":"https://ror.org/01by1wp65","country_code":"US","type":"education","lineage":["https://openalex.org/I165556055"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Mili Shah","raw_affiliation_strings":["Loyola Univ. Maryland, Baltimore, Maryland","Loyola University Maryland, Baltimore, Maryland"],"affiliations":[{"raw_affiliation_string":"Loyola Univ. Maryland, Baltimore, Maryland","institution_ids":["https://openalex.org/I165556055"]},{"raw_affiliation_string":"Loyola University Maryland, Baltimore, Maryland","institution_ids":["https://openalex.org/I165556055"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061905262","display_name":"Tommy Chang","orcid":"https://orcid.org/0000-0001-5420-5480"},"institutions":[{"id":"https://openalex.org/I1321296531","display_name":"National Institute of Standards and Technology","ror":"https://ror.org/05xpvk416","country_code":"US","type":"funder","lineage":["https://openalex.org/I1321296531","https://openalex.org/I1343035065"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tommy Chang","raw_affiliation_strings":["National Inst. of Standards and Technology, Gaithersburg, Maryland","National Institute of Standards and Technology Gaithersburg Maryland"],"affiliations":[{"raw_affiliation_string":"National Inst. of Standards and Technology, Gaithersburg, Maryland","institution_ids":["https://openalex.org/I1321296531"]},{"raw_affiliation_string":"National Institute of Standards and Technology Gaithersburg Maryland","institution_ids":["https://openalex.org/I1321296531"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103791154","display_name":"Tsai Hong Hong","orcid":null},"institutions":[{"id":"https://openalex.org/I1321296531","display_name":"National Institute of Standards and Technology","ror":"https://ror.org/05xpvk416","country_code":"US","type":"funder","lineage":["https://openalex.org/I1321296531","https://openalex.org/I1343035065"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tsai Hong","raw_affiliation_strings":["National Inst. of Standards and Technology, Gaithersburg, Maryland","National Institute of Standards and Technology Gaithersburg Maryland"],"affiliations":[{"raw_affiliation_string":"National Inst. of Standards and Technology, Gaithersburg, Maryland","institution_ids":["https://openalex.org/I1321296531"]},{"raw_affiliation_string":"National Institute of Standards and Technology Gaithersburg Maryland","institution_ids":["https://openalex.org/I1321296531"]}]},{"author_position":"last","author":{"id":null,"display_name":"Roger Eastman","orcid":null},"institutions":[{"id":"https://openalex.org/I165556055","display_name":"Loyola University Maryland","ror":"https://ror.org/01by1wp65","country_code":"US","type":"education","lineage":["https://openalex.org/I165556055"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Roger Eastman","raw_affiliation_strings":["Loyola Univ. Maryland, Baltimore, Maryland","Loyola University Maryland, Baltimore, Maryland"],"affiliations":[{"raw_affiliation_string":"Loyola Univ. Maryland, Baltimore, Maryland","institution_ids":["https://openalex.org/I165556055"]},{"raw_affiliation_string":"Loyola University Maryland, Baltimore, Maryland","institution_ids":["https://openalex.org/I165556055"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5080509063"],"corresponding_institution_ids":["https://openalex.org/I165556055"],"apc_list":null,"apc_paid":null,"fwci":0.9841,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.76974526,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"174","last_page":"179"},"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/T10638","display_name":"Optical measurement and interference techniques","score":0.9976000189781189,"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":0.9976000189781189,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/visual-servoing","display_name":"Visual servoing","score":0.7335741519927979},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7304784059524536},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.684588611125946},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6320779323577881},{"id":"https://openalex.org/keywords/coordinate-system","display_name":"Coordinate system","score":0.5878472328186035},{"id":"https://openalex.org/keywords/translation","display_name":"Translation (biology)","score":0.562797486782074},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.5508520603179932},{"id":"https://openalex.org/keywords/rotation-matrix","display_name":"Rotation matrix","score":0.5472977161407471},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.524800181388855},{"id":"https://openalex.org/keywords/transformation-matrix","display_name":"Transformation matrix","score":0.5087907910346985},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.49627023935317993},{"id":"https://openalex.org/keywords/affine-transformation","display_name":"Affine transformation","score":0.4662892520427704},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4328674077987671},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.42658868432044983},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4191749095916748},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.23509261012077332},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20064973831176758}],"concepts":[{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.7335741519927979},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7304784059524536},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.684588611125946},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6320779323577881},{"id":"https://openalex.org/C80551277","wikidata":"https://www.wikidata.org/wiki/Q11210","display_name":"Coordinate system","level":2,"score":0.5878472328186035},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.562797486782074},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.5508520603179932},{"id":"https://openalex.org/C83633838","wikidata":"https://www.wikidata.org/wiki/Q1256564","display_name":"Rotation matrix","level":2,"score":0.5472977161407471},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.524800181388855},{"id":"https://openalex.org/C165443888","wikidata":"https://www.wikidata.org/wiki/Q1482183","display_name":"Transformation matrix","level":3,"score":0.5087907910346985},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.49627023935317993},{"id":"https://openalex.org/C92757383","wikidata":"https://www.wikidata.org/wiki/Q382497","display_name":"Affine transformation","level":2,"score":0.4662892520427704},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4328674077987671},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.42658868432044983},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4191749095916748},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.23509261012077332},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20064973831176758},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"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/C105580179","wikidata":"https://www.wikidata.org/wiki/Q188928","display_name":"Messenger RNA","level":3,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical 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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1145/1865909.1865945","is_oa":false,"landing_page_url":"https://doi.org/10.1145/1865909.1865945","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 9th Workshop on Performance Metrics for Intelligent Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.600.5052","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.600.5052","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.nist.gov/customcf/get_pdf.cfm?pub_id=903632","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8199999928474426,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320309036","display_name":"Purdue University","ror":"https://ror.org/02dqehb95"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W139262827","https://openalex.org/W1527808281","https://openalex.org/W1558111554","https://openalex.org/W1607376109","https://openalex.org/W1985565156","https://openalex.org/W2065095941","https://openalex.org/W2067952275","https://openalex.org/W2103011266","https://openalex.org/W2157451771","https://openalex.org/W2171101481","https://openalex.org/W2974036678"],"related_works":["https://openalex.org/W2103976382","https://openalex.org/W2293969805","https://openalex.org/W2393811303","https://openalex.org/W2394285122","https://openalex.org/W2333203608","https://openalex.org/W2371579316","https://openalex.org/W2023857585","https://openalex.org/W2376440759","https://openalex.org/W2052334218","https://openalex.org/W2751539992"],"abstract_inverted_index":{"In":[0,28,114],"this":[1,99],"paper":[2],"we":[3,30,43,117],"develop":[4],"a":[5,38,52,85,119],"homogeneous":[6],"matrix":[7],"transformation":[8],"to":[9,45,87,92,129],"fit":[10],"two":[11,70],"streams":[12,72],"of":[13,17],"dynamic":[14],"six":[15],"degree":[16],"freedom":[18],"(6DOF)":[19],"data":[20,71],"for":[21],"evaluating":[22],"perception":[23],"systems":[24],"using":[25],"ground":[26,47],"truth.":[27],"particular,":[29],"compare":[31],"object":[32],"position":[33],"and":[34,121],"orientation":[35],"results":[36,50],"from":[37,51,57],"6DOF":[39],"laser":[40],"tracker":[41],"that":[42,65,74,106],"consider":[44],"be":[46],"truth":[48],"with":[49],"real-time":[53],"visual":[54],"servoing":[55],"system":[56,91],"the":[58,80,93,108,130],"Purdue":[59],"Robot":[60],"Vision":[61],"Lab.":[62],"A":[63],"problem":[64,100,105],"arises":[66],"when":[67],"comparing":[68],"these":[69],"is":[73,95],"they":[75],"are":[76],"not":[77],"necessarily":[78],"in":[79],"same":[81],"coordinate":[82,90,112,127],"system.":[83,113],"Therefore,":[84],"method":[86],"transform":[88],"one":[89,126],"other":[94,115],"needed.":[96],"We":[97],"solve":[98],"by":[101],"developing":[102],"an":[103],"optimization":[104],"minimizes":[107],"space":[109,128],"between":[110],"each":[111],"words,":[116],"construct":[118],"rotation":[120],"translation":[122],"which":[123],"best":[124],"transforms":[125],"other.":[131]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2025-10-10T00:00:00"}