{"id":"https://openalex.org/W1641292391","doi":"https://doi.org/10.1163/156855312x632904","title":"Visual Servoing Path Planning for Cameras Obeying the Unified Model","display_name":"Visual Servoing Path Planning for Cameras Obeying the Unified Model","publication_year":2012,"publication_date":"2012-05-01","ids":{"openalex":"https://openalex.org/W1641292391","doi":"https://doi.org/10.1163/156855312x632904","mag":"1641292391"},"language":"en","primary_location":{"id":"doi:10.1163/156855312x632904","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855312x632904","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced 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/A5044545500","display_name":"Tiantian Shen","orcid":"https://orcid.org/0000-0002-8802-4167"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":true,"raw_author_name":"Tiantian Shen","raw_affiliation_strings":["a Department of Electrical and Electronic Engineering , University of Hong Kong , Pokfulam Road, Hong Kong","Department of Electrical and Electronic Engineering , University of Hong Kong , Pokfulam Road, Hong Kong"],"affiliations":[{"raw_affiliation_string":"a Department of Electrical and Electronic Engineering , University of Hong Kong , Pokfulam Road, Hong Kong","institution_ids":["https://openalex.org/I889458895"]},{"raw_affiliation_string":"Department of Electrical and Electronic Engineering , University of Hong Kong , Pokfulam Road, Hong Kong","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054609231","display_name":"Graziano Chesi","orcid":"https://orcid.org/0000-0003-4214-4224"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Graziano Chesi","raw_affiliation_strings":["a Department of Electrical and Electronic Engineering , University of Hong Kong , Pokfulam Road, Hong Kong","Department of Electrical and Electronic Engineering , University of Hong Kong , Pokfulam Road, Hong Kong"],"affiliations":[{"raw_affiliation_string":"a Department of Electrical and Electronic Engineering , University of Hong Kong , Pokfulam Road, Hong Kong","institution_ids":["https://openalex.org/I889458895"]},{"raw_affiliation_string":"Department of Electrical and Electronic Engineering , University of Hong Kong , Pokfulam Road, Hong Kong","institution_ids":["https://openalex.org/I889458895"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5044545500"],"corresponding_institution_ids":["https://openalex.org/I889458895"],"apc_list":null,"apc_paid":null,"fwci":0.5491,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.65439105,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"26","issue":"8-9","first_page":"843","last_page":"860"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":1.0,"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":1.0,"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":0.9986000061035156,"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"}},{"id":"https://openalex.org/T13114","display_name":"Image Processing Techniques and Applications","score":0.9968000054359436,"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":0.9640507102012634},{"id":"https://openalex.org/keywords/catadioptric-system","display_name":"Catadioptric system","score":0.7972289323806763},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7813084721565247},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7536251544952393},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6278099417686462},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5316619873046875},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4983174800872803},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.48596251010894775},{"id":"https://openalex.org/keywords/image-plane","display_name":"Image plane","score":0.454860657453537},{"id":"https://openalex.org/keywords/projection","display_name":"Projection (relational algebra)","score":0.4207790195941925},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.41509565711021423},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.386817991733551},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15353354811668396},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.07685938477516174}],"concepts":[{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.9640507102012634},{"id":"https://openalex.org/C153396827","wikidata":"https://www.wikidata.org/wiki/Q1142960","display_name":"Catadioptric system","level":3,"score":0.7972289323806763},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7813084721565247},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7536251544952393},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6278099417686462},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5316619873046875},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4983174800872803},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.48596251010894775},{"id":"https://openalex.org/C120515352","wikidata":"https://www.wikidata.org/wiki/Q2564580","display_name":"Image plane","level":3,"score":0.454860657453537},{"id":"https://openalex.org/C57493831","wikidata":"https://www.wikidata.org/wiki/Q3134666","display_name":"Projection (relational algebra)","level":2,"score":0.4207790195941925},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.41509565711021423},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.386817991733551},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15353354811668396},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.07685938477516174},{"id":"https://openalex.org/C15336307","wikidata":"https://www.wikidata.org/wiki/Q1766051","display_name":"Lens (geology)","level":2,"score":0.0},{"id":"https://openalex.org/C78762247","wikidata":"https://www.wikidata.org/wiki/Q1273174","display_name":"Petroleum engineering","level":1,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1163/156855312x632904","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855312x632904","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"},{"id":"pmh:oai:hub.hku.hk:10722/184504","is_oa":false,"landing_page_url":"http://hdl.handle.net/10722/184504","pdf_url":null,"source":{"id":"https://openalex.org/S4377196271","display_name":"The HKU Scholars Hub (University of Hong Kong)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I889458895","host_organization_name":"University of Hong Kong","host_organization_lineage":["https://openalex.org/I889458895"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W187586930","https://openalex.org/W1502403648","https://openalex.org/W1514444483","https://openalex.org/W1796273244","https://openalex.org/W1981518010","https://openalex.org/W2025939589","https://openalex.org/W2062691475","https://openalex.org/W2071932864","https://openalex.org/W2082991751","https://openalex.org/W2099512252","https://openalex.org/W2100249329","https://openalex.org/W2105597185","https://openalex.org/W2106950642","https://openalex.org/W2111691855","https://openalex.org/W2117923598","https://openalex.org/W2121324469","https://openalex.org/W2128589587","https://openalex.org/W2143597104","https://openalex.org/W2144042618","https://openalex.org/W2144812930","https://openalex.org/W2152208313","https://openalex.org/W2161357383","https://openalex.org/W2164258307","https://openalex.org/W2166312558","https://openalex.org/W2329667520"],"related_works":["https://openalex.org/W2114454005","https://openalex.org/W2162176131","https://openalex.org/W49933351","https://openalex.org/W2581660163","https://openalex.org/W2096032076","https://openalex.org/W2141878121","https://openalex.org/W2141913430","https://openalex.org/W2979521970","https://openalex.org/W1609986274","https://openalex.org/W1606966619"],"abstract_inverted_index":{"Abstract":[0],"This":[1],"paper":[2],"proposes":[3],"a":[4,11,35,61,85,92,116,121],"path":[5],"planning":[6],"visual":[7,67,110],"servoing":[8,68,111],"strategy":[9,45,75],"for":[10,51],"class":[12],"of":[13,47,79,91],"cameras":[14,21,24,30],"that":[15,55],"includes":[16],"conventional":[17],"perspective":[18],"cameras,":[19],"fisheye":[20,117],"and":[22,43,88],"catadioptric":[23],"as":[25],"special":[26],"cases.":[27],"Specifically,":[28],"these":[29],"are":[31,125],"modeled":[32],"by":[33,106],"adopting":[34],"unified":[36],"model":[37],"recently":[38],"proposed":[39,74,132],"in":[40,127],"the":[41,44,57,73,77,80,89,100,131],"literature":[42],"consists":[46],"designing":[48],"image":[49,82,94,102],"trajectories":[50],"eye-in-hand":[52],"robotic":[53],"systems":[54],"allow":[56],"robot":[58,123],"to":[59,129],"reach":[60],"desired":[62],"location":[63],"while":[64],"satisfying":[65],"typical":[66],"constraints.":[69],"To":[70],"this":[71],"end,":[72],"introduces":[76],"projection":[78],"available":[81],"features":[83],"onto":[84],"virtual":[86],"plane":[87],"computation":[90],"feasible":[93],"trajectory":[95,103],"through":[96],"polynomial":[97],"programming.":[98],"Then,":[99],"computed":[101],"is":[104],"tracked":[105],"using":[107],"an":[108],"image-based":[109],"controller.":[112],"Experimental":[113],"results":[114],"with":[115],"camera":[118],"mounted":[119],"on":[120],"6-d.o.f.":[122],"arm":[124],"presented":[126],"order":[128],"illustrate":[130],"strategy.":[133]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2016-06-24T00:00:00"}