{"id":"https://openalex.org/W2137924757","doi":"https://doi.org/10.1177/0278364908096706","title":"Feature Depth Observation for Image-based Visual Servoing: Theory and Experiments","display_name":"Feature Depth Observation for Image-based Visual Servoing: Theory and Experiments","publication_year":2008,"publication_date":"2008-09-23","ids":{"openalex":"https://openalex.org/W2137924757","doi":"https://doi.org/10.1177/0278364908096706","mag":"2137924757"},"language":"en","primary_location":{"id":"doi:10.1177/0278364908096706","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364908096706","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","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/A5049914116","display_name":"Alessandro De Luca","orcid":"https://orcid.org/0000-0002-0713-5608"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Alessandro De Luca","raw_affiliation_strings":["Dipartimento di Informatica e Sistemistica, Universit\u00e0 di Roma                         \"La Sapienza\", Via Ariosto 25, 00185 Roma, Italy,"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Informatica e Sistemistica, Universit\u00e0 di Roma                         \"La Sapienza\", Via Ariosto 25, 00185 Roma, Italy,","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085865201","display_name":"Giuseppe Oriolo","orcid":"https://orcid.org/0000-0001-6153-9278"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Giuseppe Oriolo","raw_affiliation_strings":["Dipartimento di Informatica e Sistemistica, Universit\u00e0 di Roma                         \"La Sapienza\", Via Ariosto 25, 00185 Roma, Italy,"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Informatica e Sistemistica, Universit\u00e0 di Roma                         \"La Sapienza\", Via Ariosto 25, 00185 Roma, Italy,","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067595490","display_name":"Paolo Robuffo Giordano","orcid":"https://orcid.org/0000-0001-6919-7751"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Paolo Robuffo Giordano","raw_affiliation_strings":["Dipartimento di Informatica e Sistemistica, Universit\u00e0 di Roma                         \"La Sapienza\", Via Ariosto 25, 00185 Roma, Italy,"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Informatica e Sistemistica, Universit\u00e0 di Roma                         \"La Sapienza\", Via Ariosto 25, 00185 Roma, Italy,","institution_ids":["https://openalex.org/I861853513"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5049914116","https://openalex.org/A5067595490","https://openalex.org/A5085865201"],"corresponding_institution_ids":["https://openalex.org/I861853513"],"apc_list":null,"apc_paid":null,"fwci":9.5838,"has_fulltext":false,"cited_by_count":182,"citation_normalized_percentile":{"value":0.98338122,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"27","issue":"10","first_page":"1093","last_page":"1116"},"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/T13114","display_name":"Image Processing Techniques and Applications","score":0.9983999729156494,"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/T11105","display_name":"Advanced Image Processing Techniques","score":0.9952999949455261,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/visual-servoing","display_name":"Visual servoing","score":0.9696394801139832},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.72557133436203},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7112700939178467},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.6565993428230286},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.5460625886917114},{"id":"https://openalex.org/keywords/camera-resectioning","display_name":"Camera resectioning","score":0.5237600803375244},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4949926733970642},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.4484182596206665},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.37263786792755127},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.357564240694046},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.21167069673538208}],"concepts":[{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.9696394801139832},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.72557133436203},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7112700939178467},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.6565993428230286},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.5460625886917114},{"id":"https://openalex.org/C110898773","wikidata":"https://www.wikidata.org/wiki/Q2933935","display_name":"Camera resectioning","level":2,"score":0.5237600803375244},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4949926733970642},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.4484182596206665},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.37263786792755127},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.357564240694046},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.21167069673538208},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1177/0278364908096706","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364908096706","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},{"id":"pmh:oai:iris.uniroma1.it:11573/231206","is_oa":false,"landing_page_url":"http://www.scopus.com/inward/record.url?eid=2-s2.0-52349117577&partnerID=65&md5=1665dc3e0830776bd9dc910942537233","pdf_url":null,"source":{"id":"https://openalex.org/S4377196107","display_name":"IRIS Research product catalog (Sapienza University of Rome)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:pure.mpg.de:item_1789584","is_oa":false,"landing_page_url":"http://hdl.handle.net/11858/00-001M-0000-0013-C69D-8","pdf_url":null,"source":{"id":"https://openalex.org/S4306400654","display_name":"MPG.PuRe (Max Planck Society)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I149899117","host_organization_name":"Max Planck Society","host_organization_lineage":["https://openalex.org/I149899117"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"The International Journal of Robotics Research","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W297039922","https://openalex.org/W774034202","https://openalex.org/W1491077795","https://openalex.org/W1514444483","https://openalex.org/W1558111554","https://openalex.org/W1564897360","https://openalex.org/W1571422189","https://openalex.org/W1950786822","https://openalex.org/W2014572148","https://openalex.org/W2045410079","https://openalex.org/W2074125761","https://openalex.org/W2081061398","https://openalex.org/W2082991751","https://openalex.org/W2098050284","https://openalex.org/W2099513764","https://openalex.org/W2100249329","https://openalex.org/W2108574718","https://openalex.org/W2111691855","https://openalex.org/W2113735881","https://openalex.org/W2117011443","https://openalex.org/W2128973673","https://openalex.org/W2136492961","https://openalex.org/W2139996173","https://openalex.org/W2140393629","https://openalex.org/W2140742437","https://openalex.org/W2152526946","https://openalex.org/W2153818557","https://openalex.org/W2157593358","https://openalex.org/W2161357383","https://openalex.org/W2161505441","https://openalex.org/W2161631731","https://openalex.org/W2167501464","https://openalex.org/W2168564612","https://openalex.org/W2168947801","https://openalex.org/W2171367852","https://openalex.org/W2329667520","https://openalex.org/W2487561128","https://openalex.org/W2623660146","https://openalex.org/W3217246742","https://openalex.org/W4248304976"],"related_works":["https://openalex.org/W2126852585","https://openalex.org/W2367086100","https://openalex.org/W2352270872","https://openalex.org/W2386520554","https://openalex.org/W1520171478","https://openalex.org/W4317830657","https://openalex.org/W3024380338","https://openalex.org/W110066474","https://openalex.org/W2147915859","https://openalex.org/W4386459930"],"abstract_inverted_index":{"In":[0],"the":[1,33,42,48,51,76,84,89,129,135,144,157,177,201,205],"classical":[2,209],"image-based":[3],"visual":[4,95,210],"servoing":[5,96,211],"framework,":[6],"error":[7],"signals":[8,46],"are":[9,187],"directly":[10],"computed":[11],"from":[12],"image":[13],"feature":[14],"parameters,":[15],"allowing,":[16],"in":[17,156,172,197],"principle,":[18],"control":[19,45],"schemes":[20],"to":[21,75,167,174,199],"be":[22],"obtained":[23],"that":[24,126,150],"need":[25],"neither":[26],"a":[27,36,65,79,94,123,160,190],"complete":[28],"three-dimensional":[29],"(3D)":[30],"model":[31],"of":[32,44,54,68,78,132,140,147,159,203],"scene":[34],"nor":[35],"perfect":[37],"camera":[38,148,170,196],"calibration.":[39],"However,":[40],"when":[41],"computation":[43],"involves":[47],"interaction":[49],"matrix,":[50],"current":[52],"value":[53,70,131],"some":[55],"3D":[56,86],"parameters":[57],"is":[58,71,88,100,108,143,165],"requiredfor":[59],"each":[60],"considered":[61],"feature,":[62,81],"and":[63,102,120,184],"typically":[64],"rough":[66],"approximation":[67],"this":[69],"used.":[72],"With":[73],"reference":[74],"case":[77,158],"point":[80],"for":[82,105,134,189],"which":[83],"relevant":[85],"parameter":[87],"depth":[90,112,206],"Z,":[91],"we":[92],"propose":[93],"approach":[97],"where":[98],"Z":[99,133],"observed":[101],"made":[103],"available":[104],"servoing.":[106],"This":[107],"achieved":[109],"by":[110,121],"interpreting":[111],"as":[113],"an":[114,194],"unmeasurable":[115],"state":[116],"with":[117,193],"known":[118],"dynamics,":[119],"building":[122],"non-linear":[124],"observer":[125],"asymptotically":[127],"recovers":[128],"actual":[130],"selected":[136],"feature.":[137],"A":[138],"byproduct":[139],"our":[141],"analysis":[142],"rigorous":[145],"characterization":[146],"motions":[149,171],"actually":[151],"allow":[152],"such":[153],"observation.":[154],"Moreover,":[155],"partially":[161],"uncalibrated":[162],"camera,":[163],"it":[164],"possible":[166],"exploit":[168],"complementary":[169],"order":[173,198],"preliminarily":[175],"estimate":[176],"focal":[178],"length":[179],"without":[180],"knowing":[181],"Z.":[182],"Simulations":[183],"experimental":[185],"results":[186],"presented":[188],"mobile":[191],"robot":[192],"on-board":[195],"illustrate":[200],"benefits":[202],"integrating":[204],"observation":[207],"within":[208],"schemes.":[212]},"counts_by_year":[{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":13},{"year":2020,"cited_by_count":12},{"year":2019,"cited_by_count":18},{"year":2018,"cited_by_count":10},{"year":2017,"cited_by_count":12},{"year":2016,"cited_by_count":14},{"year":2015,"cited_by_count":10},{"year":2014,"cited_by_count":12},{"year":2013,"cited_by_count":16},{"year":2012,"cited_by_count":14}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
