{"id":"https://openalex.org/W2091094332","doi":"https://doi.org/10.1177/0278364911425836","title":"An autonomous six-DOF eye-in-hand system for in situ 3D object modeling","display_name":"An autonomous six-DOF eye-in-hand system for in situ 3D object modeling","publication_year":2011,"publication_date":"2011-10-31","ids":{"openalex":"https://openalex.org/W2091094332","doi":"https://doi.org/10.1177/0278364911425836","mag":"2091094332"},"language":"en","primary_location":{"id":"doi:10.1177/0278364911425836","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364911425836","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/A5045791863","display_name":"Liila Torabi","orcid":null},"institutions":[{"id":"https://openalex.org/I18014758","display_name":"Simon Fraser University","ror":"https://ror.org/0213rcc28","country_code":"CA","type":"education","lineage":["https://openalex.org/I18014758"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Liila Torabi","raw_affiliation_strings":["School of Engineering Science, Simon Fraser University, Burnaby, Canada"],"affiliations":[{"raw_affiliation_string":"School of Engineering Science, Simon Fraser University, Burnaby, Canada","institution_ids":["https://openalex.org/I18014758"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067371024","display_name":"Kamal Gupta","orcid":"https://orcid.org/0000-0002-4154-0615"},"institutions":[{"id":"https://openalex.org/I18014758","display_name":"Simon Fraser University","ror":"https://ror.org/0213rcc28","country_code":"CA","type":"education","lineage":["https://openalex.org/I18014758"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Kamal Gupta","raw_affiliation_strings":["School of Engineering Science, Simon Fraser University, Burnaby, Canada"],"affiliations":[{"raw_affiliation_string":"School of Engineering Science, Simon Fraser University, Burnaby, Canada","institution_ids":["https://openalex.org/I18014758"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5045791863"],"corresponding_institution_ids":["https://openalex.org/I18014758"],"apc_list":null,"apc_paid":null,"fwci":12.8385,"has_fulltext":false,"cited_by_count":44,"citation_normalized_percentile":{"value":0.98562047,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"31","issue":"1","first_page":"82","last_page":"100"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994999766349792,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9987000226974487,"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/object","display_name":"Object (grammar)","score":0.7017264366149902},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6859449148178101},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6360710263252258},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6140202283859253},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6004295349121094},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.5927515625953674},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.5195115804672241},{"id":"https://openalex.org/keywords/reachability","display_name":"Reachability","score":0.503267228603363},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.50211501121521},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.46260344982147217},{"id":"https://openalex.org/keywords/bounding-overwatch","display_name":"Bounding overwatch","score":0.42368924617767334},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.41938483715057373},{"id":"https://openalex.org/keywords/object-model","display_name":"Object model","score":0.41747790575027466},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3836474120616913},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.17859339714050293}],"concepts":[{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.7017264366149902},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6859449148178101},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6360710263252258},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6140202283859253},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6004295349121094},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.5927515625953674},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.5195115804672241},{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.503267228603363},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.50211501121521},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.46260344982147217},{"id":"https://openalex.org/C63584917","wikidata":"https://www.wikidata.org/wiki/Q333286","display_name":"Bounding overwatch","level":2,"score":0.42368924617767334},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.41938483715057373},{"id":"https://openalex.org/C20894473","wikidata":"https://www.wikidata.org/wiki/Q1116105","display_name":"Object model","level":3,"score":0.41747790575027466},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3836474120616913},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.17859339714050293},{"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},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/0278364911425836","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364911425836","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W1534742889","https://openalex.org/W1735002948","https://openalex.org/W1968117907","https://openalex.org/W1997762114","https://openalex.org/W2008716859","https://openalex.org/W2009422376","https://openalex.org/W2023932159","https://openalex.org/W2039618341","https://openalex.org/W2042613444","https://openalex.org/W2045451895","https://openalex.org/W2049981393","https://openalex.org/W2055671880","https://openalex.org/W2061010610","https://openalex.org/W2068761489","https://openalex.org/W2077754916","https://openalex.org/W2080198904","https://openalex.org/W2092705708","https://openalex.org/W2096268286","https://openalex.org/W2099980352","https://openalex.org/W2100661330","https://openalex.org/W2100816864","https://openalex.org/W2103009569","https://openalex.org/W2107464713","https://openalex.org/W2107667896","https://openalex.org/W2108739153","https://openalex.org/W2112423861","https://openalex.org/W2112547815","https://openalex.org/W2113775403","https://openalex.org/W2119851068","https://openalex.org/W2125345056","https://openalex.org/W2132720564","https://openalex.org/W2140605430","https://openalex.org/W2148089607","https://openalex.org/W2151922743","https://openalex.org/W2163829685","https://openalex.org/W2168465462","https://openalex.org/W2309574746","https://openalex.org/W2335800409","https://openalex.org/W2998115525","https://openalex.org/W3073319880","https://openalex.org/W4236573885","https://openalex.org/W4249850741","https://openalex.org/W4252126565"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2127267268","https://openalex.org/W2136512912","https://openalex.org/W2371519816","https://openalex.org/W2067910792","https://openalex.org/W2156446763","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2143461633","https://openalex.org/W2329043542"],"abstract_inverted_index":{"We":[0,286],"present":[1],"an":[2,39,259,319,324],"integrated":[3],"and":[4,28,50,79,135,189,214,243,282,296],"fully":[5],"autonomous":[6],"eye-in-hand":[7],"system":[8,14,59,284,290,309],"for":[9,110,119],"3D":[10,36,316],"object":[11,40,45,64,219,267,320],"modeling.":[12],"The":[13,91],"hardware":[15],"consists":[16],"of":[17,38,63,156,185,217,247,318],"a":[18,24,35,74,83,137,146,202,215,292,297,315],"laser":[19,302],"range":[20],"scanner":[21],"mounted":[22,299],"on":[23],"six-DOF":[25,293],"manipulator":[26,208],"arm":[27,127,295],"the":[29,44,87,95,100,105,112,117,123,126,131,150,157,158,168,174,192,197,207,210,218,223,231,241,245,248,253,266,272,283,289,308],"task":[30],"is":[31,72,89,142,195,220,225,235,263,269,310],"to":[32,130,144,149,172,205,209,237,312],"autonomously":[33,313],"build":[34,314],"model":[37,317],"in":[41,54,99,228,258,321,323],"situ":[42,322],"where":[43],"may":[46,256],"not":[47],"be":[48,52,280],"moved":[49],"must":[51],"scanned":[53],"its":[55],"original":[56],"location.":[57],"Our":[58,162,304],"assumes":[60],"no":[61,276],"knowledge":[62],"shape":[65],"or":[66,271],"geometry":[67],"other":[68],"than":[69],"that":[70,103,115,141,275,307],"it":[71],"within":[73],"bounding":[75],"box":[76],"whose":[77],"location":[78],"size":[80],"are":[81],"known":[82],"priori,":[84],"and,":[85],"furthermore,":[86],"environment":[88],"unknown.":[90],"overall":[92],"planner":[93,200,234,273],"integrates":[94],"three":[96],"main":[97],"algorithms":[98],"system:":[101],"one":[102,114],"finds":[104,116],"next":[106],"best":[107,175],"view":[108,133,151,160,170,186,212,233,250,254],"(NBV)":[109],"modeling":[111,132,163,176,249,268],"object;":[113],"NBV":[118,164],"exploration,":[120],"i.e.":[121],"exploring":[122],"environment,":[124],"so":[125],"can":[128,279],"move":[129,206],"pose;":[134],"finally":[136],"sensor-based":[138,198],"path":[139,148,199,204],"planner,":[140],"able":[143,311],"find":[145],"collision-free":[147,203],"configuration":[152,255],"determined":[153,193],"by":[154],"either":[155],"two":[159],"planners.":[161],"algorithm":[165],"efficiently":[166],"searches":[167],"five-dimensional":[169],"space":[171],"determine":[173],"viewpoint,":[177],"while":[178],"considering":[179],"key":[180],"constraints":[181],"such":[182],"as":[183],"field":[184],"(FOV),":[187],"overlap,":[188],"occlusion.":[190],"If":[191],"viewpoint":[194],"reachable,":[196],"determines":[201],"desired":[211],"configuration,":[213],"scan":[216],"taken.":[221],"Since":[222],"workspace":[224],"initially":[226],"unknown,":[227],"some":[229],"phases,":[230],"exploration":[232],"used":[236],"increase":[238],"information":[239],"about":[240],"reachability":[242],"also":[244],"status":[246],"configurations,":[251],"since":[252],"lie":[257],"unknown":[260,325],"workspace.":[261],"This":[262],"repeated":[264],"until":[265],"complete":[270],"deems":[274],"further":[277],"progress":[278],"made,":[281],"stops.":[285],"have":[287],"implemented":[288],"with":[291],"powercube":[294],"wrist":[298],"Hokuyo":[300],"URG-04LX":[301],"scanner.":[303],"results":[305],"show":[306],"environment.":[326]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":7},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":5}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}