{"id":"https://openalex.org/W4205647178","doi":"https://doi.org/10.1109/access.2021.3136850","title":"Hand-Eye Calibration of EOD Robot by Solving the AXB = YCZD Problem","display_name":"Hand-Eye Calibration of EOD Robot by Solving the AXB = YCZD Problem","publication_year":2021,"publication_date":"2021-12-20","ids":{"openalex":"https://openalex.org/W4205647178","doi":"https://doi.org/10.1109/access.2021.3136850"},"language":"en","primary_location":{"is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3136850","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9668973/09656759.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_indexed_in_scopus":true,"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":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true},"type":"article","type_crossref":"journal-article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/9668973/09656759.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5015618898","display_name":"Jianfeng Jiang","orcid":"https://orcid.org/0000-0001-9600-8063"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"funder","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianfeng Jiang","raw_affiliation_strings":["School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004799812","display_name":"Xiao Luo","orcid":"https://orcid.org/0000-0002-3374-428X"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"funder","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiao Luo","raw_affiliation_strings":["School of Computer Science and Technology, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101813426","display_name":"Shijie Xu","orcid":"https://orcid.org/0000-0002-0347-0599"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"funder","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shijie Xu","raw_affiliation_strings":["School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100616911","display_name":"Qingsheng Luo","orcid":"https://orcid.org/0000-0002-5549-8016"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"funder","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qingsheng Luo","raw_affiliation_strings":["School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100330255","display_name":"Minghao Li","orcid":"https://orcid.org/0000-0002-5648-8776"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"funder","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Minghao Li","raw_affiliation_strings":["School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.965,"has_fulltext":true,"fulltext_origin":"pdf","cited_by_count":8,"citation_normalized_percentile":{"value":0.649902,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":84,"max":85},"biblio":{"volume":"10","issue":null,"first_page":"3415","last_page":"3429"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9988,"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"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9988,"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"}},{"id":"https://openalex.org/T13114","display_name":"Image Processing Techniques and Applications","score":0.9978,"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/transformation-matrix","display_name":"Transformation matrix","score":0.4670151},{"id":"https://openalex.org/keywords/kronecker-product","display_name":"Kronecker product","score":0.4141492}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.67933494},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5418594},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5035574},{"id":"https://openalex.org/C159694833","wikidata":"https://www.wikidata.org/wiki/Q2321565","display_name":"Iterative method","level":2,"score":0.47470656},{"id":"https://openalex.org/C165443888","wikidata":"https://www.wikidata.org/wiki/Q1482183","display_name":"Transformation matrix","level":3,"score":0.4670151},{"id":"https://openalex.org/C57493831","wikidata":"https://www.wikidata.org/wiki/Q3134666","display_name":"Projection (relational algebra)","level":2,"score":0.4396689},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.43278524},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.42829156},{"id":"https://openalex.org/C46030957","wikidata":"https://www.wikidata.org/wiki/Q1238125","display_name":"Kronecker product","level":3,"score":0.4141492},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.36249655},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.33608693},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.25910258},{"id":"https://openalex.org/C39482219","wikidata":"https://www.wikidata.org/wiki/Q192826","display_name":"Kronecker delta","level":2,"score":0.08990601},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3136850","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9668973/09656759.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_indexed_in_scopus":true,"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":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true},{"is_oa":false,"landing_page_url":"https://doaj.org/article/208d261bd60f431f90cbefad0d9212ce","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_indexed_in_scopus":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":null,"is_accepted":false,"is_published":false}],"best_oa_location":{"is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3136850","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9668973/09656759.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_indexed_in_scopus":true,"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":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true},"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.47,"id":"https://metadata.un.org/sdg/7"}],"grants":[{"funder":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China","award_id":"2016YFC0803000"}],"datasets":[],"versions":[],"referenced_works_count":32,"referenced_works":["https://openalex.org/W1618572782","https://openalex.org/W1992494041","https://openalex.org/W2055299316","https://openalex.org/W2059727927","https://openalex.org/W2074805944","https://openalex.org/W2094801294","https://openalex.org/W2107105904","https://openalex.org/W2107768848","https://openalex.org/W2109892392","https://openalex.org/W2113735881","https://openalex.org/W2121349631","https://openalex.org/W2127220039","https://openalex.org/W2150382645","https://openalex.org/W2158288882","https://openalex.org/W2160732528","https://openalex.org/W2167916881","https://openalex.org/W2317587719","https://openalex.org/W2326047893","https://openalex.org/W2385297640","https://openalex.org/W2547439543","https://openalex.org/W2610305606","https://openalex.org/W2774119019","https://openalex.org/W2885344251","https://openalex.org/W2901854757","https://openalex.org/W2942427538","https://openalex.org/W2952554474","https://openalex.org/W2996928078","https://openalex.org/W2998532426","https://openalex.org/W3018632141","https://openalex.org/W3118616639","https://openalex.org/W3118928504","https://openalex.org/W3195533065"],"related_works":["https://openalex.org/W3102722572","https://openalex.org/W2364489971","https://openalex.org/W2363898479","https://openalex.org/W2361878581","https://openalex.org/W2360296850","https://openalex.org/W2090103374","https://openalex.org/W2073634779","https://openalex.org/W2023906881","https://openalex.org/W1564288589","https://openalex.org/W123417539"],"abstract_inverted_index":{"The":[0,133,202],"explosive":[1],"ordnance":[2],"disposal":[3],"(EOD)":[4],"robots":[5],"work":[6,17,47],"in":[7,100,182,208,212],"a":[8,110,124,128,161],"special":[9],"environment,":[10],"which":[11],"requires":[12],"dual":[13,49,82],"robotic":[14,50,63,70,83],"arms":[15,51],"to":[16,29,53,138,148,176],"together":[18],"for":[19],"removing":[20],"the":[21,33,36,45,55,76,81,98,101,115,141,145,150,155,167,171,178,183,197,206,209],"bomb.":[22],"Therefore,":[23],"machine":[24],"vision":[25],"is":[26,52,86,104,136],"very":[27],"important":[28],"locating":[30],"bombs,":[31],"especially":[32],"accuracy":[34,153],"of":[35,48,62,80,95,109,144,154,170,214],"hand-eye":[37,61,77,162],"calibration":[38,78,163,200],"technology.":[39],"A":[40,92],"basic":[41],"problem":[42,79,126],"encountered":[43],"with":[44,127,196],"collaborative":[46],"solve":[54],"unknown":[56],"homogeneous":[57],"transformation":[58],"matrix,":[59],"including:":[60],"arm":[64,71,84],"1,":[65],"base-base,":[66],"and":[67,118,152,180,190,193],"camera-end":[68],"effector's":[69],"2.":[72],"In":[73,157,174],"this":[74],"article,":[75],"system":[85],"expressed":[87],"as":[88],"two":[89,199],"matrix":[90,102],"equations.":[91],"new":[93],"method":[94,107,112,121,135,147,164,211],"simultaneously":[96],"solving":[97],"unknowns":[99],"equation":[103],"proposed.":[105],"This":[106],"consists":[108],"closed-form":[111,134],"based":[113,165],"on":[114,166],"Kronecker":[116],"product":[117],"an":[119],"iterative":[120,185],"that":[122],"transforms":[123],"nonlinear":[125],"convex":[129],"function":[130],"optimization":[131],"problem.":[132],"used":[137],"quickly":[139],"obtain":[140],"initial":[142],"value":[143],"iteration":[146],"improve":[149],"efficiency":[151],"iteration.":[156],"addition,":[158],"we":[159,187],"propose":[160],"re-projection":[168],"error":[169],"RGB-D":[172],"camera.":[173],"order":[175],"prove":[177],"feasibility":[179],"superiority":[181,207],"proposed":[184,210],"method,":[186],"conducted":[188],"simulation":[189],"actual":[191],"experiments":[192],"compared":[194],"them":[195],"other":[198],"methods.":[201],"comparison":[203],"results":[204],"verify":[205],"terms":[213],"accuracy.":[215]},"abstract_inverted_index_v3":null,"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W4205647178","counts_by_year":[{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1}],"updated_date":"2025-03-15T23:19:55.832780","created_date":"2022-01-26"}