{"id":"https://openalex.org/W4306986146","doi":"https://doi.org/10.1177/02783649221128843","title":"Continuum robot state estimation using Gaussian process regression on SE(3)","display_name":"Continuum robot state estimation using Gaussian process regression on SE(3)","publication_year":2022,"publication_date":"2022-10-21","ids":{"openalex":"https://openalex.org/W4306986146","doi":"https://doi.org/10.1177/02783649221128843"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783649221128843","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":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"journal-article","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://arxiv.org/pdf/2210.14842","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5030152098","display_name":"Sven Lilge","orcid":"https://orcid.org/0000-0001-8503-0273"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Sven Lilge","raw_affiliation_strings":["Continuum Robotics Laboratory, Department of Mathematical & Computational Sciences, University of Toronto, Mississauga, ON, Canada","Robotics Institute, University of Toronto, Toronto, ON, Canada"],"affiliations":[{"raw_affiliation_string":"Continuum Robotics Laboratory, Department of Mathematical & Computational Sciences, University of Toronto, Mississauga, ON, Canada","institution_ids":["https://openalex.org/I185261750"]},{"raw_affiliation_string":"Robotics Institute, University of Toronto, Toronto, ON, Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004788089","display_name":"Timothy D. Barfoot","orcid":"https://orcid.org/0000-0003-3899-631X"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Timothy D. Barfoot","raw_affiliation_strings":["Autonomous Space Robotics Laboratory, Institute for Aerospace Studies, University of Toronto, Toronto, ON, Canada"],"affiliations":[{"raw_affiliation_string":"Autonomous Space Robotics Laboratory, Institute for Aerospace Studies, University of Toronto, Toronto, ON, Canada","institution_ids":["https://openalex.org/I185261750","https://openalex.org/I185261750"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087473881","display_name":"Jessica Burgner-Kahrs","orcid":"https://orcid.org/0000-0001-9185-3970"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Jessica Burgner-Kahrs","raw_affiliation_strings":["Continuum Robotics Laboratory, Department of Mathematical & Computational Sciences, University of Toronto, Mississauga, ON, Canada","Robotics Institute, University of Toronto, Toronto, ON, Canada"],"affiliations":[{"raw_affiliation_string":"Continuum Robotics Laboratory, Department of Mathematical & Computational Sciences, University of Toronto, Mississauga, ON, Canada","institution_ids":["https://openalex.org/I185261750"]},{"raw_affiliation_string":"Robotics Institute, University of Toronto, Toronto, ON, Canada","institution_ids":["https://openalex.org/I185261750"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5030152098"],"corresponding_institution_ids":["https://openalex.org/I185261750"],"apc_list":null,"apc_paid":null,"fwci":2.126,"has_fulltext":true,"fulltext_origin":"pdf","cited_by_count":18,"citation_normalized_percentile":{"value":0.565037,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":"41","issue":"13-14","first_page":"1099","last_page":"1120"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9992,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10868","display_name":"Soft Robotics and Applications","score":0.9992,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T11778","display_name":"Electrical and Bioimpedance Tomography","score":0.9713,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T10653","display_name":"Robot Manipulation and Learning","score":0.9679,"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/ground-truth","display_name":"Ground truth","score":0.4173167}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.75183845},{"id":"https://openalex.org/C81692654","wikidata":"https://www.wikidata.org/wiki/Q225926","display_name":"Kriging","level":2,"score":0.57602125},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.5749852},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.5443593},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49792504},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4491904},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.42432696},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.4173167},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.41165864},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.39707345},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3316294},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.19014591},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.18955141},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"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":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783649221128843","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":null,"is_accepted":false,"is_published":false},{"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2210.14842","pdf_url":"http://arxiv.org/pdf/2210.14842","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":["Cornell University"],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false},{"is_oa":false,"landing_page_url":"https://api.datacite.org/dois/10.48550/arxiv.2210.14842","pdf_url":null,"source":{"id":"https://openalex.org/S4393179698","display_name":"DataCite API","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210145204","host_organization_name":"DataCite","host_organization_lineage":["https://openalex.org/I4210145204"],"host_organization_lineage_names":["DataCite"],"type":"metadata"},"license":null,"license_id":null,"version":null}],"best_oa_location":{"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2210.14842","pdf_url":"http://arxiv.org/pdf/2210.14842","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":["Cornell University"],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false},"sustainable_development_goals":[],"grants":[],"datasets":[],"versions":["https://openalex.org/W4306986146"],"referenced_works_count":37,"referenced_works":["https://openalex.org/W1532832021","https://openalex.org/W1972456999","https://openalex.org/W2007243548","https://openalex.org/W2036915629","https://openalex.org/W2053265216","https://openalex.org/W2053614949","https://openalex.org/W2065205300","https://openalex.org/W2081422365","https://openalex.org/W2094227853","https://openalex.org/W2095462685","https://openalex.org/W2101667962","https://openalex.org/W2138072388","https://openalex.org/W2138564331","https://openalex.org/W2147404381","https://openalex.org/W2155653863","https://openalex.org/W2184993170","https://openalex.org/W2204930965","https://openalex.org/W2295255295","https://openalex.org/W2329035258","https://openalex.org/W2410401331","https://openalex.org/W2539881804","https://openalex.org/W2544641369","https://openalex.org/W2561565237","https://openalex.org/W2594490506","https://openalex.org/W2739177310","https://openalex.org/W2745007981","https://openalex.org/W2760010639","https://openalex.org/W2911852994","https://openalex.org/W2937885510","https://openalex.org/W2967946388","https://openalex.org/W2993077618","https://openalex.org/W3012888745","https://openalex.org/W3080406417","https://openalex.org/W3101252417","https://openalex.org/W3112645610","https://openalex.org/W3127964809","https://openalex.org/W4211049957"],"related_works":["https://openalex.org/W566010457","https://openalex.org/W4311388919","https://openalex.org/W4300066510","https://openalex.org/W4294967731","https://openalex.org/W4293503520","https://openalex.org/W3134152097","https://openalex.org/W2966696655","https://openalex.org/W2803685231","https://openalex.org/W2600092203","https://openalex.org/W2056958800"],"abstract_inverted_index":{"Continuum":[0],"robots":[1,68,82],"have":[2],"the":[3,30,40,61,74,116,130,136,152,188],"potential":[4],"to":[5,17,39,52,60,102,128],"enable":[6],"new":[7,49],"applications":[8],"in":[9,29,111,183,200],"medicine,":[10],"inspection,":[11],"and":[12,22,33,124,149,171,190,198,204,209,211],"countless":[13],"other":[14],"areas":[15],"due":[16],"their":[18],"unique":[19],"shape,":[20],"compliance,":[21],"size.":[23],"Excellent":[24],"progess":[25],"has":[26],"been":[27,71],"made":[28],"mechanical":[31],"design":[32],"dynamic":[34],"modelling":[35],"of":[36,63,135,146,174],"continuum":[37,67,81,176],"robots,":[38],"point":[41],"that":[42,69,169],"there":[43],"are":[44],"some":[45],"canonical":[46],"designs,":[47],"although":[48],"concepts":[50],"continue":[51],"be":[53,180],"explored.":[54],"In":[55,113],"this":[56],"paper,":[57],"we":[58,125],"turn":[59],"problem":[62],"state":[64,103],"estimation":[65,110],"for":[66,80,107,206,213],"can":[70,179],"modelled":[72],"with":[73,139],"common":[75],"Cosserat":[76],"rod":[77],"model.":[78],"Sensing":[79],"might":[83],"comprise":[84],"external":[85],"camera":[86],"observations,":[87],"embedded":[88],"tracking":[89],"coils":[90],"or":[91,202],"strain":[92,150],"gauges.":[93],"We":[94,154],"repurpose":[95],"a":[96,175],"Gaussian":[97],"process":[98],"(GP)":[99],"regression":[100],"approach":[101,157],"estimation,":[104],"initially":[105],"developed":[106],"continuous-time":[108],"trajectory":[109],"$SE(3)$.":[112],"our":[114,156],"case,":[115],"continuous":[117,131,172],"variable":[118],"is":[119],"not":[120],"time":[121],"but":[122],"arclength":[123],"show":[126,168],"how":[127],"estimate":[129],"shape":[132,178,193],"(and":[133],"strain)":[134],"robot":[137],"(along":[138],"associated":[140],"uncertainties)":[141],"given":[142],"discrete,":[143],"noisy":[144],"measurements":[145],"both":[147],"pose":[148,221],"along":[151],"length.":[153],"demonstrate":[155],"quantitatively":[158],"through":[159,164],"simulations":[160],"as":[161,163,194,196],"well":[162],"experiments.":[165],"Our":[166],"evaluations":[167],"accurate":[170],"estimates":[173],"robot's":[177],"achieved,":[181],"resulting":[182],"average":[184],"end-effector":[185],"errors":[186],"between":[187],"estimated":[189],"ground":[191],"truth":[192],"low":[195],"3.5mm":[197],"0.016$^\\circ$":[199],"simulation":[201],"3.3mm":[203],"0.035$^\\circ$":[205],"unloaded":[207],"configurations":[208],"6.2mm":[210],"0.041$^\\circ$":[212],"loaded":[214],"ones":[215],"during":[216],"experiments,":[217],"when":[218],"using":[219],"discrete":[220],"measurements.":[222]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W4306986146","counts_by_year":[{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":6}],"updated_date":"2025-01-05T05:07:45.792899","created_date":"2022-10-22"}