{"id":"W1818591735","doi":"10.1109/crv.2005.75","title":"Singularity Avoidance in Uncalibrated Visual Servoing","year":2005,"lang":"en","type":"article","venue":"","topic":"Advanced Vision and Imaging","field":"Computer Science","cited_by":0,"is_retracted":false,"has_abstract":true,"ca_institutions":"University of Alberta","funders":"","keywords":"Visual servoing; Singularity; Obstacle avoidance; Gravitational singularity; Robot; A priori and a posteriori; Artificial intelligence; Computer science; Trajectory; Constraint (computer-aided design); Kinematics; Computer vision; Nonlinear programming; Control theory (sociology); Nonlinear system; Mathematics; Mathematical optimization; Mobile robot; Control (management); Geometry","routes":{"ca_aff":true,"ca_fund":false,"ca_venue":false,"about_ca":false,"invisible_to_affiliation_only":false},"retraction":null,"screen":null,"direct_labels":[],"prediction":{"model_version":"metacan-v3-hybrid-931329e0061c","candidate_categories":[],"consensus_categories":[],"category_scores_codex":[0.0003384433,0.0002531071,0.0003707915,0.0002314025,0.0002367357,0.0003265584,0.0004949466,0.000390039,0.0004482821],"category_scores_gemma":[0.001260414,0.0003740148,0.000193076,0.0001944603,0.0005796493,0.0004397595,0.0005811689,0.0003910405,0.000176159],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0002966495,"about_ca_system_score_gemma":0.0002647531,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.001165215,"about_ca_topic_score_gemma":0.0009430777,"domain_scores_codex":[0.9997548,0.0000611319,0.00000846187,0.00003593808,0.0001171458,0.00002245087],"domain_scores_gemma":[0.9996923,0.0001257648,0.00006571064,0.00003868348,0.00006220551,0.00001536098],"domain_codex":null,"domain_gemma":null,"domain_candidate":null,"domain_consensus":null,"study_design_codex":"simulation_or_modeling","study_design_gemma":"simulation_or_modeling","study_design_scores_codex":[0.0002265637,0.00004530565,0.001370746,0.000155949,0.00004564805,0.0002507686,0.0003502793,0.7251999,0.1500057,0.01633281,0.0005715328,0.1054448],"study_design_scores_gemma":[0.00002576697,0.00008932551,0.0006975436,0.0000129666,0.00000763519,0.00009832266,0.00002114389,0.9729273,0.01693516,0.00791655,0.001249346,0.0000189047],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.1509941,0.0004034221,0.8464185,0.00006059154,0.00001654223,0.00001561592,0.00001109789,0.0003038437,0.001776362],"genre_scores_gemma":[0.8770107,0.0001933967,0.1213164,0.00004212512,0.000005659282,0.00004050221,0.0000206899,0.00006760203,0.001302861],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.001165215,"threshold_uncertainty_score":0.002316833,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.007610440041247613,"score_gpt":0.2774731919223961,"score_spread":0.2698627518811484,"validation_status":"score_only:v0-immature-baseline","note":"Baseline scores from an immature model (maturity gate not passed). Scores rank; they never assert a category."}}