{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,15]],"date-time":"2026-02-15T14:06:21Z","timestamp":1771164381516,"version":"3.50.1"},"reference-count":27,"publisher":"Wiley","issue":"2","license":[{"start":{"date-parts":[[2025,9,3]],"date-time":"2025-09-03T00:00:00Z","timestamp":1756857600000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"},{"start":{"date-parts":[[2025,9,3]],"date-time":"2025-09-03T00:00:00Z","timestamp":1756857600000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/doi.wiley.com\/10.1002\/tdm_license_1.1"}],"content-domain":{"domain":["onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Journal of Field Robotics"],"published-print":{"date-parts":[[2026,3]]},"abstract":"<jats:title>ABSTRACT<\/jats:title>\n                  <jats:p>\n                    This study presents a novel method for analyzing the motion path of a differential drive mobile robot using a single video camera and perspective transformation. The robot utilized is the Zoom:Bit by Cytron Technologies, with motion planning based on clothoids, specifically the C\n                    <jats:sup>1<\/jats:sup>\n                    \u2010Continuous Double Clothoid Segments introduced by Idris et al. The robot's movement is generated by calculating wheel speeds along the clothoid path, with the technical configuration also discussed in detail. In contrast to conventional methods that depend on automatic tracking systems such as GPS and sensor fusion, this approach adopts a cost\u2010effective setup using a single camera mounted on a tripod to capture the robot's motion. The recorded video is processed using Mathematica, where keyframes are extracted, and the robot's coordinates are automatically identified at specific time intervals. Perspective transformation is then employed to convert the recorded 3D motion into a 2D plane, enabling a detailed comparison between the robot's actual trajectories and simulated results. The findings underscore the feasibility and accuracy of using a single\u2010camera system for 3D motion capture and validate the efficiency of C\n                    <jats:sup>1<\/jats:sup>\n                    \u2010Continuous Double Clothoid Segments for motion planning, offering a practical and cost\u2010efficient solution for motion path analysis in mobile robotics.\n                  <\/jats:p>","DOI":"10.1002\/rob.70065","type":"journal-article","created":{"date-parts":[[2025,9,3]],"date-time":"2025-09-03T16:26:16Z","timestamp":1756916776000},"page":"835-846","update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Motion Path Analysis for Differential Drive Robots Using Single Video Camera and Perspective Transformations"],"prefix":"10.1002","volume":"43","author":[{"ORCID":"https:\/\/orcid.org\/0009-0008-5231-3785","authenticated-orcid":false,"given":"Mohd Fazril Izhar","family":"Mohd Idris","sequence":"first","affiliation":[{"name":"School of Mathematical Sciences Universiti Sains Malaysia Gelugor Malaysia"},{"name":"College of Computing, Informatics and Mathematics Universiti Teknologi MARA, Perlis Branch, Arau Campus Arau Malaysia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0853-3920","authenticated-orcid":false,"given":"Ahmad","family":"Ramli","sequence":"additional","affiliation":[{"name":"School of Mathematical Sciences Universiti Sains Malaysia Gelugor Malaysia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6421-840X","authenticated-orcid":false,"given":"Wan Zafira Ezza","family":"Wan Zakaria","sequence":"additional","affiliation":[{"name":"School of Industrial Technology Universiti Sains Malaysia"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2025,9,3]]},"reference":[{"key":"e_1_2_8_2_1","doi-asserted-by":"crossref","unstructured":"Al Ahasan M. 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IEEE.https:\/\/doi.org\/10.1109\/ICCITechn.2012.6509782.","DOI":"10.1109\/ICCITechn.2012.6509782"},{"key":"e_1_2_8_3_1","doi-asserted-by":"publisher","DOI":"10.3182\/20110828-6-IT-1002.02944"},{"key":"e_1_2_8_4_1","doi-asserted-by":"publisher","DOI":"10.4218\/etrij.2021-0061"},{"issue":"2","key":"e_1_2_8_5_1","first-page":"221","article-title":"Trajectory Tracking Control of Wheeled Mobile Robots Based on RTK\u2010GPS","volume":"39","author":"Desheng X.","year":"2017","journal-title":"Robot"},{"key":"e_1_2_8_6_1","doi-asserted-by":"publisher","DOI":"10.1002\/rob.22338"},{"key":"e_1_2_8_7_1","doi-asserted-by":"publisher","DOI":"10.1504\/IJAAC.2022.125285"},{"key":"e_1_2_8_8_1","doi-asserted-by":"publisher","DOI":"10.14733\/cadaps.2025.1086-1104"},{"key":"e_1_2_8_9_1","doi-asserted-by":"crossref","unstructured":"Ign\u00e9czi G. andE.Horv\u00e1th.2022. \u201cA Clothoid\u2010Based Local Trajectory Planner With Extended Kalman Filter.\u201d In2022 IEEE 20th Jubilee World Symposium on Applied Machine Intelligence and Informatics (SAMI) 000467\u2010000472. 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A.Stump.2014. \u201cMapping With a Ground Robot in GPS Denied and Degraded Environments.\u201d In2014 American Control Conference 1880\u20101885. IEEE.https:\/\/doi.org\/10.1109\/ACC.2014.6859100.","DOI":"10.1109\/ACC.2014.6859100"},{"key":"e_1_2_8_20_1","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2016.2558479"},{"key":"e_1_2_8_21_1","doi-asserted-by":"publisher","DOI":"10.3390\/s23177421"},{"key":"e_1_2_8_22_1","doi-asserted-by":"crossref","unstructured":"Sinha A. R.Laha andN.Chakraborty.2023. \u201cOc3: A Reactive Velocity Level Motion Planner With Complementarity Constraint\u2010Based Obstacle Avoidance for Mobile Robots.\u201d In2023 IEEE 19th International Conference on Automation Science and Engineering (CASE) 1\u20138. IEEE.https:\/\/doi.org\/10.1109\/CASE56687.2023.10260592.","DOI":"10.1109\/CASE56687.2023.10260592"},{"key":"e_1_2_8_23_1","doi-asserted-by":"crossref","unstructured":"Varghese A. M. andV. 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Y.Xie S.Wang H.Wu andT.Xiong.2023. \u201cCurvature\u2010Continuous RRT\u2010Based Path Planning With Enhanced Efficiency.\u201d In2023 42nd Chinese Control Conference (CCC) 1\u20136. IEEE.https:\/\/doi.org\/10.23919\/CCC58697.2023.10241227.","DOI":"10.23919\/CCC58697.2023.10241227"}],"container-title":["Journal of Field Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rob.70065","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/full-xml\/10.1002\/rob.70065","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rob.70065","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,2,15]],"date-time":"2026-02-15T13:45:04Z","timestamp":1771163104000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/rob.70065"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,9,3]]},"references-count":27,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2026,3]]}},"alternative-id":["10.1002\/rob.70065"],"URL":"https:\/\/doi.org\/10.1002\/rob.70065","archive":["Portico"],"relation":{},"ISSN":["1556-4959","1556-4967"],"issn-type":[{"value":"1556-4959","type":"print"},{"value":"1556-4967","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,9,3]]},"assertion":[{"value":"2024-12-18","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2025-08-09","order":2,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2025-09-03","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}