{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,8]],"date-time":"2026-03-08T17:26:22Z","timestamp":1772990782712,"version":"3.50.1"},"reference-count":35,"publisher":"Emerald","issue":"1","license":[{"start":{"date-parts":[[2021,8,17]],"date-time":"2021-08-17T00:00:00Z","timestamp":1629158400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2022,1,3]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>The purpose of this paper is to present a programming by demonstration (PbD) system based on 3D stereoscopic vision and inertial sensing that provides a cost-effective pose tracking system, even during error-prone situations, such as camera occlusions.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>The proposed PbD system is based on the 6D Mimic innovative solution, whose six degrees of freedom marker hardware had to be revised and restructured to accommodate an IMU sensor. Additionally, a new software pipeline was designed to include this new sensing device, seeking the improvement of the overall system\u2019s robustness in stereoscopic vision occlusion situations.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>The IMU component and the new software pipeline allow the 6D Mimic system to successfully maintain the pose tracking when the main tracking tool, i.e. the stereoscopic vision, fails. Therefore, the system improves in terms of reliability, robustness, and accuracy which were verified by real experiments.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Practical implications<\/jats:title>\n<jats:p>Based on this proposal, the 6D Mimic system reaches a reliable and low-cost PbD methodology. Therefore, the robot can accurately replicate, on an industrial scale, the artisan level performance of highly skilled shop-floor operators.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>To the best of the authors\u2019 knowledge, the sensor fusion between stereoscopic images and IMU applied to robot PbD is a novel approach. The system is entirely designed aiming to reduce costs and taking advantage of an offline processing step for data analysis, filtering and fusion, enhancing the reliability of the PbD system.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-02-2021-0043","type":"journal-article","created":{"date-parts":[[2021,8,17]],"date-time":"2021-08-17T07:46:02Z","timestamp":1629186362000},"page":"96-107","source":"Crossref","is-referenced-by-count":7,"title":["Industrial robot programming by demonstration using stereoscopic vision and inertial sensing"],"prefix":"10.1108","volume":"49","author":[{"given":"Jo\u00e3o Pedro C.","family":"de Souza","sequence":"first","affiliation":[]},{"given":"Ant\u00f3nio M.","family":"Amorim","sequence":"additional","affiliation":[]},{"given":"Lu\u00eds F.","family":"Rocha","sequence":"additional","affiliation":[]},{"given":"V\u00edtor H.","family":"Pinto","sequence":"additional","affiliation":[]},{"given":"Ant\u00f3nio Paulo","family":"Moreira","sequence":"additional","affiliation":[]}],"member":"140","published-online":{"date-parts":[[2021,8,17]]},"reference":[{"key":"key2021123108212752200_ref001","unstructured":"ABB (2021), \u201cWizard easy programming \u2013 application software\u201d, available at: https:\/\/new.abb.com\/products\/robotics\/application-software\/wizard (accessed 21 May 2021)."},{"key":"key2021123108212752200_ref002","first-page":"749","article-title":"Concepts of flexible production line, on the example of robotic cell","volume-title":"Modern Technologies in Industrial Engineering II","year":"2014"},{"key":"key2021123108212752200_ref003","doi-asserted-by":"crossref","first-page":"155","DOI":"10.1016\/j.procir.2018.02.028","article-title":"Intuitive robot programming using augmented reality","volume":"76","year":"2018","journal-title":"Procedia CIRP"},{"issue":"5","key":"key2021123108212752200_ref004","doi-asserted-by":"crossref","first-page":"697","DOI":"10.1108\/IR-12-2019-0252","article-title":"AdaptPack studio: an automated intelligent framework for offline factory programming","volume":"47","year":"2020","journal-title":"Industrial Robot: The International Journal of Robotics Research and Application"},{"key":"key2021123108212752200_ref005","doi-asserted-by":"crossref","first-page":"288","DOI":"10.1016\/j.ins.2014.03.104","article-title":"A developmental approach to robotic pointing via human\u2013robot interaction","volume":"283","year":"2014","journal-title":"Information Sciences"},{"key":"key2021123108212752200_ref006","doi-asserted-by":"crossref","first-page":"6505","DOI":"10.1109\/ACCESS.2017.2783682","article-title":"Smart factory of industry 4.0: key technologies, application case, and challenges","volume":"6","year":"2018","journal-title":"IEEE Access"},{"key":"key2021123108212752200_ref007","unstructured":"Costa, P., Malheiros, P. and Moreira, A.P. 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