{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,2]],"date-time":"2026-07-02T23:50:56Z","timestamp":1783036256660,"version":"3.54.6"},"reference-count":44,"publisher":"SAGE Publications","issue":"8","license":[{"start":{"date-parts":[[2024,2,2]],"date-time":"2024-02-02T00:00:00Z","timestamp":1706832000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"funder":[{"name":"Hangzhou Key Technology Research and Development Program","award":["20212013B09"],"award-info":[{"award-number":["20212013B09"]}]},{"name":"Research Center for Industries of the Future at Westlake University","award":["WU2022C027"],"award-info":[{"award-number":["WU2022C027"]}]}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2024,7]]},"abstract":"<jats:p>Vision-based estimation of the motion of a moving target is usually formulated as a bearing-only estimation problem where the visual measurement is modeled as a bearing vector. Although the bearing-only approach has been studied for decades, a fundamental limitation of this approach is that it requires extra lateral motion of the observer to enhance the target\u2019s observability. Unfortunately, the extra lateral motion conflicts with the desired motion of the observer in many tasks. It is well-known that, once a target has been detected in an image, a bounding box that surrounds the target can be obtained. Surprisingly, this common visual measurement especially its size information has not been well explored up to now. In this paper, we propose a new bearing-angle approach to estimate the motion of a target by modeling its image bounding box as bearing-angle measurements. Both theoretical analysis and experimental results show that this approach can significantly enhance the observability without relying on additional lateral motion of the observer. The benefit of the bearing-angle approach comes with no additional cost because a bounding box is a standard output of object detection algorithms. The approach simply exploits the information that has not been fully exploited in the past. No additional sensing devices or special detection algorithms are required.<\/jats:p>","DOI":"10.1177\/02783649241229172","type":"journal-article","created":{"date-parts":[[2024,2,2]],"date-time":"2024-02-02T23:04:20Z","timestamp":1706915060000},"page":"1228-1249","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":36,"title":["A bearing-angle approach for unknown target motion analysis based on visual measurements"],"prefix":"10.1177","volume":"43","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1784-6910","authenticated-orcid":false,"given":"Zian","family":"Ning","sequence":"first","affiliation":[{"name":"Department of Computer Science and Technology, Zhejiang University, Hangzhou, China"},{"name":"School of Engineering at Westlake University, Hangzhou, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yin","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Engineering at Westlake University, Hangzhou, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jianan","family":"Li","sequence":"additional","affiliation":[{"name":"School of Engineering at Westlake University, Hangzhou, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zhang","family":"Chen","sequence":"additional","affiliation":[{"name":"Department of Automation, Tsinghua University, Beijing, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3098-8059","authenticated-orcid":false,"given":"Shiyu","family":"Zhao","sequence":"additional","affiliation":[{"name":"School of Engineering at Westlake University, Hangzhou, China"},{"name":"Research Center for Industries of the Future, Westlake University, Hangzhou, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2024,2,2]]},"reference":[{"key":"bibr1-02783649241229172","doi-asserted-by":"publisher","DOI":"10.1109\/taes.1979.308793"},{"key":"bibr2-02783649241229172","doi-asserted-by":"publisher","DOI":"10.1109\/taes.1982.309250"},{"key":"bibr3-02783649241229172","doi-asserted-by":"publisher","DOI":"10.2514\/1.g003003"},{"key":"bibr4-02783649241229172","doi-asserted-by":"publisher","DOI":"10.1109\/34.845377"},{"key":"bibr5-02783649241229172","volume-title":"Estimation and Tracking: Principles, Techniques, and Software","author":"Bar-Shalom Y","year":"1993"},{"key":"bibr6-02783649241229172","volume-title":"YOLOv4: Optimal Speed and Accuracy of Object Detection","author":"Bochkovskiy A","year":"2020"},{"key":"bibr7-02783649241229172","doi-asserted-by":"publisher","DOI":"10.1038\/s41467-019-10454-z"},{"key":"bibr8-02783649241229172","doi-asserted-by":"publisher","DOI":"10.1016\/j.sigpro.2005.03.007"},{"key":"bibr9-02783649241229172","doi-asserted-by":"publisher","DOI":"10.1109\/icra.2019.8794243"},{"key":"bibr10-02783649241229172","doi-asserted-by":"publisher","DOI":"10.1016\/s0165-1684(99)00047-x"},{"key":"bibr11-02783649241229172","doi-asserted-by":"publisher","DOI":"10.1109\/7.192098"},{"key":"bibr12-02783649241229172","doi-asserted-by":"publisher","DOI":"10.1109\/cvpr46437.2021.00145"},{"key":"bibr13-02783649241229172","doi-asserted-by":"publisher","DOI":"10.1016\/0898-1221(89)90134-x"},{"key":"bibr14-02783649241229172","doi-asserted-by":"publisher","DOI":"10.2514\/1.g003785"},{"key":"bibr15-02783649241229172","doi-asserted-by":"publisher","DOI":"10.1109\/tro.2019.2896436"},{"key":"bibr16-02783649241229172","unstructured":"Hoelzer H, Johnson G, Cohen A (1978) Modified polar coordinates-the key to well behaved bearings only ranging. 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