{"id":"https://openalex.org/W156266277","doi":null,"title":"Coupled Vision and Inertial Navigation for Pin-Point Landing *","display_name":"Coupled Vision and Inertial Navigation for Pin-Point Landing *","publication_year":2007,"publication_date":"2007-01-01","ids":{"openalex":"https://openalex.org/W156266277","mag":"156266277"},"language":"en","primary_location":{"id":"pmh:oai:CiteSeerX.psu:10.1.1.145.4525","doi":null,"is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.145.4525","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.umn.edu/~trawny/Publications/Johnson_Andrew_B2P2_NSTC-07-0044.pdf","raw_type":"text"},"volume":null,"type":"article","is_traditional":true,"indexed_in":[],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5086062660","display_name":"Nikolas Trawny","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Nikolas Trawny","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089122650","display_name":"Anastasios I. Mourikis","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Anastasios I. Mourikis","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025573831","display_name":"Stergios I. Roumeliotis","orcid":"https://orcid.org/0009-0001-3056-0426","observed_orcids":["https://orcid.org/0009-0001-3056-0426"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Stergios I. Roumeliotis","raw_affiliation_strings":[],"raw_orcid":"https://orcid.org/0009-0001-3056-0426","affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072832457","display_name":"Andrew Johnson","orcid":"https://orcid.org/0000-0001-6917-1295","observed_orcids":["https://orcid.org/0000-0001-6917-1295"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Andrew Johnson","raw_affiliation_strings":[],"raw_orcid":"https://orcid.org/0000-0001-6917-1295","affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038669812","display_name":"Adnan I. Ansar","orcid":"https://orcid.org/0000-0003-1101-868X","observed_orcids":["https://orcid.org/0000-0003-1101-868X"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Adnan Ansar","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5074075243","display_name":"Larry H. Matthies","orcid":"https://orcid.org/0000-0002-9045-0181","observed_orcids":["https://orcid.org/0000-0002-9045-0181"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Larry Matthies","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.8042,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.95812373,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":88,"max":96},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.6952999830245972,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11325","display_name":"Inertial Sensor and Navigation","score":0.6952999830245972,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.19750000536441803,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13855","display_name":"Aerospace Engineering and Control Systems","score":0.032499998807907104,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/terrain-relative-navigation","display_name":"terrain relative navigation","score":0.8989999890327454},{"id":"https://openalex.org/keywords/inertial-navigation","display_name":"inertial navigation","score":0.6200000047683716},{"id":"https://openalex.org/keywords/vision-inertial-fusion","display_name":"vision-inertial fusion","score":0.8640000224113464},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"extended Kalman filter","score":0.9300000071525574},{"id":"https://openalex.org/keywords/landmark-extraction","display_name":"landmark extraction","score":0.7020000219345093},{"id":"https://openalex.org/keywords/mars-landing","display_name":"Mars landing","score":0.47999998927116394}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5558037161827087},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5055689811706543},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.49015673995018005},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47119709849357605},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4690084159374237},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.3232274055480957},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.30615943670272827},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.269856333732605},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1492118537425995},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12598836421966553},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0708564817905426},{"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":[{"id":"pmh:oai:CiteSeerX.psu:10.1.1.145.4525","doi":null,"is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.145.4525","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.umn.edu/~trawny/Publications/Johnson_Andrew_B2P2_NSTC-07-0044.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.99.3529","doi":null,"is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.99.3529","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://esto.nasa.gov/conferences/nstc2007/papers/Johnson_Andrew_B2P2_NSTC-07-0044.pdf","raw_type":"text"},{"id":"mag:156266277","doi":null,"is_oa":false,"landing_page_url":"https://www.ee.ucr.edu/~mourikis/papers/NTSC07.pdf","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W46356605","https://openalex.org/W2025205432","https://openalex.org/W2093378545","https://openalex.org/W2096743063","https://openalex.org/W2099901716","https://openalex.org/W2101982272","https://openalex.org/W2118223742","https://openalex.org/W2118877769","https://openalex.org/W2137729094","https://openalex.org/W2151103935","https://openalex.org/W2154381549","https://openalex.org/W2157993455","https://openalex.org/W2166073629","https://openalex.org/W2314596902","https://openalex.org/W2325222983","https://openalex.org/W3081157420","https://openalex.org/W3102472491"],"related_works":["https://openalex.org/W2055415212","https://openalex.org/W2110794641","https://openalex.org/W46356605","https://openalex.org/W2093378545","https://openalex.org/W2014036494","https://openalex.org/W2046298615","https://openalex.org/W2001486534","https://openalex.org/W2271513842","https://openalex.org/W4391302542","https://openalex.org/W4401009584"],"abstract_inverted_index":{"Our":[0],"research":[1],"task":[2,23],"in":[3,123,154,184,189],"NASA\u2019s":[4],"Mars":[5],"Technology":[6],"Program":[7],"focuses":[8],"on":[9],"terrain":[10,47],"relative":[11],"state":[12,85,198],"estimation":[13,27,86,178],"during":[14,67,87],"planetary":[15,88,174,208],"descent":[16,89,101,114],"to":[17,90],"enable":[18,91],"pin-point":[19],"landing.":[20,93],"In":[21],"this":[22],"we":[24],"have":[25,57],"developed":[26],"algorithms":[28,40,56],"that":[29,41,128],"fuse":[30],"inertial":[31,121,144,150],"and":[32,46,64,78,103,107,133,151,157,186,202],"visual":[33],"measurements":[34,122,153],"as":[35,37,135,137],"well":[36,136],"computer":[38],"vision":[39],"automatically":[42,96],"extract":[43],"landmark":[44],"locations":[45],"feature":[48],"tracks":[49],"through":[50,110],"a":[51,104,111,155,164],"sequence":[52,112],"of":[53,80,113,142,172,180,199,206],"images.":[54,115],"These":[55,116,193],"been":[58],"tested":[59],"extensively":[60],"with":[61,120],"simulated":[62],"data":[63,65],"collected":[66],"multiple":[68],"field":[69],"test":[70],"campaigns.":[71],"This":[72],"paper":[73],"describes":[74],"our":[75],"recent":[76],"development":[77],"testing":[79],"an":[81,124],"algorithm":[82,95],"for":[83],"navigation":[84],"precision":[92],"The":[94,146],"produces":[97],"2D-to-3D":[98],"correspondences":[99,109,117],"between":[100],"images":[102],"surface":[105],"map":[106],"2D-to-2D":[108],"are":[118],"combined":[119],"extended":[125],"Kalman":[126],"filter":[127,147],"estimates":[129],"lander":[130],"position,":[131],"velocity":[132,185],"attitude":[134],"the":[138,143,169,200,204],"time":[139],"varying":[140],"biases":[141],"measurements.":[145],"tightly":[148],"couples":[149],"camera":[152],"resource-adaptive":[156],"hence":[158],"real-time":[159],"capable":[160],"fashion.":[161],"Results":[162],"from":[163],"sounding":[165],"rocket":[166],"test,":[167],"covering":[168],"dynamic":[170],"profile":[171],"typical":[173],"landing":[175],"scenarios,":[176],"show":[177],"errors":[179],"magnitude":[181],"0.16":[182],"m/s":[183],"6.4":[187],"m":[188],"position":[190],"at":[191],"touchdown.":[192],"results":[194],"vastly":[195],"improve":[196],"current":[197],"art":[201],"meet":[203],"requirements":[205],"future":[207],"exploration":[209],"missions.":[210]},"counts_by_year":[{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-09-22T06:50:58.402377","created_date":"2016-06-24T00:00:00"}