{"id":"https://openalex.org/W2767152011","doi":"https://doi.org/10.1016/j.ifacol.2017.08.1826","title":"Augmenting Ultra-Wideband Localization with Computer Vision for Accurate Flight","display_name":"Augmenting Ultra-Wideband Localization with Computer Vision for Accurate Flight","publication_year":2017,"publication_date":"2017-07-01","ids":{"openalex":"https://openalex.org/W2767152011","doi":"https://doi.org/10.1016/j.ifacol.2017.08.1826","mag":"2767152011"},"language":"en","primary_location":{"id":"doi:10.1016/j.ifacol.2017.08.1826","doi":"https://doi.org/10.1016/j.ifacol.2017.08.1826","is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.ifacol.2017.08.1826","pdf_url":null,"source":{"id":"https://openalex.org/S2898405271","display_name":"IFAC-PapersOnLine","issn_l":"2405-8963","issn":["2405-8963","2405-8971"],"is_oa":true,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","jufo-1","norway-1","poland-20","vabb-shw"],"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IFAC-PapersOnLine","raw_type":"journal-article"},"volume":null,"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"diamond","oa_url":"https://doi.org/10.1016/j.ifacol.2017.08.1826","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5046670804","display_name":"David Hoeller","orcid":"https://orcid.org/0000-0001-8010-9011","observed_orcids":["https://orcid.org/0000-0001-8010-9011"]},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]},{"id":"https://openalex.org/I4405256045","display_name":"Institute for Dynamic Systems and Control","ror":"https://ror.org/03pzc2n68","country_code":"CH","type":"facility","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088","https://openalex.org/I4405256045"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"David Hoeller","raw_affiliation_strings":["Institute for Dynamic Systems and Control, ETH Zurich"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Dynamic Systems and Control, ETH Zurich","institution_ids":["https://openalex.org/I35440088","https://openalex.org/I4405256045"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067323138","display_name":"Anton Ledergerber","orcid":"https://orcid.org/0000-0003-3305-7065","observed_orcids":["https://orcid.org/0000-0003-3305-7065"]},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]},{"id":"https://openalex.org/I4405256045","display_name":"Institute for Dynamic Systems and Control","ror":"https://ror.org/03pzc2n68","country_code":"CH","type":"facility","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088","https://openalex.org/I4405256045"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Anton Ledergerber","raw_affiliation_strings":["Institute for Dynamic Systems and Control, ETH Zurich"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Dynamic Systems and Control, ETH Zurich","institution_ids":["https://openalex.org/I35440088","https://openalex.org/I4405256045"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059437042","display_name":"Michael Hamer","orcid":"https://orcid.org/0000-0003-4380-4714","observed_orcids":["https://orcid.org/0000-0003-4380-4714"]},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]},{"id":"https://openalex.org/I4405256045","display_name":"Institute for Dynamic Systems and Control","ror":"https://ror.org/03pzc2n68","country_code":"CH","type":"facility","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088","https://openalex.org/I4405256045"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Michael Hamer","raw_affiliation_strings":["Institute for Dynamic Systems and Control, ETH Zurich"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Dynamic Systems and Control, ETH Zurich","institution_ids":["https://openalex.org/I35440088","https://openalex.org/I4405256045"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050557198","display_name":"Raffaello D\u2019andrea B","orcid":"https://orcid.org/0000-0001-5287-7849","observed_orcids":["https://orcid.org/0000-0001-5287-7849"]},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]},{"id":"https://openalex.org/I4405256045","display_name":"Institute for Dynamic Systems and Control","ror":"https://ror.org/03pzc2n68","country_code":"CH","type":"facility","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088","https://openalex.org/I4405256045"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Raffaello D\u2019Andrea","raw_affiliation_strings":["Institute for Dynamic Systems and Control, ETH Zurich"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Dynamic Systems and Control, ETH Zurich","institution_ids":["https://openalex.org/I35440088","https://openalex.org/I4405256045"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5046670804","https://openalex.org/A5050557198","https://openalex.org/A5059437042","https://openalex.org/A5067323138"],"corresponding_institution_ids":["https://openalex.org/I35440088","https://openalex.org/I4405256045"],"apc_list":{"value":0,"currency":"USD","value_usd":0},"apc_paid":null,"fwci":1.1373,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.78003725,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"50","issue":"1","first_page":"12734","last_page":"12740"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9463000297546387,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9463000297546387,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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":0.04839999973773956,"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/T13855","display_name":"Aerospace Engineering and Control Systems","score":0.0015999999595806003,"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/ultra-wideband-positioning","display_name":"ultra-wideband positioning","score":0.9879999756813049},{"id":"https://openalex.org/keywords/visual-localization","display_name":"visual localization","score":0.5709999799728394},{"id":"https://openalex.org/keywords/hybrid-localization","display_name":"hybrid localization","score":0.38199999928474426},{"id":"https://openalex.org/keywords/quadrotor","display_name":"quadrotor","score":0.6970000267028809},{"id":"https://openalex.org/keywords/autonomous-landing","display_name":"autonomous landing","score":0.5249999761581421},{"id":"https://openalex.org/keywords/robot-localization","display_name":"robot localization","score":0.5440000295639038},{"id":"https://openalex.org/keywords/visual-impairment","display_name":"visual impairment","score":0.5979999899864197},{"id":"https://openalex.org/keywords/semi-structured-environments","display_name":"semi-structured contexts","score":0.7879999876022339}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7321677207946777},{"id":"https://openalex.org/C175291020","wikidata":"https://www.wikidata.org/wiki/Q1156822","display_name":"Offset (computer science)","level":2,"score":0.6403833031654358},{"id":"https://openalex.org/C21916231","wikidata":"https://www.wikidata.org/wiki/Q851424","display_name":"Ultra-wideband","level":2,"score":0.5843163132667542},{"id":"https://openalex.org/C2780202535","wikidata":"https://www.wikidata.org/wiki/Q4524457","display_name":"Wideband","level":2,"score":0.5680208206176758},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5290573835372925},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5040249228477478},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.481263130903244},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.4536915421485901},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4240129590034485},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3886794447898865},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18803203105926514},{"id":"https://openalex.org/C24326235","wikidata":"https://www.wikidata.org/wiki/Q126095","display_name":"Electronic engineering","level":1,"score":0.18250787258148193},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0937110185623169},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1016/j.ifacol.2017.08.1826","doi":"https://doi.org/10.1016/j.ifacol.2017.08.1826","is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.ifacol.2017.08.1826","pdf_url":null,"source":{"id":"https://openalex.org/S2898405271","display_name":"IFAC-PapersOnLine","issn_l":"2405-8963","issn":["2405-8963","2405-8971"],"is_oa":true,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","jufo-1","norway-1","poland-20","vabb-shw"],"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IFAC-PapersOnLine","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1016/j.ifacol.2017.08.1826","doi":"https://doi.org/10.1016/j.ifacol.2017.08.1826","is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.ifacol.2017.08.1826","pdf_url":null,"source":{"id":"https://openalex.org/S2898405271","display_name":"IFAC-PapersOnLine","issn_l":"2405-8963","issn":["2405-8963","2405-8971"],"is_oa":true,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","jufo-1","norway-1","poland-20","vabb-shw"],"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IFAC-PapersOnLine","raw_type":"journal-article"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320924","display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung","ror":"https://ror.org/00yjd3n13"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1496943068","https://openalex.org/W1521464635","https://openalex.org/W1549280300","https://openalex.org/W1552847636","https://openalex.org/W1663973292","https://openalex.org/W1964715412","https://openalex.org/W1987526470","https://openalex.org/W1997186114","https://openalex.org/W1997522477","https://openalex.org/W2008277209","https://openalex.org/W2009086942","https://openalex.org/W2033819227","https://openalex.org/W2056842608","https://openalex.org/W2062731992","https://openalex.org/W2067633777","https://openalex.org/W2075793174","https://openalex.org/W2085101420","https://openalex.org/W2125186487","https://openalex.org/W2167667767","https://openalex.org/W2167694888","https://openalex.org/W2213241233","https://openalex.org/W2285626259","https://openalex.org/W3021282624","https://openalex.org/W3029645440","https://openalex.org/W4300448178"],"related_works":["https://openalex.org/W2992519434","https://openalex.org/W3012591950","https://openalex.org/W3134172943","https://openalex.org/W4387697183","https://openalex.org/W4379011976","https://openalex.org/W3211043639","https://openalex.org/W4416750489","https://openalex.org/W3085802106","https://openalex.org/W3179153646","https://openalex.org/W4200245901"],"abstract_inverted_index":{"Ultra-wideband":[0],"radio":[1],"networks":[2],"enable":[3],"low-cost,":[4],"low-computation":[5],"robot":[6],"localization":[7,18,62,65],"in":[8,118],"semi-structured":[9],"environments;":[10],"however,":[11],"previous":[12],"results":[13],"have":[14],"shown":[15],"that":[16,79],"these":[17],"systems":[19],"suffer":[20],"from":[21],"spatially-varying":[22,28],"measurement":[23,83,92],"biases,":[24],"leading":[25],"to":[26,52,66,94,111,137],"a":[27,76,135,138],"offset":[29,49],"between":[30],"the":[31,34,55,81,89,103,113,116,119,127],"physical":[32],"and":[33,87,97,144],"estimated":[35],"position.":[36],"In":[37],"tasks":[38],"where":[39],"absolute":[40],"positioning":[41],"or":[42],"high":[43],"tracking":[44],"accuracy":[45,69,114],"is":[46,130],"required,":[47],"this":[48],"can":[50,108],"lead":[51],"failure":[53],"of":[54,102,115,121,126],"task.":[56,104],"This":[57,105],"paper":[58],"proposes":[59],"augmenting":[60],"ultra-wideband-based":[61],"with":[63],"visual":[64,122],"improve":[67,112],"estimation":[68,143],"for":[70],"critical":[71],"tasks.":[72],"It":[73],"also":[74],"presents":[75],"control":[77],"strategy":[78],"takes":[80],"camera":[82],"process":[84],"into":[85],"account,":[86],"allows":[88],"ultra-wideband":[90],"system\u2019s":[91],"biases":[93],"be":[95,109],"learned":[96],"compensated":[98],"over":[99],"multiple":[100],"executions":[101],"bias":[106],"compensation":[107],"used":[110],"task":[117],"case":[120],"impairment.":[123],"The":[124],"effectiveness":[125],"proposed":[128],"framework":[129],"demonstrated":[131],"by":[132],"accurately":[133],"flying":[134],"quadrocopter":[136],"landing":[139],"platform":[140],"using":[141],"on-board":[142],"control.":[145]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":1}],"updated_date":"2026-10-17T09:40:24.721904","created_date":"2017-11-10T00:00:00"}