{"id":"https://openalex.org/W52956004","doi":null,"title":"Evaluating SLAM algorithms for Autonomous Helicopters","display_name":"Evaluating SLAM algorithms for Autonomous Helicopters","publication_year":2008,"publication_date":"2008-01-01","ids":{"openalex":"https://openalex.org/W52956004","mag":"52956004"},"language":"en","primary_location":{"id":"pmh:oai:DiVA.org:liu-12282","doi":null,"is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-12282","pdf_url":null,"source":{"id":"https://openalex.org/S4306401559","display_name":"KTH Publication Database DiVA (KTH Royal Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I86987016","host_organization_name":"KTH Royal Institute of Technology","host_organization_lineage":["https://openalex.org/I86987016"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/bachelorThesis"},"volume":null,"type":"dissertation","is_traditional":true,"indexed_in":[],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-12282","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5086383614","display_name":"Martin A. Skoglund","orcid":"https://orcid.org/0000-0001-9183-3427","observed_orcids":["https://orcid.org/0000-0001-9183-3427"]},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Martin A. Skoglund","raw_affiliation_strings":[],"raw_orcid":"https://orcid.org/0000-0001-9183-3427","affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":["https://openalex.org/A5086383614"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.0,"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":0.0,"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/simultaneous-localization-and-mapping","display_name":"SLAM","score":0.7979999780654907},{"id":"https://openalex.org/keywords/autonomous-helicopter","display_name":"autonomous helicopter","score":0.8939999938011169},{"id":"https://openalex.org/keywords/unmanned-aerial-vehicles","display_name":"unmanned aerial vehicles","score":0.9330000281333923},{"id":"https://openalex.org/keywords/visual-slam","display_name":"visual SLAM","score":0.7760000228881836},{"id":"https://openalex.org/keywords/extended-information-filter","display_name":"extended information filter","score":0.8090000152587891},{"id":"https://openalex.org/keywords/gps-denied-navigation","display_name":"GPS-denied navigation","score":0.7139999866485596},{"id":"https://openalex.org/keywords/state-estimation","display_name":"state estimation","score":0.8569999933242798},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"inertial measurement unit","score":0.8149999976158142},{"id":"https://openalex.org/keywords/barometric-pressure-sensor","display_name":"barometric pressure sensor","score":0.9810000061988831}],"concepts":[{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.7227921485900879},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.6689892411231995},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.6383618116378784},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6042194366455078},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.599213719367981},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5157577991485596},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5145382285118103},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.5082873702049255},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.464839905500412},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.3841332793235779},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3494343161582947},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.32639098167419434},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.3245556056499481},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26924097537994385},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.17931807041168213},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1349288821220398},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.10022526979446411},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:DiVA.org:liu-12282","doi":null,"is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-12282","pdf_url":null,"source":{"id":"https://openalex.org/S4306401559","display_name":"KTH Publication Database DiVA (KTH Royal Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I86987016","host_organization_name":"KTH Royal Institute of Technology","host_organization_lineage":["https://openalex.org/I86987016"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/bachelorThesis"},{"id":"mag:52956004","doi":null,"is_oa":false,"landing_page_url":"http://liu.diva-portal.org/smash/get/diva2:18513/FULLTEXT01","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":{"id":"pmh:oai:DiVA.org:liu-12282","doi":null,"is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-12282","pdf_url":null,"source":{"id":"https://openalex.org/S4306401559","display_name":"KTH Publication Database DiVA (KTH Royal Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I86987016","host_organization_name":"KTH Royal Institute of Technology","host_organization_lineage":["https://openalex.org/I86987016"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/bachelorThesis"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1490092700","https://openalex.org/W1494141623","https://openalex.org/W1549613529","https://openalex.org/W1677409904","https://openalex.org/W1870652675","https://openalex.org/W1977464512","https://openalex.org/W1986298071","https://openalex.org/W1989286669","https://openalex.org/W2001164479","https://openalex.org/W2033222113","https://openalex.org/W2033819227","https://openalex.org/W2064169939","https://openalex.org/W2098613108","https://openalex.org/W2098841537","https://openalex.org/W2101345862","https://openalex.org/W2101914010","https://openalex.org/W2103393159","https://openalex.org/W2105934661","https://openalex.org/W2111308925","https://openalex.org/W2117102490","https://openalex.org/W2123849027","https://openalex.org/W2127578024","https://openalex.org/W2128519721","https://openalex.org/W2143864104","https://openalex.org/W2146861713","https://openalex.org/W2146881125","https://openalex.org/W2148820580","https://openalex.org/W2151103935","https://openalex.org/W2152422184","https://openalex.org/W2154319942","https://openalex.org/W2155537009","https://openalex.org/W2163045070","https://openalex.org/W2167822998","https://openalex.org/W2173782939","https://openalex.org/W2336416123"],"related_works":["https://openalex.org/W1561744404","https://openalex.org/W2075867648","https://openalex.org/W2154751105","https://openalex.org/W2040920255","https://openalex.org/W126460759","https://openalex.org/W1965948843","https://openalex.org/W2766213449","https://openalex.org/W7134164547","https://openalex.org/W1966076243","https://openalex.org/W2047597721"],"abstract_inverted_index":{"Navigation":[0],"with":[1,120,134],"unmanned":[2],"aerial":[3],"vehicles":[4],"(UAVs)":[5],"requires":[6],"good":[7],"knowledge":[8],"of":[9,61,67,187,196],"the":[10,32,59,87,129,160,173,185],"current":[11],"position":[12,85],"and":[13,23,45,51,72,111,145,179],"other":[14],"states.":[15],"A":[16],"UAV":[17],"navigation":[18],"system":[19],"often":[20],"uses":[21],"GPS":[22,33,88],"inertial":[24,107],"sensors":[25],"in":[26,118,128,177,184],"a":[27,55,64,68,80,93,100,105,112,121,148,193],"state":[28,39],"estimation":[29,40,117],"solution.":[30,56,150],"If":[31],"signal":[34],"is":[35,47,132,139,162,167],"lost":[36],"or":[37],"corrupted":[38],"must":[41],"still":[42],"be":[43],"possible":[44],"this":[46,77],"where":[48,126],"simultaneous":[49],"localization":[50],"mapping":[52],"(SLAM)":[53],"provides":[54],"SLAM":[57,97],"considers":[58],"problem":[60],"incrementally":[62],"building":[63],"consistent":[65],"map":[66],"previously":[69],"unknown":[70],"environment":[71],"simultaneously":[73],"localize":[74],"itself":[75],"within":[76],"map,":[78],"thus":[79],"solution":[81,98,174],"does":[82],"not":[83,170],"require":[84],"from":[86],"receiver.":[89],"This":[90],"thesis":[91],"presents":[92],"visual":[94],"feature":[95],"based":[96],"using":[99],"low":[101],"resolution":[102],"video":[103],"camera,":[104],"low-cost":[106],"measurement":[108],"unit":[109],"(IMU)":[110],"barometric":[113],"pressure":[114],"sensor.":[115],"State":[116],"made":[119],"extended":[122],"information":[123,130],"filter":[124],"(EIF)":[125],"sparseness":[127],"matrix":[131],"enforced":[133],"an":[135],"approximation.":[136],"An":[137],"implementation":[138],"evaluated":[140],"on":[141],"real":[142],"flight":[143],"data":[144],"compared":[146],"to":[147],"EKF-SLAM":[149],"Results":[151],"show":[152],"that":[153],"both":[154],"solutions":[155],"provide":[156],"similar":[157],"estimates":[158],"but":[159],"EIF":[161],"over-confident.":[163],"The":[164],"sparse":[165],"structure":[166],"exploited,":[168],"possibly":[169],"fully,":[171],"making":[172],"nearly":[175],"linear":[176,183],"time":[178],"storage":[180],"requirements":[181],"are":[182],"number":[186],"features":[188],"which":[189],"enables":[190],"evaluation":[191],"for":[192],"longer":[194],"period":[195],"time.":[197]},"counts_by_year":[{"year":2017,"cited_by_count":1}],"updated_date":"2026-08-13T07:04:57.449891","created_date":"2016-06-24T00:00:00"}