{"id":"https://openalex.org/W4225270854","doi":"https://doi.org/10.1017/s0263574722000637","title":"A novel precise pose prediction algorithm for setting the sleeping mode of the Yutu-2 rover based on a multiview block bundle adjustment","display_name":"A novel precise pose prediction algorithm for setting the sleeping mode of the Yutu-2 rover based on a multiview block bundle adjustment","publication_year":2022,"publication_date":"2022-05-02","ids":{"openalex":"https://openalex.org/W4225270854","doi":"https://doi.org/10.1017/s0263574722000637"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574722000637","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574722000637","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"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/A5037977262","display_name":"Peng Song","orcid":"https://orcid.org/0000-0001-9655-9076"},"institutions":[{"id":"https://openalex.org/I194716290","display_name":"China Academy of Space Technology","ror":"https://ror.org/025397a59","country_code":"CN","type":"government","lineage":["https://openalex.org/I194716290","https://openalex.org/I2802615301"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Song Peng","raw_affiliation_strings":["Beijing Institute of Spacecraft System Engineering, Beijing, 100094, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute of Spacecraft System Engineering, Beijing, 100094, China","institution_ids":["https://openalex.org/I194716290"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003421323","display_name":"Youqing Ma","orcid":"https://orcid.org/0000-0002-4076-2101"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210096250","display_name":"Beijing Institute of Big Data Research","ror":"https://ror.org/00s1sz824","country_code":"CN","type":"facility","lineage":["https://openalex.org/I20231570","https://openalex.org/I37796252","https://openalex.org/I4210096250"]},{"id":"https://openalex.org/I4210137199","display_name":"Aerospace Information Research Institute","ror":"https://ror.org/0419fj215","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210137199"]},{"id":"https://openalex.org/I4405265946","display_name":"International Research Center of Big Data for Sustainable Development Goals","ror":"https://ror.org/027n0k361","country_code":"CN","type":"nonprofit","lineage":["https://openalex.org/I19820366","https://openalex.org/I4405265946"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Youqing Ma","raw_affiliation_strings":["International Research Center of Big Data for Sustainable Development Goals, Beijing, 100094, China","Key Laboratory of Digital Earth Science, Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing, 100094, China"],"raw_orcid":"https://orcid.org/0000-0002-4076-2101","affiliations":[{"raw_affiliation_string":"International Research Center of Big Data for Sustainable Development Goals, Beijing, 100094, China","institution_ids":["https://openalex.org/I4210096250","https://openalex.org/I4405265946"]},{"raw_affiliation_string":"Key Laboratory of Digital Earth Science, Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing, 100094, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210137199"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112650367","display_name":"Xinchao Xu","orcid":null},"institutions":[{"id":"https://openalex.org/I176808543","display_name":"Liaoning Technical University","ror":"https://ror.org/01n2bd587","country_code":"CN","type":"education","lineage":["https://openalex.org/I176808543"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinchao Xu","raw_affiliation_strings":["School of Geomatics, Liaoning Technical University, Fuxin, Liaoning, 123000, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Geomatics, Liaoning Technical University, Fuxin, Liaoning, 123000, China","institution_ids":["https://openalex.org/I176808543"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100549611","display_name":"Yang Jia","orcid":null},"institutions":[{"id":"https://openalex.org/I194716290","display_name":"China Academy of Space Technology","ror":"https://ror.org/025397a59","country_code":"CN","type":"government","lineage":["https://openalex.org/I194716290","https://openalex.org/I2802615301"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Jia","raw_affiliation_strings":["Beijing Institute of Spacecraft System Engineering, Beijing, 100094, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute of Spacecraft System Engineering, Beijing, 100094, China","institution_ids":["https://openalex.org/I194716290"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028949844","display_name":"Shaochuang Liu","orcid":"https://orcid.org/0000-0001-6881-3372"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210096250","display_name":"Beijing Institute of Big Data Research","ror":"https://ror.org/00s1sz824","country_code":"CN","type":"facility","lineage":["https://openalex.org/I20231570","https://openalex.org/I37796252","https://openalex.org/I4210096250"]},{"id":"https://openalex.org/I4210137199","display_name":"Aerospace Information Research Institute","ror":"https://ror.org/0419fj215","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210137199"]},{"id":"https://openalex.org/I4405265946","display_name":"International Research Center of Big Data for Sustainable Development Goals","ror":"https://ror.org/027n0k361","country_code":"CN","type":"nonprofit","lineage":["https://openalex.org/I19820366","https://openalex.org/I4405265946"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shaochuang Liu","raw_affiliation_strings":["International Research Center of Big Data for Sustainable Development Goals, Beijing, 100094, China","Key Laboratory of Digital Earth Science, Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing, 100094, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"International Research Center of Big Data for Sustainable Development Goals, Beijing, 100094, China","institution_ids":["https://openalex.org/I4210096250","https://openalex.org/I4405265946"]},{"raw_affiliation_string":"Key Laboratory of Digital Earth Science, Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing, 100094, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210137199"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5003421323"],"corresponding_institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210096250","https://openalex.org/I4210137199","https://openalex.org/I4405265946"],"apc_list":{"value":3255,"currency":"USD","value_usd":3255},"apc_paid":null,"fwci":1.0096,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.85332451,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"40","issue":"11","first_page":"3837","last_page":"3862"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9976999759674072,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9976999759674072,"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/T11701","display_name":"Space Satellite Systems and Control","score":0.9976000189781189,"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/T10406","display_name":"Planetary Science and Exploration","score":0.9800999760627747,"subfield":{"id":"https://openalex.org/subfields/3103","display_name":"Astronomy and Astrophysics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/bundle-adjustment","display_name":"Bundle adjustment","score":0.6569254994392395},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6401082873344421},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6100331544876099},{"id":"https://openalex.org/keywords/block","display_name":"Block (permutation group theory)","score":0.5928995609283447},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5340859889984131},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.529392421245575},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.5282605886459351},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.5136960744857788},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.5007891654968262},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.4321762025356293},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.4155729413032532},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.274047315120697},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16084688901901245},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.12466517090797424},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.12176504731178284},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.08400169014930725}],"concepts":[{"id":"https://openalex.org/C179458375","wikidata":"https://www.wikidata.org/wiki/Q1020763","display_name":"Bundle adjustment","level":3,"score":0.6569254994392395},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6401082873344421},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6100331544876099},{"id":"https://openalex.org/C2777210771","wikidata":"https://www.wikidata.org/wiki/Q4927124","display_name":"Block (permutation group theory)","level":2,"score":0.5928995609283447},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5340859889984131},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.529392421245575},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.5282605886459351},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5136960744857788},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.5007891654968262},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.4321762025356293},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4155729413032532},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.274047315120697},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16084688901901245},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.12466517090797424},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.12176504731178284},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.08400169014930725},{"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/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574722000637","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574722000637","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.4399999976158142}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1974868116","https://openalex.org/W2005216741","https://openalex.org/W2026334488","https://openalex.org/W2026486953","https://openalex.org/W2065533222","https://openalex.org/W2074292590","https://openalex.org/W2108292342","https://openalex.org/W2115705117","https://openalex.org/W2151103935","https://openalex.org/W2408984305","https://openalex.org/W2600201730","https://openalex.org/W2605997839","https://openalex.org/W2896066728","https://openalex.org/W2960249673","https://openalex.org/W2963180789","https://openalex.org/W2991629458","https://openalex.org/W2993985766","https://openalex.org/W3008824841","https://openalex.org/W3008827235","https://openalex.org/W3012935441","https://openalex.org/W3013912283","https://openalex.org/W3017679911","https://openalex.org/W3028335285","https://openalex.org/W3030602447","https://openalex.org/W4231648268","https://openalex.org/W4232749730","https://openalex.org/W6656879247"],"related_works":["https://openalex.org/W2992292799","https://openalex.org/W2416513692","https://openalex.org/W2751063144","https://openalex.org/W1992962589","https://openalex.org/W2367481874","https://openalex.org/W4287590792","https://openalex.org/W3174283523","https://openalex.org/W1986184480","https://openalex.org/W3110529713","https://openalex.org/W2353925609"],"abstract_inverted_index":{"Abstract":[0],"To":[1],"set":[2],"the":[3,7,33,40,44,47,64,70,87,92,96,103,113,121,128,131,135,146,149,155,159,166],"sleeping":[4,160],"mode":[5,161],"for":[6,120,162],"Yutu-2":[8,163],"rover,":[9],"a":[10,77],"visual":[11],"pose":[12,19,51,72,123],"prediction":[13,118],"algorithm":[14,98,115],"including":[15],"terrain":[16,25],"reconstruction":[17,26],"and":[18,39,54,66,112,134,141],"estimation":[20],"was":[21,58,73],"first":[22],"studied.":[23],"The":[24,82],"precision":[27],"is":[28,52],"affected":[29],"by":[30,60],"using":[31],"only":[32],"stereo":[34],"navigation":[35],"camera":[36,49],"(Navcam)":[37],"images":[38],"rotation":[41],"angles":[42],"of":[43,63,91,105,127,130,148,158],"mast.":[45],"However,":[46],"hazard":[48],"(Hazcam)":[50],"fixed,":[53],"an":[55],"image":[56],"network":[57],"constructed":[59],"linking":[61],"all":[62],"Navcam":[65,71],"Hazcam":[67],"stereoimages.":[68],"Then,":[69],"refined":[74],"based":[75],"on":[76],"multiview":[78],"block":[79],"bundle":[80],"adjustment.":[81],"experimental":[83],"results":[84,119],"show":[85],"that":[86],"mean":[88],"absolute":[89],"errors":[90],"check":[93],"points":[94],"in":[95,165],"proposed":[97,114,150],"were":[99,138],"10.4":[100],"mm":[101],"over":[102],"range":[104],"$\\boldsymbol{L}$":[106],"from":[107],"2.0":[108],"to":[109],"6.1":[110],"m,":[111],"achieved":[116],"good":[117],"rover":[122],"(the":[124],"average":[125],"differences":[126],"values":[129],"pitch":[132],"angle":[133,137],"roll":[136],"\u22120.19":[139],"degrees":[140],"0.29":[142],"degrees,":[143],"respectively).":[144],"Under":[145],"support":[147],"algorithm,":[151],"engineers":[152],"have":[153],"completed":[154],"remote":[156],"setting":[157],"successfully":[164],"Chang\u2019e-4":[167],"mission":[168],"operations.":[169]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-08-28T12:50:07.497085","created_date":"2022-05-04T00:00:00"}
