{"id":"https://openalex.org/W4403900769","doi":"https://doi.org/10.1017/s0263574724001474","title":"A semantic knowledge database-based localization method\u00a0for UAV inspection in perceptual-degraded underground mine","display_name":"A semantic knowledge database-based localization method\u00a0for UAV inspection in perceptual-degraded underground mine","publication_year":2024,"publication_date":"2024-10-01","ids":{"openalex":"https://openalex.org/W4403900769","doi":"https://doi.org/10.1017/s0263574724001474"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574724001474","is_oa":true,"landing_page_url":"https://doi.org/10.1017/s0263574724001474","pdf_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/7A412BB4B7D8F3B66C18331BA3C8DFB8/S0263574724001474a.pdf/div-class-title-a-semantic-knowledge-database-based-localization-method-for-uav-inspection-in-perceptual-degraded-underground-mine-div.pdf","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":true,"oa_status":"bronze","oa_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/7A412BB4B7D8F3B66C18331BA3C8DFB8/S0263574724001474a.pdf/div-class-title-a-semantic-knowledge-database-based-localization-method-for-uav-inspection-in-perceptual-degraded-underground-mine-div.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5042810092","display_name":"Qinghua Liang","orcid":"https://orcid.org/0000-0001-5407-7167"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qinghua Liang","raw_affiliation_strings":["Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101795844","display_name":"Minghui Zhao","orcid":"https://orcid.org/0009-0006-6293-664X"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]},{"id":"https://openalex.org/I4210151703","display_name":"China Coal Technology and Engineering Group Corp (China)","ror":"https://ror.org/045d9gj14","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210151703"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Minghui Zhao","raw_affiliation_strings":["China Coal Technology & Engineering Group Shanghai Co. Ltd. Shanghai, China","School of Electronics and Information Engineering, Tongji University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"China Coal Technology & Engineering Group Shanghai Co. Ltd. Shanghai, China","institution_ids":["https://openalex.org/I4210151703"]},{"raw_affiliation_string":"School of Electronics and Information Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066783502","display_name":"Shigang Wang","orcid":"https://orcid.org/0000-0001-5961-4582"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shigang Wang","raw_affiliation_strings":["Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012234722","display_name":"Min Chen","orcid":"https://orcid.org/0000-0001-5585-6787"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Min Chen","raw_affiliation_strings":["Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5012234722"],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":2.7156,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.92270406,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":"42","issue":"10","first_page":"3480","last_page":"3504"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9939000010490417,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.986299991607666,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6400467753410339},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.6005182862281799},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5053051114082336},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.47025859355926514},{"id":"https://openalex.org/keywords/database","display_name":"Database","score":0.35319963097572327},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.3368992209434509}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6400467753410339},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.6005182862281799},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5053051114082336},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.47025859355926514},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.35319963097572327},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.3368992209434509},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574724001474","is_oa":true,"landing_page_url":"https://doi.org/10.1017/s0263574724001474","pdf_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/7A412BB4B7D8F3B66C18331BA3C8DFB8/S0263574724001474a.pdf/div-class-title-a-semantic-knowledge-database-based-localization-method-for-uav-inspection-in-perceptual-degraded-underground-mine-div.pdf","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":{"id":"doi:10.1017/s0263574724001474","is_oa":true,"landing_page_url":"https://doi.org/10.1017/s0263574724001474","pdf_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/7A412BB4B7D8F3B66C18331BA3C8DFB8/S0263574724001474a.pdf/div-class-title-a-semantic-knowledge-database-based-localization-method-for-uav-inspection-in-perceptual-degraded-underground-mine-div.pdf","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"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4403900769.pdf","grobid_xml":"https://content.openalex.org/works/W4403900769.grobid-xml"},"referenced_works_count":54,"referenced_works":["https://openalex.org/W12428211","https://openalex.org/W1612997784","https://openalex.org/W1967740178","https://openalex.org/W2046635640","https://openalex.org/W2066713014","https://openalex.org/W2078660975","https://openalex.org/W2091790851","https://openalex.org/W2115675575","https://openalex.org/W2125420246","https://openalex.org/W2137813581","https://openalex.org/W2336416123","https://openalex.org/W2411093439","https://openalex.org/W2535547924","https://openalex.org/W2561251170","https://openalex.org/W2565233142","https://openalex.org/W2608018532","https://openalex.org/W2745859992","https://openalex.org/W2891766795","https://openalex.org/W2899761469","https://openalex.org/W2905733586","https://openalex.org/W2909157769","https://openalex.org/W2909908358","https://openalex.org/W2911107863","https://openalex.org/W2919409595","https://openalex.org/W2952599778","https://openalex.org/W2968390259","https://openalex.org/W2982415841","https://openalex.org/W3000517677","https://openalex.org/W3005369628","https://openalex.org/W3008563426","https://openalex.org/W3043971245","https://openalex.org/W3046706506","https://openalex.org/W3089445412","https://openalex.org/W3090517880","https://openalex.org/W3102327032","https://openalex.org/W3106302529","https://openalex.org/W3118814291","https://openalex.org/W3167610791","https://openalex.org/W3173928881","https://openalex.org/W3174270524","https://openalex.org/W3203300910","https://openalex.org/W4205877297","https://openalex.org/W4210792193","https://openalex.org/W4242073862","https://openalex.org/W4286373328","https://openalex.org/W4296705533","https://openalex.org/W4315567653","https://openalex.org/W4320154420","https://openalex.org/W4366987497","https://openalex.org/W4390741731","https://openalex.org/W4394961568","https://openalex.org/W4402727597","https://openalex.org/W6851907071","https://openalex.org/W6858270511"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Abstract":[0],"In":[1],"recent":[2],"years,":[3],"unmanned":[4],"aerial":[5],"vehicles":[6],"(UAVs)":[7],"have":[8],"been":[9],"applied":[10],"in":[11,30,101,133,162,233],"underground":[12,55],"mine":[13],"inspection":[14],"and":[15,23,44,74,159,176,198,214],"other":[16],"similar":[17,45],"works":[18],"depending":[19],"on":[20,208],"their":[21],"versatility":[22],"mobility.":[24],"However,":[25],"accurate":[26,228],"localization":[27,64,95,205,224,229],"of":[28,36,53,121,127,155,173,185],"UAVs":[29],"perceptually":[31],"degraded":[32,234],"mines":[33],"is":[34,84,109,131,145,191],"full":[35],"challenges":[37],"due":[38],"to":[39,49,193],"the":[40,50,54,70,77,93,98,113,118,122,128,137,149,152,156,160,163,168,177,182,186,200,209,221],"harsh":[41],"light":[42],"conditions":[43],"roadway":[46],"structures.":[47],"Due":[48],"unique":[51],"characteristics":[52],"mines,":[56],"this":[57],"paper":[58],"proposes":[59],"a":[60,102,105,215],"semantic":[61,106,164],"knowledge":[62,107,165],"database-based":[63],"method":[65,225],"for":[66,86],"UAVs.":[67],"By":[68],"minimizing":[69],"spatial":[71],"point-to-edge":[72],"distance":[73],"point-to-plane":[75],"distance,":[76],"relative":[78,169],"pose":[79,89,170,188,197],"constraint":[80,143,171,180],"factor":[81,144,172,189],"between":[82,151],"keyframes":[83,175],"designed":[85],"UAV":[87,138,187,195,204,223],"continuous":[88],"estimation.":[90],"To":[91],"reduce":[92],"accumulated":[94],"errors":[96],"during":[97,136,230],"long-distance":[99,231],"flight":[100,196,232],"perceptual-degraded":[103],"mine,":[104],"database":[108],"established":[110,192],"by":[111,147],"segmenting":[112],"intersection":[114,141,178],"point":[115],"cloud":[116],"from":[117],"prior":[119],"map":[120],"mine.":[123],"The":[124,140],"topological":[125,153],"feature":[126,154],"current":[129,157],"keyframe":[130,158],"detected":[132],"real":[134],"time":[135],"flight.":[139],"position":[142,179],"constructed":[146],"comparing":[148],"similarity":[150],"intersections":[161],"database.":[166],"Combining":[167],"LiDAR":[174],"factor,":[181],"optimization":[183],"model":[184],"graph":[190],"estimate":[194],"eliminate":[199],"cumulative":[201],"error.":[202],"Two":[203],"experiments":[206],"conducted":[207],"simulated":[210],"large-scale":[211],"Edgar":[212],"Mine":[213],"mine-like":[216],"indoor":[217],"corridor":[218],"indicate":[219],"that":[220],"proposed":[222],"can":[226],"realize":[227],"mines.":[235]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-03-10T16:38:18.471706","created_date":"2025-10-10T00:00:00"}