{"id":"https://openalex.org/W1964593976","doi":"https://doi.org/10.1109/acc.2014.6858995","title":"Combined laser and vision-aided inertial navigation for an indoor unmanned aerial vehicle","display_name":"Combined laser and vision-aided inertial navigation for an indoor unmanned aerial vehicle","publication_year":2014,"publication_date":"2014-06-01","ids":{"openalex":"https://openalex.org/W1964593976","doi":"https://doi.org/10.1109/acc.2014.6858995","mag":"1964593976"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2014.6858995","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2014.6858995","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 American Control Conference","raw_type":"proceedings-article"},"type":"conference-paper","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/A5033017363","display_name":"Daniel Magree","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniel Magree","raw_affiliation_strings":["Georgia Institute of Technology, Atlanta, GA, US","Georgia Institute of Technology Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology, Atlanta, GA, US","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"Georgia Institute of Technology Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103218805","display_name":"Eric N. Johnson","orcid":"https://orcid.org/0000-0001-5845-3641"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Eric N. Johnson","raw_affiliation_strings":["Georgia Institute of Technology, Atlanta, GA, US","Georgia Institute of Technology Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology, Atlanta, GA, US","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"Georgia Institute of Technology Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I130701444"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1900","last_page":"1905"},"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/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":1.0,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.998199999332428,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9969000220298767,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.8287384510040283},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7282031178474426},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6860841512680054},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6476813554763794},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.5690422058105469},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.5614944696426392},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.547032356262207},{"id":"https://openalex.org/keywords/navigation-system","display_name":"Navigation system","score":0.4804403483867645},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4740179181098938},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.4599103331565857},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.4260324239730835},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.24742832779884338},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.24629709124565125},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.24355632066726685},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1703786551952362}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.8287384510040283},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7282031178474426},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6860841512680054},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6476813554763794},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5690422058105469},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.5614944696426392},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.547032356262207},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.4804403483867645},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4740179181098938},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.4599103331565857},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.4260324239730835},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.24742832779884338},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.24629709124565125},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.24355632066726685},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1703786551952362},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/acc.2014.6858995","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2014.6858995","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 American Control Conference","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7400000095367432,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1915368719","https://openalex.org/W1982318371","https://openalex.org/W2027055074","https://openalex.org/W2037539475","https://openalex.org/W2040938785","https://openalex.org/W2062948502","https://openalex.org/W2112510830","https://openalex.org/W2113243634","https://openalex.org/W2114384289","https://openalex.org/W2132453268","https://openalex.org/W2137174175","https://openalex.org/W2151290401","https://openalex.org/W2152671441","https://openalex.org/W2171778162"],"related_works":["https://openalex.org/W2991246638","https://openalex.org/W4313886815","https://openalex.org/W2773722138","https://openalex.org/W3175435015","https://openalex.org/W2038183074","https://openalex.org/W2980723633","https://openalex.org/W2383573797","https://openalex.org/W4306940720","https://openalex.org/W2391372675","https://openalex.org/W2933126904"],"abstract_inverted_index":{"As":[0],"unmanned":[1],"aerial":[2],"vehicles":[3],"are":[4,12],"used":[5],"in":[6,21,32,37,55,64,120,128,136,154],"more":[7],"environments,":[8,34],"flexible":[9],"navigation":[10,73,86,156],"strategies":[11],"required":[13],"to":[14,117],"ensure":[15],"safe":[16],"and":[17,40,48,51,79,97,112,135],"reliable":[18],"operation.":[19],"Operation":[20],"the":[22,65,114,121,143,147,155],"presence":[23],"of":[24,132,142],"degraded":[25],"or":[26],"denied":[27],"GPS":[28],"signal":[29],"is":[30,104,126,145,149],"critical":[31],"many":[33],"particularly":[35],"indoors,":[36],"urban":[38],"canyons,":[39],"hostile":[41],"areas.":[42],"Two":[43],"techniques,":[44],"laser-based":[45],"simultaneous":[46],"localization":[47],"mapping":[49],"(SLAM)":[50],"monocular":[52,89],"visual":[53,77,90,115],"SLAM,":[54],"conjunction":[56],"with":[57,82,151],"inertial":[58,85],"navigation,":[59],"have":[60],"attracted":[61],"considerable":[62],"attention":[63],"research":[66],"community.":[67],"This":[68],"paper":[69],"presents":[70],"an":[71,83],"integrated":[72],"system":[74,92,103,125,148],"combining":[75],"both":[76],"SLAM":[78,81,91,102],"laser":[80,101],"EKF-based":[84],"system.":[87],"The":[88,100,124],"has":[93],"fully":[94],"correlated":[95],"vehicle":[96],"feature":[98,141],"states.":[99],"based":[105],"on":[106],"a":[107,152],"Monte":[108],"Carlo":[109],"scan-to-map":[110],"matching,":[111],"leverages":[113],"data":[116],"reduce":[118],"ambiguities":[119],"pose":[122],"matching.":[123],"validated":[127,150],"full":[129],"6":[130],"degree":[131],"freedom":[133],"simulation,":[134],"flight":[137],"test.":[138],"A":[139],"key":[140],"work":[144],"that":[146],"controller":[153],"loop.":[157]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
