{"id":"https://openalex.org/W3137186775","doi":"https://doi.org/10.1109/access.2021.3066529","title":"Auto-Tuned Event-Based Perception Scheme for Intrusion Monitoring With UAS","display_name":"Auto-Tuned Event-Based Perception Scheme for Intrusion Monitoring With UAS","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3137186775","doi":"https://doi.org/10.1109/access.2021.3066529","mag":"3137186775"},"language":"en","primary_location":{"id":"doi:10.1109/access.2021.3066529","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3066529","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09380323.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09380323.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5053692993","display_name":"Juan Pablo Rodr\u00edguez G\u00f3mez","orcid":"https://orcid.org/0000-0001-7628-1660"},"institutions":[{"id":"https://openalex.org/I79238269","display_name":"Universidad de Sevilla","ror":"https://ror.org/03yxnpp24","country_code":"ES","type":"education","lineage":["https://openalex.org/I79238269"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Juan Pablo Rodriguez-Gomez","raw_affiliation_strings":["GRVC Robotics Laboratory, University of Seville, Seville, Spain"],"raw_orcid":"https://orcid.org/0000-0001-7628-1660","affiliations":[{"raw_affiliation_string":"GRVC Robotics Laboratory, University of Seville, Seville, Spain","institution_ids":["https://openalex.org/I79238269"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081942197","display_name":"Augusto G\u00f3mez Egu\u00edluz","orcid":"https://orcid.org/0000-0002-2285-2605"},"institutions":[{"id":"https://openalex.org/I79238269","display_name":"Universidad de Sevilla","ror":"https://ror.org/03yxnpp24","country_code":"ES","type":"education","lineage":["https://openalex.org/I79238269"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Augusto Gomez Eguiluz","raw_affiliation_strings":["GRVC Robotics Laboratory, University of Seville, Seville, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GRVC Robotics Laboratory, University of Seville, Seville, Spain","institution_ids":["https://openalex.org/I79238269"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081180585","display_name":"Jos\u00e9 Ramiro Mart\u00ednez\u2010de Dios","orcid":"https://orcid.org/0000-0001-9431-7831"},"institutions":[{"id":"https://openalex.org/I79238269","display_name":"Universidad de Sevilla","ror":"https://ror.org/03yxnpp24","country_code":"ES","type":"education","lineage":["https://openalex.org/I79238269"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Jose Ramiro Martinez-De Dios","raw_affiliation_strings":["GRVC Robotics Laboratory, University of Seville, Seville, Spain"],"raw_orcid":"https://orcid.org/0000-0001-9431-7831","affiliations":[{"raw_affiliation_string":"GRVC Robotics Laboratory, University of Seville, Seville, Spain","institution_ids":["https://openalex.org/I79238269"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057947815","display_name":"An\u0131\u0301bal Ollero","orcid":"https://orcid.org/0000-0003-2155-2472"},"institutions":[{"id":"https://openalex.org/I79238269","display_name":"Universidad de Sevilla","ror":"https://ror.org/03yxnpp24","country_code":"ES","type":"education","lineage":["https://openalex.org/I79238269"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Anibal Ollero","raw_affiliation_strings":["GRVC Robotics Laboratory, University of Seville, Seville, Spain"],"raw_orcid":"https://orcid.org/0000-0003-2155-2472","affiliations":[{"raw_affiliation_string":"GRVC Robotics Laboratory, University of Seville, Seville, Spain","institution_ids":["https://openalex.org/I79238269"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I79238269"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.8058,"has_fulltext":true,"cited_by_count":13,"citation_normalized_percentile":{"value":0.68434591,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"9","issue":null,"first_page":"44840","last_page":"44854"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10502","display_name":"Advanced Memory and Neural Computing","score":0.9998000264167786,"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/T10502","display_name":"Advanced Memory and Neural Computing","score":0.9998000264167786,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9902999997138977,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11992","display_name":"CCD and CMOS Imaging Sensors","score":0.9854999780654907,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8163034319877625},{"id":"https://openalex.org/keywords/asynchronous-communication","display_name":"Asynchronous communication","score":0.744167685508728},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.6100481152534485},{"id":"https://openalex.org/keywords/event","display_name":"Event (particle physics)","score":0.5975711941719055},{"id":"https://openalex.org/keywords/neuromorphic-engineering","display_name":"Neuromorphic engineering","score":0.5948861837387085},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5771378874778748},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5312811136245728},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.4819662272930145},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.45317086577415466},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4271988272666931},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.13126671314239502}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8163034319877625},{"id":"https://openalex.org/C151319957","wikidata":"https://www.wikidata.org/wiki/Q752739","display_name":"Asynchronous communication","level":2,"score":0.744167685508728},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.6100481152534485},{"id":"https://openalex.org/C2779662365","wikidata":"https://www.wikidata.org/wiki/Q5416694","display_name":"Event (particle physics)","level":2,"score":0.5975711941719055},{"id":"https://openalex.org/C151927369","wikidata":"https://www.wikidata.org/wiki/Q1981312","display_name":"Neuromorphic engineering","level":3,"score":0.5948861837387085},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5771378874778748},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5312811136245728},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.4819662272930145},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.45317086577415466},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4271988272666931},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.13126671314239502},{"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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/access.2021.3066529","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3066529","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09380323.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:241d571c1b5e4dc69fc60ad70faa11d1","is_oa":true,"landing_page_url":"https://doaj.org/article/241d571c1b5e4dc69fc60ad70faa11d1","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 9, Pp 44840-44854 (2021)","raw_type":"article"},{"id":"pmh:oai:idus.us.es:11441/136744","is_oa":true,"landing_page_url":"https://idus.us.es/handle//11441/136744","pdf_url":null,"source":{"id":"https://openalex.org/S4306401665","display_name":"Deposito de Investigacion Universidad de Sevilla (University of Seville)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79238269","host_organization_name":"Universidad de Sevilla","host_organization_lineage":["https://openalex.org/I79238269"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:zenodo.org:4916980","is_oa":true,"landing_page_url":"https://doi.org/10.1109/ACCESS.2021.3066529","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"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":"IEEE Access, 9, 44840 - 44854, (2021-03-17)","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"doi:10.1109/access.2021.3066529","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3066529","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09380323.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.49000000953674316,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G164871014","display_name":null,"funder_award_id":"DPI2017-89790-R","funder_id":"https://openalex.org/F4320322930","funder_display_name":"Ministerio de Ciencia e Innovaci\u00f3n"},{"id":"https://openalex.org/G1747690346","display_name":null,"funder_award_id":"871479","funder_id":"https://openalex.org/F4320332999","funder_display_name":"Horizon 2020 Framework Programme"},{"id":"https://openalex.org/G2010779170","display_name":null,"funder_award_id":"DPI2017-89790-R","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G4937468798","display_name":null,"funder_award_id":"H2020","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G5042462241","display_name":null,"funder_award_id":"788247","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G601918449","display_name":"AERIAL COgnitive integrated multi-task Robotic system with Extended operation range and safety","funder_award_id":"871479","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G6345331387","display_name":null,"funder_award_id":"H2020-2019-871479","funder_id":"https://openalex.org/F4320338475","funder_display_name":"H2020 LEIT Information and Communication Technologies"},{"id":"https://openalex.org/G7055762705","display_name":"General compliant aerial Robotic manipulation system Integrating Fixed and Flapping wings to INcrease range and safety","funder_award_id":"788247","funder_id":"https://openalex.org/F4320338335","funder_display_name":"H2020 European Research Council"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320322930","display_name":"Ministerio de Ciencia e Innovaci\u00f3n","ror":"https://ror.org/034900433"},{"id":"https://openalex.org/F4320332999","display_name":"Horizon 2020 Framework Programme","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320338335","display_name":"H2020 European Research Council","ror":"https://ror.org/0472cxd90"},{"id":"https://openalex.org/F4320338475","display_name":"H2020 LEIT Information and Communication Technologies","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3137186775.pdf","grobid_xml":"https://content.openalex.org/works/W3137186775.grobid-xml"},"referenced_works_count":49,"referenced_works":["https://openalex.org/W206948248","https://openalex.org/W1771326151","https://openalex.org/W1975697167","https://openalex.org/W1980178290","https://openalex.org/W2017950320","https://openalex.org/W2024060531","https://openalex.org/W2030696367","https://openalex.org/W2140122522","https://openalex.org/W2158698691","https://openalex.org/W2255548690","https://openalex.org/W2403865344","https://openalex.org/W2563042993","https://openalex.org/W2567937506","https://openalex.org/W2585204098","https://openalex.org/W2754360834","https://openalex.org/W2769144726","https://openalex.org/W2789435382","https://openalex.org/W2796347433","https://openalex.org/W2809335043","https://openalex.org/W2813817099","https://openalex.org/W2893826089","https://openalex.org/W2921116036","https://openalex.org/W2939484289","https://openalex.org/W2972000740","https://openalex.org/W2992384714","https://openalex.org/W3000449200","https://openalex.org/W3003111757","https://openalex.org/W3004212813","https://openalex.org/W3004324880","https://openalex.org/W3004645127","https://openalex.org/W3008336332","https://openalex.org/W3011524659","https://openalex.org/W3040838455","https://openalex.org/W3046917804","https://openalex.org/W3089638164","https://openalex.org/W3090025282","https://openalex.org/W3090769368","https://openalex.org/W3091146474","https://openalex.org/W3101118898","https://openalex.org/W3101197114","https://openalex.org/W4214867718","https://openalex.org/W4226051885","https://openalex.org/W4293584584","https://openalex.org/W4296545173","https://openalex.org/W4316651041","https://openalex.org/W6750227808","https://openalex.org/W6761576965","https://openalex.org/W6770014675","https://openalex.org/W6843857928"],"related_works":["https://openalex.org/W2986579802","https://openalex.org/W3108691306","https://openalex.org/W4389237622","https://openalex.org/W2166309310","https://openalex.org/W4385753159","https://openalex.org/W4200152843","https://openalex.org/W4387251107","https://openalex.org/W4214914769","https://openalex.org/W4283271085","https://openalex.org/W3033201189"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"an":[3,71,100,135],"asynchronous":[4,72,82],"event-based":[5,73,83,110],"scheme":[6,64],"for":[7,57,127],"automatic":[8],"intrusion":[9],"monitoring":[10],"using":[11],"Unmanned":[12],"Aerial":[13],"Systems":[14],"(UAS).":[15],"Event":[16],"cameras":[17],"are":[18,44],"neuromorphic":[19],"sensors":[20],"that":[21,85,104],"capture":[22],"the":[23,27,87,90,94,106,109],"illumination":[24],"changes":[25],"in":[26,125,134,143,158],"camera":[28],"pixels":[29],"with":[30,146],"high":[31],"temporal":[32],"resolution":[33],"and":[34,50,117,140,155],"dynamic":[35],"range.":[36],"In":[37],"contrast":[38],"to":[39,112],"conventional":[40],"frame-based":[41],"cameras,":[42],"they":[43],"naturally":[45],"robust":[46],"against":[47],"motion":[48],"blur":[49],"lighting":[51,151],"conditions,":[52,152],"which":[53],"make":[54],"them":[55],"ideal":[56],"outdoor":[58],"aerial":[59,137],"robot":[60,138],"applications.":[61],"The":[62,97,119],"presented":[63],"includes":[65],"two":[66],"main":[67],"perception":[68,121],"components.":[69],"First,":[70],"processing":[74],"system":[75,122],"efficiently":[76],"detects":[77],"intrusions":[78],"by":[79],"combining":[80],"several":[81],"algorithms":[84,111],"exploit":[86],"advantages":[88],"of":[89,93,108,150],"sequential":[91],"nature":[92],"event":[95],"stream.":[96],"second":[98],"is":[99],"off-line":[101],"training":[102],"mechanism":[103],"adjusts":[105],"parameters":[107],"a":[113,147],"particular":[114],"surveillance":[115],"scenario":[116],"mission.":[118],"proposed":[120],"was":[123],"implemented":[124],"ROS":[126],"on-line":[128],"execution":[129],"on":[130],"board":[131],"UAS,":[132],"integrated":[133],"autonomous":[136],"architecture,":[139],"extensively":[141],"validated":[142],"challenging":[144],"scenarios":[145],"wide":[148],"variety":[149],"including":[153],"day":[154],"night":[156],"experiments":[157],"pitch":[159],"dark":[160],"conditions.":[161]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1}],"updated_date":"2026-08-06T08:24:18.245995","created_date":"2025-10-10T00:00:00"}