{"id":"https://openalex.org/W2063229810","doi":"https://doi.org/10.1109/ecmr.2013.6698813","title":"1-Point-based monocular motion estimation for computationally-limited micro aerial vehicles","display_name":"1-Point-based monocular motion estimation for computationally-limited micro aerial vehicles","publication_year":2013,"publication_date":"2013-09-01","ids":{"openalex":"https://openalex.org/W2063229810","doi":"https://doi.org/10.1109/ecmr.2013.6698813","mag":"2063229810"},"language":"en","primary_location":{"id":"doi:10.1109/ecmr.2013.6698813","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr.2013.6698813","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 European Conference on Mobile Robots","raw_type":"proceedings-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/A5050761099","display_name":"Chiara Troiani","orcid":null},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en informatique et en automatique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I4210101348","display_name":"Centre Inria de l'Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/00n8d6z93","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1326498283","https://openalex.org/I4210101348"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Chiara Troiani","raw_affiliation_strings":["INRIA Rhone Alpes, Montbonnot, France","INRIA Rh\u00f4ne Alpes, Montbonnot, France"],"affiliations":[{"raw_affiliation_string":"INRIA Rhone Alpes, Montbonnot, France","institution_ids":["https://openalex.org/I4210101348","https://openalex.org/I1326498283"]},{"raw_affiliation_string":"INRIA Rh\u00f4ne Alpes, Montbonnot, France","institution_ids":["https://openalex.org/I4210101348","https://openalex.org/I1326498283"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013005906","display_name":"Agostino Martinelli","orcid":"https://orcid.org/0000-0001-8474-9884"},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en informatique et en automatique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I4210101348","display_name":"Centre Inria de l'Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/00n8d6z93","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1326498283","https://openalex.org/I4210101348"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Agostino Martinelli","raw_affiliation_strings":["INRIA Rhone Alpes, Montbonnot, France","INRIA Rh\u00f4ne Alpes, Montbonnot, France"],"affiliations":[{"raw_affiliation_string":"INRIA Rhone Alpes, Montbonnot, France","institution_ids":["https://openalex.org/I4210101348","https://openalex.org/I1326498283"]},{"raw_affiliation_string":"INRIA Rh\u00f4ne Alpes, Montbonnot, France","institution_ids":["https://openalex.org/I4210101348","https://openalex.org/I1326498283"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109557660","display_name":"Christian Laugier","orcid":null},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en informatique et en automatique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I4210101348","display_name":"Centre Inria de l'Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/00n8d6z93","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1326498283","https://openalex.org/I4210101348"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Christian Laugier","raw_affiliation_strings":["INRIA Rhone Alpes, Montbonnot, France","INRIA Rh\u00f4ne Alpes, Montbonnot, France"],"affiliations":[{"raw_affiliation_string":"INRIA Rhone Alpes, Montbonnot, France","institution_ids":["https://openalex.org/I4210101348","https://openalex.org/I1326498283"]},{"raw_affiliation_string":"INRIA Rh\u00f4ne Alpes, Montbonnot, France","institution_ids":["https://openalex.org/I4210101348","https://openalex.org/I1326498283"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057116316","display_name":"Davide Scaramuzza","orcid":"https://orcid.org/0000-0002-3831-6778"},"institutions":[{"id":"https://openalex.org/I202697423","display_name":"University of Zurich","ror":"https://ror.org/02crff812","country_code":"CH","type":"education","lineage":["https://openalex.org/I202697423"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Davide Scaramuzza","raw_affiliation_strings":["Robotics and Perception Group, University of Zurich, Switzerland","Dept. of Inf., Artificial Intell. Lab., Robot. & Perception Group, Univ. of Zurich, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Robotics and Perception Group, University of Zurich, Switzerland","institution_ids":["https://openalex.org/I202697423"]},{"raw_affiliation_string":"Dept. of Inf., Artificial Intell. Lab., Robot. & Perception Group, Univ. of Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I202697423"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5050761099"],"corresponding_institution_ids":["https://openalex.org/I1326498283","https://openalex.org/I4210101348"],"apc_list":null,"apc_paid":null,"fwci":1.3608,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.83925708,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"2","issue":null,"first_page":"13","last_page":"18"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","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/T10531","display_name":"Advanced Vision and Imaging","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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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/T10638","display_name":"Optical measurement and interference techniques","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/ransac","display_name":"RANSAC","score":0.8543516397476196},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7620404958724976},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7090333104133606},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.686585545539856},{"id":"https://openalex.org/keywords/structure-from-motion","display_name":"Structure from motion","score":0.5745528340339661},{"id":"https://openalex.org/keywords/motion-estimation","display_name":"Motion estimation","score":0.5497808456420898},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.5312654376029968},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.4971008598804474},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.48474428057670593},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.480976939201355},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.44144514203071594},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.4159565567970276},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22078001499176025},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.1142168641090393}],"concepts":[{"id":"https://openalex.org/C114744707","wikidata":"https://www.wikidata.org/wiki/Q218533","display_name":"RANSAC","level":3,"score":0.8543516397476196},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7620404958724976},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7090333104133606},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.686585545539856},{"id":"https://openalex.org/C146159030","wikidata":"https://www.wikidata.org/wiki/Q7625099","display_name":"Structure from motion","level":3,"score":0.5745528340339661},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.5497808456420898},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.5312654376029968},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.4971008598804474},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.48474428057670593},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.480976939201355},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.44144514203071594},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.4159565567970276},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22078001499176025},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.1142168641090393},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ecmr.2013.6698813","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr.2013.6698813","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 European Conference on Mobile Robots","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W113125870","https://openalex.org/W1521528529","https://openalex.org/W1598123022","https://openalex.org/W1650817476","https://openalex.org/W1775300292","https://openalex.org/W1990124658","https://openalex.org/W2000146415","https://openalex.org/W2001836169","https://openalex.org/W2014267519","https://openalex.org/W2015996585","https://openalex.org/W2033819227","https://openalex.org/W2039982410","https://openalex.org/W2043727268","https://openalex.org/W2063247621","https://openalex.org/W2085261163","https://openalex.org/W2090039150","https://openalex.org/W2095571137","https://openalex.org/W2096901547","https://openalex.org/W2105824943","https://openalex.org/W2109635530","https://openalex.org/W2132453268","https://openalex.org/W2138286408","https://openalex.org/W2144863641","https://openalex.org/W2150495450","https://openalex.org/W3021282624","https://openalex.org/W4252031641","https://openalex.org/W6637071794"],"related_works":["https://openalex.org/W2532401163","https://openalex.org/W2013389131","https://openalex.org/W1501297619","https://openalex.org/W2540808226","https://openalex.org/W2026674073","https://openalex.org/W2053820737","https://openalex.org/W1484667368","https://openalex.org/W1988727984","https://openalex.org/W2114253841","https://openalex.org/W2105413810"],"abstract_inverted_index":{"We":[0,89,108],"propose":[1],"a":[2,21,49,104],"novel":[3],"method":[4],"to":[5,52,67,76,119,129],"estimate":[6],"the":[7,18,25,28,31,40,43,53,69,72,80,91,131,134],"relative":[8],"motion":[9,46,59],"between":[10],"two":[11,63,120],"consecutive":[12],"camera":[13,45],"views,":[14],"which":[15],"only":[16],"requires":[17],"observation":[19],"of":[20,30,122,133],"single":[22],"feature":[23],"in":[24,48,124],"scene":[26],"and":[27,97],"knowledge":[29],"angular":[32],"rates":[33],"from":[34,71,103],"an":[35],"inertial":[36],"measurement":[37],"unit,":[38],"under":[39],"assumption":[41],"that":[42,110],"local":[44],"lies":[47],"plane":[50],"perpendicular":[51],"gravity":[54],"vector.":[55],"Using":[56],"this":[57],"1-point":[58],"parametrization,":[60],"we":[61],"provide":[62],"very":[64,84],"efficient":[65],"algorithms":[66,82],"remove":[68],"outliers":[70],"feature-matching":[73],"process.":[74],"Thanks":[75],"their":[77],"inherent":[78],"efficiency,":[79],"proposed":[81,92],"are":[83],"suitable":[85],"for":[86],"computationally-limited":[87],"robots.":[88],"test":[90],"approaches":[93],"on":[94],"both":[95],"synthetic":[96],"real":[98],"data,":[99],"using":[100],"video":[101],"footage":[102],"small":[105],"flying":[106],"quadrotor.":[107],"show":[109],"our":[111],"methods":[112],"outperform":[113],"standard":[114],"RANSAC-based":[115],"implementations":[116],"by":[117],"up":[118],"orders":[121],"magnitude":[123],"speed,":[125],"while":[126],"being":[127],"able":[128],"identify":[130],"majority":[132],"inliers.":[135]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}