{"id":"https://openalex.org/W2743017046","doi":"https://doi.org/10.1109/ecmr.2017.8098709","title":"From monocular SLAM to autonomous drone exploration","display_name":"From monocular SLAM to autonomous drone exploration","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2743017046","doi":"https://doi.org/10.1109/ecmr.2017.8098709","mag":"2743017046"},"language":"en","primary_location":{"id":"doi:10.1109/ecmr.2017.8098709","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr.2017.8098709","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 European Conference on Mobile Robots (ECMR)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1609.07835","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5030885835","display_name":"Lukas von Stumberg","orcid":"https://orcid.org/0000-0002-4708-3742"},"institutions":[{"id":"https://openalex.org/I4210116523","display_name":"Institute of Computer Vision and Applied Computer Sciences","ror":"https://ror.org/02b790a63","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210116523"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Lukas von Stumberg","raw_affiliation_strings":["Computer Vision Group, Computer Science Institute, Garching, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Vision Group, Computer Science Institute, Garching, Germany","institution_ids":["https://openalex.org/I4210116523"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011956228","display_name":"Vladyslav Usenko","orcid":"https://orcid.org/0000-0002-8140-882X"},"institutions":[{"id":"https://openalex.org/I4210116523","display_name":"Institute of Computer Vision and Applied Computer Sciences","ror":"https://ror.org/02b790a63","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210116523"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Vladyslav Usenko","raw_affiliation_strings":["Computer Vision Group, Computer Science Institute, Garching, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Vision Group, Computer Science Institute, Garching, Germany","institution_ids":["https://openalex.org/I4210116523"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041557343","display_name":"Jakob Engel","orcid":"https://orcid.org/0000-0002-2799-5808"},"institutions":[{"id":"https://openalex.org/I4210160939","display_name":"Oculus Innovative Sciences (United States)","ror":"https://ror.org/04r8f0505","country_code":"US","type":"company","lineage":["https://openalex.org/I4210160939"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jakob Engel","raw_affiliation_strings":["Oculus Research, Redmond, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Oculus Research, Redmond, USA","institution_ids":["https://openalex.org/I4210160939"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113699486","display_name":"J\u00f6rg St\u00fcckler","orcid":null},"institutions":[{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jorg Stuckler","raw_affiliation_strings":["Computer Vision Group, RWTH Aachen University, Aachen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Vision Group, RWTH Aachen University, Aachen, Germany","institution_ids":["https://openalex.org/I887968799"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087710605","display_name":"Daniel Cremers","orcid":"https://orcid.org/0000-0002-3079-7984"},"institutions":[{"id":"https://openalex.org/I4210116523","display_name":"Institute of Computer Vision and Applied Computer Sciences","ror":"https://ror.org/02b790a63","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210116523"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Daniel Cremers","raw_affiliation_strings":["Computer Vision Group, Computer Science Institute, Garching, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Vision Group, Computer Science Institute, Garching, Germany","institution_ids":["https://openalex.org/I4210116523"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":20.3837,"has_fulltext":false,"cited_by_count":61,"citation_normalized_percentile":{"value":0.99466494,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9898999929428101,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/drone","display_name":"Drone","score":0.8688801527023315},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6566014885902405},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6411869525909424},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6396703124046326},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.535478949546814},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5331107378005981},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2092270851135254},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.16410726308822632}],"concepts":[{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.8688801527023315},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6566014885902405},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6411869525909424},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6396703124046326},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.535478949546814},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5331107378005981},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2092270851135254},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.16410726308822632},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/ecmr.2017.8098709","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr.2017.8098709","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 European Conference on Mobile Robots (ECMR)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1609.07835","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1609.07835","pdf_url":"https://arxiv.org/pdf/1609.07835","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:publications.rwth-aachen.de:721129","is_oa":false,"landing_page_url":"https://publications.rwth-aachen.de/search?p=id:%22RWTH-2018-222965%22","pdf_url":null,"source":{"id":"https://openalex.org/S4306401033","display_name":"RWTH Publications (RWTH Aachen)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I887968799","host_organization_name":"RWTH Aachen University","host_organization_lineage":["https://openalex.org/I887968799"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Piscataway, NJ : IEEE (2017). doi:10.1109/ECMR.2017.8098709","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:uni-augsburg.opus-bayern.de:108811","is_oa":false,"landing_page_url":"https://opus.bibliothek.uni-augsburg.de/opus4/frontdoor/index/index/docId/108811","pdf_url":null,"source":{"id":"https://openalex.org/S4306400930","display_name":"OPUS (Augsburg University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I119916105","host_organization_name":"Augsburg University","host_organization_lineage":["https://openalex.org/I119916105"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"conferenceobject"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1609.07835","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1609.07835","pdf_url":"https://arxiv.org/pdf/1609.07835","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1482844618","https://openalex.org/W1484557735","https://openalex.org/W1684737195","https://openalex.org/W1805367571","https://openalex.org/W1867736525","https://openalex.org/W1996985406","https://openalex.org/W2037050532","https://openalex.org/W2089437550","https://openalex.org/W2107667896","https://openalex.org/W2122456069","https://openalex.org/W2133844819","https://openalex.org/W2142924305","https://openalex.org/W2146271069","https://openalex.org/W2218842719","https://openalex.org/W2409009991","https://openalex.org/W2482852384","https://openalex.org/W4235735721","https://openalex.org/W6618872416","https://openalex.org/W6722185400"],"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":{"Micro":[0],"aerial":[1],"vehicles":[2],"(MAVs)":[3],"are":[4,20,93],"strongly":[5],"limited":[6],"in":[7,80],"their":[8],"payload":[9],"and":[10,32,49,73,116,139],"power":[11,34],"capacity.":[12],"In":[13,38,131],"order":[14],"to":[15],"implement":[16],"autonomous":[17,46,137],"navigation,":[18],"algorithms":[19],"therefore":[21],"desirable":[22],"that":[23,27,98,102,119],"use":[24],"sensory":[25],"equipment":[26],"is":[28],"as":[29,36],"small,":[30],"low-weight,":[31],"low-":[33],"consuming":[35],"possible.":[37],"this":[39],"paper,":[40],"we":[41,133],"propose":[42,112],"a":[43,52,58,74,143],"method":[44],"for":[45],"MAV":[47,71],"navigation":[48,63,138],"exploration":[50,100,117,140],"using":[51],"low-cost":[53],"consumer-grade":[54],"quadrocopter":[55],"equipped":[56],"with":[57,142],"monocular":[59,126],"camera.":[60],"Our":[61],"vision-based":[62,136],"system":[64,128,141],"builds":[65],"on":[66],"LSD-SLAM":[67,83],"which":[68],"estimates":[69],"the":[70,78,121],"trajectory":[72],"semidense":[75,125],"reconstruction":[76],"of":[77,123],"environment":[79],"real-time.":[81],"Since":[82],"only":[84],"determines":[85],"depth":[86],"at":[87],"high":[88],"gradient":[89],"pixels,":[90],"texture-less":[91],"areas":[92],"not":[94],"directly":[95,108],"observed":[96],"so":[97],"previous":[99],"methods":[101],"assume":[103],"dense":[104],"map":[105],"information":[106],"cannot":[107],"be":[109],"applied.":[110],"We":[111],"an":[113],"obstacle":[114],"mapping":[115],"approach":[118],"takes":[120],"properties":[122],"our":[124,135],"SLAM":[127],"into":[129],"account.":[130],"experiments,":[132],"demonstrate":[134],"Parrot":[144],"Bebop":[145],"MAV.":[146]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":13},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":5}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
