{"id":"https://openalex.org/W2584387411","doi":"https://doi.org/10.1109/icarcv.2016.7838839","title":"Relative localization with computer vision and UWB range for flying robot formation control","display_name":"Relative localization with computer vision and UWB range for flying robot formation control","publication_year":2016,"publication_date":"2016-11-01","ids":{"openalex":"https://openalex.org/W2584387411","doi":"https://doi.org/10.1109/icarcv.2016.7838839","mag":"2584387411"},"language":"en","primary_location":{"id":"doi:10.1109/icarcv.2016.7838839","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2016.7838839","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","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/A5112244870","display_name":"Bernardo Ram\u00edrez","orcid":null},"institutions":[{"id":"https://openalex.org/I56590836","display_name":"Monash University","ror":"https://ror.org/02bfwt286","country_code":"AU","type":"education","lineage":["https://openalex.org/I56590836"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"B. Ramirez","raw_affiliation_strings":["Monash Swarm Robotics Laboratory, Monash University, Clayton, VIC, Australia"],"affiliations":[{"raw_affiliation_string":"Monash Swarm Robotics Laboratory, Monash University, Clayton, VIC, Australia","institution_ids":["https://openalex.org/I56590836"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059288810","display_name":"Hoam Chung","orcid":"https://orcid.org/0000-0001-7044-3729"},"institutions":[{"id":"https://openalex.org/I56590836","display_name":"Monash University","ror":"https://ror.org/02bfwt286","country_code":"AU","type":"education","lineage":["https://openalex.org/I56590836"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"H. Chung","raw_affiliation_strings":["Monash Swarm Robotics Laboratory, Monash University, Clayton, VIC, Australia"],"affiliations":[{"raw_affiliation_string":"Monash Swarm Robotics Laboratory, Monash University, Clayton, VIC, Australia","institution_ids":["https://openalex.org/I56590836"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084918933","display_name":"Hasan Derhamy","orcid":"https://orcid.org/0000-0001-9484-9766"},"institutions":[{"id":"https://openalex.org/I190632392","display_name":"Lule\u00e5 University of Technology","ror":"https://ror.org/016st3p78","country_code":"SE","type":"education","lineage":["https://openalex.org/I190632392"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"H. Derhamy","raw_affiliation_strings":["Department of Computer Science, Electrical and Space Engineering, Lule\u00e5 University of Technology, Lule\u00e0, Sweden"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Electrical and Space Engineering, Lule\u00e5 University of Technology, Lule\u00e0, Sweden","institution_ids":["https://openalex.org/I190632392"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083172874","display_name":"Jens Eliasson","orcid":null},"institutions":[{"id":"https://openalex.org/I56590836","display_name":"Monash University","ror":"https://ror.org/02bfwt286","country_code":"AU","type":"education","lineage":["https://openalex.org/I56590836"]},{"id":"https://openalex.org/I190632392","display_name":"Lule\u00e5 University of Technology","ror":"https://ror.org/016st3p78","country_code":"SE","type":"education","lineage":["https://openalex.org/I190632392"]}],"countries":["AU","SE"],"is_corresponding":false,"raw_author_name":"J. Eliasson","raw_affiliation_strings":["Department of Computer Science, Electrical and Space Engineering, Lule\u00e5 University of Technology, Lule\u00e0, Sweden","Monash Swarm Robotics Laboratory, Monash University, Clayton, VIC, Australia"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Electrical and Space Engineering, Lule\u00e5 University of Technology, Lule\u00e0, Sweden","institution_ids":["https://openalex.org/I190632392"]},{"raw_affiliation_string":"Monash Swarm Robotics Laboratory, Monash University, Clayton, VIC, Australia","institution_ids":["https://openalex.org/I56590836"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056641761","display_name":"Jan Carlo Barca","orcid":"https://orcid.org/0000-0001-6939-4632"},"institutions":[{"id":"https://openalex.org/I56590836","display_name":"Monash University","ror":"https://ror.org/02bfwt286","country_code":"AU","type":"education","lineage":["https://openalex.org/I56590836"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"J. C. Barca","raw_affiliation_strings":["Monash Swarm Robotics Laboratory, Monash University, Clayton, VIC, Australia"],"affiliations":[{"raw_affiliation_string":"Monash Swarm Robotics Laboratory, Monash University, Clayton, VIC, Australia","institution_ids":["https://openalex.org/I56590836"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5112244870"],"corresponding_institution_ids":["https://openalex.org/I56590836"],"apc_list":null,"apc_paid":null,"fwci":0.1867,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.61741309,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":1.0,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":1.0,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9991999864578247,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9980000257492065,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6454529762268066},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6247428059577942},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6197888851165771},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.605217456817627},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5012426376342773},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.4737299978733063},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.45942428708076477},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.45540887117385864},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.4463811218738556},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.43835335969924927},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17808374762535095},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.11684539914131165}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6454529762268066},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6247428059577942},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6197888851165771},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.605217456817627},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5012426376342773},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.4737299978733063},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.45942428708076477},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.45540887117385864},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.4463811218738556},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.43835335969924927},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17808374762535095},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.11684539914131165},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icarcv.2016.7838839","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2016.7838839","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","raw_type":"proceedings-article"},{"id":"pmh:oai:dro.deakin.edu.au:DU:30122542","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306401102","display_name":"Own your potential (DEAKIN)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I149704539","host_organization_name":"Deakin University","host_organization_lineage":["https://openalex.org/I149704539"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W137180573","https://openalex.org/W1488562681","https://openalex.org/W1521464635","https://openalex.org/W1530737432","https://openalex.org/W1553272164","https://openalex.org/W1935273007","https://openalex.org/W1987206750","https://openalex.org/W1988398207","https://openalex.org/W2002984289","https://openalex.org/W2040900884","https://openalex.org/W2046080694","https://openalex.org/W2062269785","https://openalex.org/W2064018879","https://openalex.org/W2076701290","https://openalex.org/W2095935520","https://openalex.org/W2102832719","https://openalex.org/W2109249448","https://openalex.org/W2140517064","https://openalex.org/W2157206420","https://openalex.org/W2166221222","https://openalex.org/W2168150247","https://openalex.org/W2171895081","https://openalex.org/W3144401423","https://openalex.org/W6633235072","https://openalex.org/W6640409229","https://openalex.org/W6685302321"],"related_works":["https://openalex.org/W2089114113","https://openalex.org/W3162200841","https://openalex.org/W2389555968","https://openalex.org/W2586280620","https://openalex.org/W2805505483","https://openalex.org/W2384744344","https://openalex.org/W2352634297","https://openalex.org/W4233932308","https://openalex.org/W2103062922","https://openalex.org/W2162299404"],"abstract_inverted_index":{"Relative":[0,49],"localization":[1,38],"is":[2],"a":[3,33,40,44,58,74,98],"core":[4],"problem":[5],"for":[6],"swarm":[7,11],"robotics":[8],"since":[9],"each":[10],"node":[12],"must":[13],"determine":[14],"where":[15],"neighboring":[16],"robots":[17],"are":[18,51,111],"located":[19],"to":[20],"accomplish":[21],"cooperative":[22],"tasks":[23],"such":[24],"as":[25,88],"formation":[26],"control.":[27],"In":[28],"this":[29],"paper":[30],"we":[31,68],"present":[32],"system":[34,80],"that":[35,105],"performs":[36],"relative":[37,109],"between":[39,112],"stationary":[41],"marker":[42],"and":[43,73,102,119],"flying":[45],"robot":[46],"in":[47,107],"real-time.":[48],"distances":[50],"obtained":[52],"using":[53,84],"ultra-wide":[54],"band":[55],"radio,":[56],"while":[57],"low-cost":[59],"webcam":[60],"provide":[61],"angle":[62],"measurements.":[63],"To":[64],"achieve":[65],"the":[66,70,116,123],"latter,":[67],"employed":[69],"Camshift":[71],"algorithm":[72],"Kalman":[75],"filter.":[76],"We":[77],"tested":[78],"our":[79],"outdoors":[81],"during":[82],"daylight":[83],"centimeter-accuracy":[85],"GPS":[86],"measurements":[87],"ground":[89],"truth.":[90],"Three":[91],"data":[92],"sets":[93],"have":[94],"been":[95],"collected":[96],"from":[97],"series":[99],"of":[100],"experiments":[101],"it":[103],"shows":[104],"errors":[106],"estimated":[108],"positions":[110],"+/-0.190":[113],"m":[114,121],"on":[115,122],"x-East":[117],"axis":[118,125],"+/-0.291":[120],"z-North":[124],"at":[126],"95%":[127],"confidence":[128],"level.":[129]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":4},{"year":2018,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
