{"id":"https://openalex.org/W3109316937","doi":"https://doi.org/10.1109/icca51439.2020.9264514","title":"A Deep Learning Approach to Localization for Navigation on a Miniature Autonomous Blimp","display_name":"A Deep Learning Approach to Localization for Navigation on a Miniature Autonomous Blimp","publication_year":2020,"publication_date":"2020-10-09","ids":{"openalex":"https://openalex.org/W3109316937","doi":"https://doi.org/10.1109/icca51439.2020.9264514","mag":"3109316937"},"language":"en","primary_location":{"id":"doi:10.1109/icca51439.2020.9264514","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icca51439.2020.9264514","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE 16th International Conference on Control &amp; Automation (ICCA)","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/A5073877456","display_name":"Landan Seguin","orcid":"https://orcid.org/0000-0002-8020-5887"},"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":true,"raw_author_name":"Landan Seguin","raw_affiliation_strings":["School of Electrical and Computer Engineering, Georgia Institute of Techonology, Atlanta, GA, USA"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering, Georgia Institute of Techonology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081671080","display_name":"Justin Zheng","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":"Justin Zheng","raw_affiliation_strings":["School of Electrical and Computer Engineering, Georgia Institute of Techonology, Atlanta, GA, USA"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering, Georgia Institute of Techonology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077241133","display_name":"Alberto Quattrini Li","orcid":"https://orcid.org/0000-0002-4094-9793"},"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":"Alberto Li","raw_affiliation_strings":["School of Electrical and Computer Engineering, Georgia Institute of Techonology, Atlanta, GA, USA"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering, Georgia Institute of Techonology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032499799","display_name":"Qiuyang Tao","orcid":"https://orcid.org/0000-0002-3413-1311"},"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":"Qiuyang Tao","raw_affiliation_strings":["School of Electrical and Computer Engineering, Georgia Institute of Techonology, Atlanta, GA, USA"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering, Georgia Institute of Techonology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068994727","display_name":"Fumin Zhang","orcid":"https://orcid.org/0000-0003-0053-4224"},"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":"Fumin Zhang","raw_affiliation_strings":["School of Electrical and Computer Engineering, Georgia Institute of Techonology, Atlanta, GA, USA"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering, Georgia Institute of Techonology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5073877456"],"corresponding_institution_ids":["https://openalex.org/I130701444"],"apc_list":null,"apc_paid":null,"fwci":3.1064,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.91326339,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1130","last_page":"1136"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9983999729156494,"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":0.9983999729156494,"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":0.9979000091552734,"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/T12719","display_name":"Aerospace Engineering and Energy Systems","score":0.9979000091552734,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6471691131591797},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.48982688784599304},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.47839128971099854}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6471691131591797},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.48982688784599304},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.47839128971099854}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icca51439.2020.9264514","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icca51439.2020.9264514","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE 16th International Conference on Control &amp; Automation (ICCA)","raw_type":"proceedings-article"},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-124204","is_oa":false,"landing_page_url":"http://lbdiscover.ust.hk/uresolver?url_ver=Z39.88-2004&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rfr_id=info:sid/HKUST:SPI&rft.genre=article&rft.issn=1948-3449&rft.volume=2020-October&rft.issue=&rft.date=2020&rft.spage=1130&rft.aulast=Seguin&rft.aufirst=L.&rft.atitle=A+Deep+Learning+Approach+to+Localization+for+Navigation+on+a+Miniature+Autonomous+Blimp&rft.title=IEEE+International+Conference+on+Control+and+Automation%2C+ICCA","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"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":38,"referenced_works":["https://openalex.org/W114517082","https://openalex.org/W1162411702","https://openalex.org/W1489890405","https://openalex.org/W1603086352","https://openalex.org/W1686810756","https://openalex.org/W1975713381","https://openalex.org/W1982318371","https://openalex.org/W1988695020","https://openalex.org/W2027346282","https://openalex.org/W2040938785","https://openalex.org/W2099431574","https://openalex.org/W2105303354","https://openalex.org/W2132453268","https://openalex.org/W2138158112","https://openalex.org/W2139061407","https://openalex.org/W2200124539","https://openalex.org/W2245181036","https://openalex.org/W2293413033","https://openalex.org/W2577610724","https://openalex.org/W2584696035","https://openalex.org/W2598706937","https://openalex.org/W2605111497","https://openalex.org/W2609883120","https://openalex.org/W2620629206","https://openalex.org/W2737540556","https://openalex.org/W2761626120","https://openalex.org/W2763638150","https://openalex.org/W2779341579","https://openalex.org/W2899771611","https://openalex.org/W2901136733","https://openalex.org/W2911544411","https://openalex.org/W2951019013","https://openalex.org/W2963024893","https://openalex.org/W2964314455","https://openalex.org/W3106440972","https://openalex.org/W6637373629","https://openalex.org/W6756040250","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W2731899572","https://openalex.org/W3215138031","https://openalex.org/W3009238340","https://openalex.org/W2939353110","https://openalex.org/W4321369474","https://openalex.org/W4360585206","https://openalex.org/W4285208911","https://openalex.org/W3082895349","https://openalex.org/W4213079790","https://openalex.org/W2248239756"],"abstract_inverted_index":{"The":[0,46,112],"Georgia":[1],"Tech":[2],"Miniature":[3],"Autonomous":[4],"Blimp":[5],"(GT-MAB)":[6],"needs":[7],"localization":[8,35,39,51,124,162,197],"algorithms":[9,43],"to":[10,12,126,139,150,167,172,211],"navigate":[11],"way-points":[13],"in":[14,130],"an":[15,20,67,87,204],"indoor":[16,205],"environment":[17],"without":[18],"leveraging":[19],"external":[21],"motion":[22,31],"capture":[23,32],"system.":[24],"Indoor":[25],"aerial":[26],"robots":[27],"often":[28],"require":[29],"a":[30,59,106,192],"system":[33],"for":[34,44,49,122,176,199],"or":[36],"employ":[37],"simultaneous":[38],"and":[40,78,115,145],"mapping":[41],"(SLAM)":[42],"navigation.":[45,178],"proposed":[47,161],"strategy":[48],"GT-MAB":[50,82,100,129,175],"can":[52],"be":[53,140,151],"accomplished":[54],"using":[55,83],"lightweight":[56],"sensors":[57],"on":[58,181],"weight-constrained":[60],"platform":[61],"like":[62],"the":[63,75,81,93,96,99,116,123,128,134,146,157,174,182,189,195,201],"GT-MAB.":[64],"We":[65],"train":[66],"end-to-end":[68],"convolutional":[69],"neural":[70],"network":[71],"(CNN)":[72],"that":[73,207],"predicts":[74],"horizontal":[76],"position":[77],"heading":[79,148],"of":[80,98,159,191,203],"video":[84],"collected":[85],"by":[86],"onboard":[88],"monocular":[89,113],"RGB":[90],"camera.":[91],"On":[92],"other":[94],"hand,":[95],"height":[97],"is":[101],"estimated":[102],"from":[103],"measurements":[104],"through":[105],"time-of-flight":[107],"(ToF)":[108],"single-beam":[109,117],"laser":[110,118],"sensor.":[111],"camera":[114],"sensor":[119],"are":[120,165,185],"sufficient":[121],"algorithm":[125],"localize":[127],"real":[131],"time,":[132],"achieving":[133],"averaged":[135,147],"3D":[136],"positioning":[137],"errors":[138,149],"less":[141,152],"than":[142,153],"20":[143],"cm,":[144],"3":[154],"degrees.":[155],"With":[156],"accuracy":[158],"our":[160],"method,":[163],"we":[164],"able":[166],"use":[168,190],"simple":[169],"proportional-integral-derivative":[170],"controllers":[171],"control":[173],"waypoint":[177,183],"Experimental":[179],"results":[180],"following":[184],"provided,":[186],"which":[187],"demonstrates":[188],"CNN":[193],"as":[194],"primary":[196],"method":[198],"estimating":[200],"pose":[202],"robot":[206],"successfully":[208],"enables":[209],"navigation":[210],"specified":[212],"waypoints.":[213]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
