{"id":"https://openalex.org/W2120131576","doi":"https://doi.org/10.1109/icra.2011.5979586","title":"Horizon constraint for unambiguous UAV navigation in planar scenes","display_name":"Horizon constraint for unambiguous UAV navigation in planar scenes","publication_year":2011,"publication_date":"2011-05-01","ids":{"openalex":"https://openalex.org/W2120131576","doi":"https://doi.org/10.1109/icra.2011.5979586","mag":"2120131576"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2011.5979586","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5979586","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://stars.library.ucf.edu/scopus2010/2188","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5047906325","display_name":"Omar Oreifej","orcid":null},"institutions":[{"id":"https://openalex.org/I106165777","display_name":"University of Central Florida","ror":"https://ror.org/036nfer12","country_code":"US","type":"education","lineage":["https://openalex.org/I106165777"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Omar Oreifej","raw_affiliation_strings":["Computer Vision Lab, University of Central Florida, Orlando, USA","Computer Vision Lab, University of Central Florida, Orlando, USA#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Vision Lab, University of Central Florida, Orlando, USA","institution_ids":["https://openalex.org/I106165777"]},{"raw_affiliation_string":"Computer Vision Lab, University of Central Florida, Orlando, USA#TAB#","institution_ids":["https://openalex.org/I106165777"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030469716","display_name":"Niels da Vitoria Lobo","orcid":"https://orcid.org/0000-0001-5354-2805"},"institutions":[{"id":"https://openalex.org/I106165777","display_name":"University of Central Florida","ror":"https://ror.org/036nfer12","country_code":"US","type":"education","lineage":["https://openalex.org/I106165777"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Niels Lobo","raw_affiliation_strings":["Computer Vision Lab, University of Central Florida, Orlando, USA","Computer Vision Lab, University of Central Florida, Orlando, USA#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Vision Lab, University of Central Florida, Orlando, USA","institution_ids":["https://openalex.org/I106165777"]},{"raw_affiliation_string":"Computer Vision Lab, University of Central Florida, Orlando, USA#TAB#","institution_ids":["https://openalex.org/I106165777"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080823547","display_name":"Mubarak Shah","orcid":"https://orcid.org/0000-0001-6172-5572"},"institutions":[{"id":"https://openalex.org/I106165777","display_name":"University of Central Florida","ror":"https://ror.org/036nfer12","country_code":"US","type":"education","lineage":["https://openalex.org/I106165777"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mubarak Shah","raw_affiliation_strings":["Computer Vision Lab, University of Central Florida, Orlando, USA","Computer Vision Lab, University of Central Florida, Orlando, USA#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Vision Lab, University of Central Florida, Orlando, USA","institution_ids":["https://openalex.org/I106165777"]},{"raw_affiliation_string":"Computer Vision Lab, University of Central Florida, Orlando, USA#TAB#","institution_ids":["https://openalex.org/I106165777"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I106165777"],"apc_list":null,"apc_paid":null,"fwci":3.8785,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.92768595,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1159","last_page":"1165"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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":0.9997000098228455,"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/T10531","display_name":"Advanced Vision and Imaging","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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9986000061035156,"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/computer-vision","display_name":"Computer vision","score":0.6265194416046143},{"id":"https://openalex.org/keywords/horizon","display_name":"Horizon","score":0.6149232387542725},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6098493337631226},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6075546741485596},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.6045389175415039},{"id":"https://openalex.org/keywords/degeneracy","display_name":"Degeneracy (biology)","score":0.5096654891967773},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4746033549308777},{"id":"https://openalex.org/keywords/plane","display_name":"Plane (geometry)","score":0.46376466751098633},{"id":"https://openalex.org/keywords/motion-estimation","display_name":"Motion estimation","score":0.4444766938686371},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.44405287504196167},{"id":"https://openalex.org/keywords/line","display_name":"Line (geometry)","score":0.44000253081321716},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2404605746269226},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.17329299449920654},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.1580769419670105}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6265194416046143},{"id":"https://openalex.org/C159176650","wikidata":"https://www.wikidata.org/wiki/Q43261","display_name":"Horizon","level":2,"score":0.6149232387542725},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6098493337631226},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6075546741485596},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.6045389175415039},{"id":"https://openalex.org/C2777727622","wikidata":"https://www.wikidata.org/wiki/Q5251772","display_name":"Degeneracy (biology)","level":2,"score":0.5096654891967773},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4746033549308777},{"id":"https://openalex.org/C17825722","wikidata":"https://www.wikidata.org/wiki/Q17285","display_name":"Plane (geometry)","level":2,"score":0.46376466751098633},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.4444766938686371},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.44405287504196167},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.44000253081321716},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2404605746269226},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.17329299449920654},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.1580769419670105},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C60644358","wikidata":"https://www.wikidata.org/wiki/Q128570","display_name":"Bioinformatics","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra.2011.5979586","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5979586","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:stars.library.ucf.edu:scopus2010-3187","is_oa":true,"landing_page_url":"https://stars.library.ucf.edu/scopus2010/2188","pdf_url":null,"source":{"id":"https://openalex.org/S4210172555","display_name":"Journal of International Crisis and Risk Communication Research","issn_l":"2576-0017","issn":["2576-0017","2576-0025"],"is_oa":true,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Scopus Export 2010-2014","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.362.7367","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.362.7367","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.ucf.edu/~oreifej/papers/PLANAR_ICRA2011.pdf","raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:stars.library.ucf.edu:scopus2010-3187","is_oa":true,"landing_page_url":"https://stars.library.ucf.edu/scopus2010/2188","pdf_url":null,"source":{"id":"https://openalex.org/S4210172555","display_name":"Journal of International Crisis and Risk Communication Research","issn_l":"2576-0017","issn":["2576-0017","2576-0025"],"is_oa":true,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Scopus Export 2010-2014","raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W1488694087","https://openalex.org/W1493805623","https://openalex.org/W1539158851","https://openalex.org/W1587862507","https://openalex.org/W1594631170","https://openalex.org/W1938714998","https://openalex.org/W1990592195","https://openalex.org/W2009151941","https://openalex.org/W2014941424","https://openalex.org/W2019624342","https://openalex.org/W2033819227","https://openalex.org/W2066991062","https://openalex.org/W2080629029","https://openalex.org/W2092384585","https://openalex.org/W2097407567","https://openalex.org/W2099927035","https://openalex.org/W2108142370","https://openalex.org/W2118665230","https://openalex.org/W2127525327","https://openalex.org/W2130631517","https://openalex.org/W2142876261","https://openalex.org/W2146352414","https://openalex.org/W2148498215","https://openalex.org/W2152222309","https://openalex.org/W2154422147","https://openalex.org/W2156053859","https://openalex.org/W2157802523","https://openalex.org/W2158979083","https://openalex.org/W2159721784","https://openalex.org/W2160526525","https://openalex.org/W2911355490","https://openalex.org/W3022352042","https://openalex.org/W4241222664","https://openalex.org/W4250724610","https://openalex.org/W6629036285","https://openalex.org/W6632397775","https://openalex.org/W6635550671","https://openalex.org/W6640879616","https://openalex.org/W6647720530","https://openalex.org/W6681508479","https://openalex.org/W6758369597"],"related_works":["https://openalex.org/W2372940580","https://openalex.org/W2101113459","https://openalex.org/W2187706389","https://openalex.org/W1970824047","https://openalex.org/W1941883603","https://openalex.org/W4252688432","https://openalex.org/W1842556415","https://openalex.org/W2555734889","https://openalex.org/W1675409203","https://openalex.org/W2006117736"],"abstract_inverted_index":{"When":[0],"the":[1,9,13,17,23,39,57,77,87,91,96,110,121,130,134,138,150,159,171,184,194],"UAV":[2,122],"goes":[3],"to":[4,132,157],"high":[5],"altitudes":[6],"such":[7,54],"that":[8,76,85],"observed":[10],"surface":[11,98],"of":[12,22,83,99,104,176],"earth":[14],"becomes":[15,27],"planar,":[16],"structure":[18],"and":[19,65,95,108,113,137,141,153,179,201,203],"motion":[20,123,178],"recovery":[21],"earth's":[24],"moving":[25],"plane":[26],"ambiguous.":[28],"This":[29],"planar":[30,61,111,188],"degeneracy":[31],"has":[32],"been":[33],"pointed":[34],"out":[35],"very":[36],"often":[37],"in":[38,53,60,73,187],"literature;":[40],"therefore,":[41],"current":[42],"navigation":[43],"methods":[44],"either":[45],"completely":[46],"fail":[47],"or":[48],"give":[49],"many":[50],"confusing":[51],"solutions":[52],"scenario.":[55],"Interestingly,":[56],"horizon":[58,78,131,167],"line":[59,79],"scenes":[62],"is":[63],"straight":[64],"distinctive;":[66],"hence,":[67],"easily":[68],"detected.":[69],"Therefore,":[70],"we":[71,115,148,163],"show":[72],"this":[74],"paper":[75],"provides":[80],"two":[81],"degrees":[82,103],"freedom":[84,105],"control":[86],"relative":[88],"orientation":[89],"between":[90],"camera":[92],"coordinate":[93],"system":[94],"local":[97],"earth.":[100],"The":[101],"recovered":[102],"help":[106],"linearize":[107],"disambiguate":[109],"flow,":[112],"therefore":[114],"obtain":[116],"a":[117,165,173],"unique":[118],"solution":[119],"for":[120,145],"estimation.":[124],"Unlike":[125],"previous":[126],"work":[127],"which":[128,182],"used":[129],"provide":[133],"roll":[135],"angle":[136],"pitch":[139],"percentage":[140],"only":[142],"employed":[143],"them":[144,156],"flight":[146],"stability,":[147],"extract":[149],"exact":[151],"angles":[152],"directly":[154],"use":[155],"estimate":[158],"ego":[160],"motion.":[161],"Additionally,":[162],"propose":[164],"novel":[166],"detector":[168],"based":[169],"on":[170,193],"maximum":[172],"posteriori":[174],"estimation":[175],"both":[177],"appearance":[180],"features":[181],"outperforms":[183],"other":[185],"detectors":[186],"scenarios.":[189],"We":[190],"thoroughly":[191],"experimented":[192],"proposed":[195],"method":[196],"against":[197],"information":[198],"from":[199],"GPS":[200],"gyroscopes,":[202],"obtained":[204],"promising":[205],"results.":[206]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}