{"id":"https://openalex.org/W2119922284","doi":"https://doi.org/10.1109/icra.2012.6225073","title":"UAV vision: Feature based accurate ground target localization through propagated initializations and interframe homographies","display_name":"UAV vision: Feature based accurate ground target localization through propagated initializations and interframe homographies","publication_year":2012,"publication_date":"2012-05-01","ids":{"openalex":"https://openalex.org/W2119922284","doi":"https://doi.org/10.1109/icra.2012.6225073","mag":"2119922284"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2012.6225073","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6225073","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","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/A5069631846","display_name":"Kyuseo Han","orcid":null},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Kyuseo Han","raw_affiliation_strings":["School of Electrical and Computer Engineering, Purdue University, West Lafayette, IN, USA","School of Electrical and Computer Engineering, Purdue University West Lafayette, Indiana 47907, USA"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering, Purdue University, West Lafayette, IN, USA","institution_ids":["https://openalex.org/I219193219"]},{"raw_affiliation_string":"School of Electrical and Computer Engineering, Purdue University West Lafayette, Indiana 47907, USA","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007217822","display_name":"Chad Aeschliman","orcid":null},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chad Aeschliman","raw_affiliation_strings":["School of Electrical and Computer Engineering, Purdue University, West Lafayette, IN, USA","School of Electrical and Computer Engineering, Purdue University West Lafayette, Indiana 47907, USA"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering, Purdue University, West Lafayette, IN, USA","institution_ids":["https://openalex.org/I219193219"]},{"raw_affiliation_string":"School of Electrical and Computer Engineering, Purdue University West Lafayette, Indiana 47907, USA","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058723279","display_name":"Johnny Park","orcid":null},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Johnny Park","raw_affiliation_strings":["School of Electrical and Computer Engineering, Purdue University, West Lafayette, IN, USA","School of Electrical and Computer Engineering, Purdue University West Lafayette, Indiana 47907, USA"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering, Purdue University, West Lafayette, IN, USA","institution_ids":["https://openalex.org/I219193219"]},{"raw_affiliation_string":"School of Electrical and Computer Engineering, Purdue University West Lafayette, Indiana 47907, USA","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110382122","display_name":"Avinash C. Kak","orcid":null},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Avinash C. Kak","raw_affiliation_strings":["School of Electrical and Computer Engineering, Purdue University, West Lafayette, IN, USA","School of Electrical and Computer Engineering, Purdue University West Lafayette, Indiana 47907, USA"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering, Purdue University, West Lafayette, IN, USA","institution_ids":["https://openalex.org/I219193219"]},{"raw_affiliation_string":"School of Electrical and Computer Engineering, Purdue University West Lafayette, Indiana 47907, USA","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049127529","display_name":"Hyukseong Kwon","orcid":null},"institutions":[{"id":"https://openalex.org/I430641","display_name":"United States Air Force Academy","ror":"https://ror.org/0055d0g64","country_code":"US","type":"government","lineage":["https://openalex.org/I1330347796","https://openalex.org/I4210089612","https://openalex.org/I4210102105","https://openalex.org/I430641"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hyukseong Kwon","raw_affiliation_strings":["Academy Center for UAS Research, US Air Force Academy, Colorado Springs, CO, USA","Academy Center for UAS Research, US Air Force Academy, Colorado Springs, 80840, USA"],"affiliations":[{"raw_affiliation_string":"Academy Center for UAS Research, US Air Force Academy, Colorado Springs, CO, USA","institution_ids":["https://openalex.org/I430641"]},{"raw_affiliation_string":"Academy Center for UAS Research, US Air Force Academy, Colorado Springs, 80840, USA","institution_ids":["https://openalex.org/I430641"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054566402","display_name":"Daniel J. Pack","orcid":null},"institutions":[{"id":"https://openalex.org/I430641","display_name":"United States Air Force Academy","ror":"https://ror.org/0055d0g64","country_code":"US","type":"government","lineage":["https://openalex.org/I1330347796","https://openalex.org/I4210089612","https://openalex.org/I4210102105","https://openalex.org/I430641"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniel J. Pack","raw_affiliation_strings":["Academy Center for UAS Research, US Air Force Academy, Colorado Springs, CO, USA","Academy Center for UAS Research, US Air Force Academy, Colorado Springs, 80840, USA"],"affiliations":[{"raw_affiliation_string":"Academy Center for UAS Research, US Air Force Academy, Colorado Springs, CO, USA","institution_ids":["https://openalex.org/I430641"]},{"raw_affiliation_string":"Academy Center for UAS Research, US Air Force Academy, Colorado Springs, 80840, USA","institution_ids":["https://openalex.org/I430641"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5069631846"],"corresponding_institution_ids":["https://openalex.org/I219193219"],"apc_list":null,"apc_paid":null,"fwci":3.1834,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.91871431,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"944","last_page":"950"},"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9995999932289124,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9988999962806702,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.7945182919502258},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7426840662956238},{"id":"https://openalex.org/keywords/homography","display_name":"Homography","score":0.6990411877632141},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6253891587257385},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.5777007937431335},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.5733786821365356},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5594710111618042},{"id":"https://openalex.org/keywords/inter-frame","display_name":"Inter frame","score":0.5093656778335571},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5021078586578369},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4681589603424072},{"id":"https://openalex.org/keywords/iterative-method","display_name":"Iterative method","score":0.46604907512664795},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.430059015750885},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2813807427883148},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2711642384529114},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2378261685371399},{"id":"https://openalex.org/keywords/reference-frame","display_name":"Reference frame","score":0.23470130562782288}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7945182919502258},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7426840662956238},{"id":"https://openalex.org/C28751775","wikidata":"https://www.wikidata.org/wiki/Q2112539","display_name":"Homography","level":4,"score":0.6990411877632141},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6253891587257385},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.5777007937431335},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.5733786821365356},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5594710111618042},{"id":"https://openalex.org/C39394851","wikidata":"https://www.wikidata.org/wiki/Q921594","display_name":"Inter frame","level":4,"score":0.5093656778335571},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5021078586578369},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4681589603424072},{"id":"https://openalex.org/C159694833","wikidata":"https://www.wikidata.org/wiki/Q2321565","display_name":"Iterative method","level":2,"score":0.46604907512664795},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.430059015750885},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2813807427883148},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2711642384529114},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2378261685371399},{"id":"https://openalex.org/C172849965","wikidata":"https://www.wikidata.org/wiki/Q3148875","display_name":"Reference frame","level":3,"score":0.23470130562782288},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C75280867","wikidata":"https://www.wikidata.org/wiki/Q877775","display_name":"Projective space","level":3,"score":0.0},{"id":"https://openalex.org/C177846678","wikidata":"https://www.wikidata.org/wiki/Q1501864","display_name":"Projective test","level":2,"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/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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":1,"locations":[{"id":"doi:10.1109/icra.2012.6225073","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6225073","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320338279","display_name":"Air Force Office of Scientific Research","ror":"https://ror.org/011e9bt93"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W139706770","https://openalex.org/W1572902374","https://openalex.org/W2002133671","https://openalex.org/W2010238411","https://openalex.org/W2011549544","https://openalex.org/W2049981393","https://openalex.org/W2069559120","https://openalex.org/W2085695204","https://openalex.org/W2086791132","https://openalex.org/W2119605622","https://openalex.org/W2126300286","https://openalex.org/W2142240058","https://openalex.org/W2143535330","https://openalex.org/W2145023731","https://openalex.org/W2160752340","https://openalex.org/W2161035581","https://openalex.org/W2161567010","https://openalex.org/W2320409443","https://openalex.org/W2335095276","https://openalex.org/W3141160719","https://openalex.org/W6605641457"],"related_works":["https://openalex.org/W4313151434","https://openalex.org/W1971496130","https://openalex.org/W2050662190","https://openalex.org/W1997252062","https://openalex.org/W2899509464","https://openalex.org/W2159857203","https://openalex.org/W2123263858","https://openalex.org/W4390071586","https://openalex.org/W1982908968","https://openalex.org/W2378199636"],"abstract_inverted_index":{"Our":[0],"work":[1],"presents":[2],"solutions":[3],"to":[4,36],"two":[5,94],"related":[6],"vexing":[7],"problems":[8,63,95],"in":[9,15,45,82],"feature-based":[10],"localization":[11],"of":[12,52,55,67,80,92,99,107,127,149,156,159,169],"ground":[13,57],"targets":[14],"Unmanned":[16],"Aerial":[17],"Vehicle":[18],"(UAV)":[19],"images:":[20],"(i)":[21],"A":[22],"good":[23],"initial":[24],"guess":[25],"at":[26,124,153],"the":[27,34,37,53,56,65,68,90,93,100,105,108,120,125,128,144,147,150,154,160,167],"pose":[28,39,102],"estimate":[29,40],"that":[30,74,137],"would":[31],"speed":[32],"up":[33],"convergence":[35],"final":[38],"for":[41,104,131,166],"each":[42,132],"image":[43,133],"frame":[44],"a":[46,77],"video":[47],"sequence;":[48],"and":[49,85],"(ii)Time-bounded":[50],"estimation":[51,122],"position":[54,151],"target.":[58],"We":[59,88,135],"address":[60],"both":[61],"these":[62],"within":[64],"framework":[66],"Iterative":[69],"Closest":[70],"Point":[71],"(ICP)":[72],"algorithm":[73],"now":[75],"has":[76],"rich":[78],"tradition":[79],"usage":[81],"computer":[83],"vision":[84],"robotics":[86],"applications.":[87],"solve":[89],"first":[91],"by":[96,111,118],"frame-to-frame":[97,139],"propagation":[98],"computed":[101],"estimates":[103],"purpose":[106],"initializations":[109],"needed":[110],"ICP.":[112],"The":[113],"second":[114],"problem":[115],"is":[116,141,162],"solved":[117],"terminating":[119],"iterative":[121,145],"process":[123],"expiration":[126],"available":[129],"time":[130,155],"frame.":[134],"show":[136],"when":[138],"homography":[140],"factored":[142],"into":[143],"calculations,":[146],"accuracy":[148],"calculated":[152],"bailing":[157],"out":[158],"iterations":[161],"nearly":[163],"always":[164],"sufficient":[165],"goals":[168],"UAV":[170],"vision.":[171]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}