{"id":"https://openalex.org/W4245605175","doi":"https://doi.org/10.1109/icra.2014.6907627","title":"Visual SLAM for autonomous MAVs with dual cameras","display_name":"Visual SLAM for autonomous MAVs with dual cameras","publication_year":2014,"publication_date":"2014-05-01","ids":{"openalex":"https://openalex.org/W4245605175","doi":"https://doi.org/10.1109/icra.2014.6907627"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2014.6907627","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907627","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","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/A5075939329","display_name":"Shaowu Yang","orcid":"https://orcid.org/0000-0002-8398-5612"},"institutions":[{"id":"https://openalex.org/I8087733","display_name":"University of T\u00fcbingen","ror":"https://ror.org/03a1kwz48","country_code":"DE","type":"education","lineage":["https://openalex.org/I8087733"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Shaowu Yang","raw_affiliation_strings":["Department of Computer Science, University of T\u00fcbingenT\u00fcbingen, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of T\u00fcbingenT\u00fcbingen, Germany","institution_ids":["https://openalex.org/I8087733"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5106892631","display_name":"Sebastian Scherer","orcid":"https://orcid.org/0000-0002-8380-2361"},"institutions":[{"id":"https://openalex.org/I8087733","display_name":"University of T\u00fcbingen","ror":"https://ror.org/03a1kwz48","country_code":"DE","type":"education","lineage":["https://openalex.org/I8087733"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sebastian A. Scherer","raw_affiliation_strings":["Department of Computer Science, University of T\u00fcbingenT\u00fcbingen, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of T\u00fcbingenT\u00fcbingen, Germany","institution_ids":["https://openalex.org/I8087733"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004958444","display_name":"Andreas Zell","orcid":"https://orcid.org/0000-0003-3299-2211"},"institutions":[{"id":"https://openalex.org/I8087733","display_name":"University of T\u00fcbingen","ror":"https://ror.org/03a1kwz48","country_code":"DE","type":"education","lineage":["https://openalex.org/I8087733"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Andreas Zell","raw_affiliation_strings":["Department of Computer Science, University of T\u00fcbingenT\u00fcbingen, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of T\u00fcbingenT\u00fcbingen, Germany","institution_ids":["https://openalex.org/I8087733"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5075939329"],"corresponding_institution_ids":["https://openalex.org/I8087733"],"apc_list":null,"apc_paid":null,"fwci":4.8588,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.94698533,"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":"5227","last_page":"5232"},"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9983999729156494,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9969000220298767,"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":0.791796088218689},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7784950733184814},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.730349600315094},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6964988708496094},{"id":"https://openalex.org/keywords/field-of-view","display_name":"Field of view","score":0.5639802813529968},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.5616588592529297},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.4806077182292938},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.44878697395324707},{"id":"https://openalex.org/keywords/tracking-system","display_name":"Tracking system","score":0.4475024938583374},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.429013729095459},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.4171680808067322},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.20328691601753235},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.19579419493675232},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.18168196082115173},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08261871337890625}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.791796088218689},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7784950733184814},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.730349600315094},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6964988708496094},{"id":"https://openalex.org/C150627866","wikidata":"https://www.wikidata.org/wiki/Q1076893","display_name":"Field of view","level":2,"score":0.5639802813529968},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.5616588592529297},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.4806077182292938},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.44878697395324707},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.4475024938583374},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.429013729095459},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.4171680808067322},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.20328691601753235},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.19579419493675232},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.18168196082115173},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08261871337890625},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2014.6907627","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907627","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W24289143","https://openalex.org/W88434223","https://openalex.org/W1532362218","https://openalex.org/W1966301784","https://openalex.org/W1978244561","https://openalex.org/W1986556718","https://openalex.org/W1997522477","https://openalex.org/W2002996528","https://openalex.org/W2059302785","https://openalex.org/W2090524302","https://openalex.org/W2094368692","https://openalex.org/W2098860918","https://openalex.org/W2117668073","https://openalex.org/W2151290401","https://openalex.org/W2159786429","https://openalex.org/W2329985799","https://openalex.org/W2901136733","https://openalex.org/W6603604263","https://openalex.org/W6631707545","https://openalex.org/W6641649956","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W4295532600","https://openalex.org/W2063823869","https://openalex.org/W2047973478","https://openalex.org/W2067569035","https://openalex.org/W2090985514","https://openalex.org/W2113666009","https://openalex.org/W200819717","https://openalex.org/W2125061324","https://openalex.org/W2980723633","https://openalex.org/W2907848307"],"abstract_inverted_index":{"This":[0,79],"paper":[1],"extends":[2],"a":[3,34,136],"monocular":[4,99],"visual":[5,100],"simultaneous":[6],"localization":[7],"and":[8,69,83,132],"mapping":[9],"(SLAM)":[10],"system":[11,46,75],"to":[12,29,51,94,115],"utilize":[13],"two":[14],"cameras":[15,119],"with":[16,128,144],"non-overlap":[17],"in":[18,39,76,107],"their":[19],"respective":[20],"field":[21],"of":[22,33,72,85,117,122,135],"views":[23],"(FOVs).":[24],"We":[25,61,124],"achieve":[26],"using":[27],"it":[28],"enable":[30],"autonomous":[31,130],"navigation":[32],"micro":[35],"aerial":[36],"vehicle":[37],"(MAV)":[38],"unknown":[40],"environments.":[41,109],"The":[42,138],"methodology":[43],"behind":[44],"this":[45],"can":[47],"easily":[48],"be":[49],"extended":[50],"multi-camera":[52],"rigs,":[53],"if":[54],"the":[55,63,73,81],"onboard":[56,121],"computation":[57],"capability":[58],"allows":[59],"this.":[60],"analyze":[62],"iterative":[64],"optimizations":[65],"for":[66],"pose":[67],"tracking":[68,95,152],"map":[70],"refinement":[71],"SLAM":[74,101],"multicamera":[77],"cases.":[78],"ensures":[80],"soundness":[82],"accuracy":[84],"each":[86],"optimization":[87],"update.":[88],"Our":[89],"method":[90],"is":[91],"more":[92,113],"resistant":[93],"failure":[96],"than":[97],"conventional":[98],"systems,":[102],"especially":[103],"when":[104],"MAVs":[105],"fly":[106],"complex":[108],"It":[110],"also":[111],"brings":[112],"flexibility":[114],"configurations":[116],"multiple":[118],"used":[120],"MAVs.":[123],"demonstrate":[125],"its":[126],"efficiency":[127],"both":[129],"flight":[131,134],"manual":[133],"MAV.":[137],"results":[139],"are":[140],"evaluated":[141],"by":[142,149],"comparisons":[143],"ground":[145],"truth":[146],"data":[147],"provided":[148],"an":[150],"external":[151],"system.":[153]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
