{"id":"https://openalex.org/W1484557735","doi":"https://doi.org/10.1109/icra.2015.7139309","title":"Efficient visual exploration and coverage with a micro aerial vehicle in unknown environments","display_name":"Efficient visual exploration and coverage with a micro aerial vehicle in unknown environments","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1484557735","doi":"https://doi.org/10.1109/icra.2015.7139309","mag":"1484557735"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7139309","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139309","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 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/A5026928192","display_name":"Lionel Heng","orcid":null},"institutions":[{"id":"https://openalex.org/I28490864","display_name":"DSO National Laboratories","ror":"https://ror.org/03e05fb06","country_code":"SG","type":"nonprofit","lineage":["https://openalex.org/I28490864"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Lionel Heng","raw_affiliation_strings":["Information Division, DSO National Laboratories, Singapore"],"affiliations":[{"raw_affiliation_string":"Information Division, DSO National Laboratories, Singapore","institution_ids":["https://openalex.org/I28490864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005116939","display_name":"Alkis Gotovos","orcid":"https://orcid.org/0000-0002-3902-8890"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Alkis Gotovos","raw_affiliation_strings":["Department of Computer Science, ETH Z\u00fcrich, Switzerland","Department of Computer Science ETH Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, ETH Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Department of Computer Science ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003040843","display_name":"Andreas Krause","orcid":"https://orcid.org/0000-0001-7260-9673"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Andreas Krause","raw_affiliation_strings":["Department of Computer Science, ETH Z\u00fcrich, Switzerland","Department of Computer Science ETH Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, ETH Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Department of Computer Science ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021908609","display_name":"Marc Pollefeys","orcid":"https://orcid.org/0000-0003-2448-2318"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Marc Pollefeys","raw_affiliation_strings":["Department of Computer Science, ETH Z\u00fcrich, Switzerland","Department of Computer Science ETH Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, ETH Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Department of Computer Science ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5026928192"],"corresponding_institution_ids":["https://openalex.org/I28490864"],"apc_list":null,"apc_paid":null,"fwci":205.285,"has_fulltext":false,"cited_by_count":116,"citation_normalized_percentile":{"value":0.99949814,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"1071","last_page":"1078"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9997000098228455,"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/T10996","display_name":"Computational Geometry and Mesh Generation","score":0.9980000257492065,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"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-science","display_name":"Computer science","score":0.7455317378044128},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5887424945831299},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5245587825775146},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.44715145230293274},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.4136485457420349},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4106690287590027},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3885711431503296},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.360657274723053},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1914934515953064}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7455317378044128},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5887424945831299},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5245587825775146},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.44715145230293274},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.4136485457420349},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4106690287590027},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3885711431503296},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.360657274723053},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1914934515953064},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2015.7139309","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139309","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.705.5486","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.705.5486","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://people.inf.ethz.ch/pomarc/pubs/HengICRA15.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.7300000190734863,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320924","display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung","ror":"https://ror.org/00yjd3n13"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1510950165","https://openalex.org/W1680189815","https://openalex.org/W1684737195","https://openalex.org/W1942294243","https://openalex.org/W1992157405","https://openalex.org/W2064482780","https://openalex.org/W2066291790","https://openalex.org/W2081716160","https://openalex.org/W2089437550","https://openalex.org/W2101024363","https://openalex.org/W2113873983","https://openalex.org/W2121734178","https://openalex.org/W2125069195","https://openalex.org/W2128138357","https://openalex.org/W2133591555","https://openalex.org/W2151239055","https://openalex.org/W2157608279","https://openalex.org/W2162991084","https://openalex.org/W2171960444","https://openalex.org/W2177667257","https://openalex.org/W2294390014","https://openalex.org/W3099664902","https://openalex.org/W3118655244","https://openalex.org/W4231761304","https://openalex.org/W6630815438","https://openalex.org/W6678073246","https://openalex.org/W6685672428"],"related_works":["https://openalex.org/W2168109476","https://openalex.org/W2486460843","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3197207153","https://openalex.org/W3154539612"],"abstract_inverted_index":{"In":[0,195],"this":[1],"paper,":[2],"we":[3,112,125,197],"propose":[4],"a":[5,17,30,172,181,203],"novel":[6],"and":[7,14,54,69,74,82,99,155],"computationally":[8,153],"efficient":[9,154],"algorithm":[10,27,87,133,151,201],"for":[11,91],"simultaneous":[12],"exploration":[13,81,110],"coverage":[15,83,123,208],"with":[16,171],"vision-guided":[18],"micro":[19],"aerial":[20],"vehicle":[21],"(MAV)":[22],"in":[23,100,162,176],"unknown":[24],"environments.":[25],"This":[26],"continually":[28],"plans":[29],"path":[31,143],"that":[32,140,166,199],"allows":[33],"the":[34,41,59,62,80,96,109,114,117,122,127,130,135,141,160,167,177,218,223],"MAV":[35,161,168,219],"to":[36,145,157,191,211,220],"fulfil":[37],"two":[38],"objectives":[39,76],"at":[40,95],"same":[42],"time":[43],"while":[44,215],"avoiding":[45],"obstacles:":[46],"observe":[47,55],"as":[48,52,56,64,79,209],"much":[49,57],"unexplored":[50],"space":[51],"possible,":[53],"of":[58,61,116,129,179,207],"surface":[60],"environment":[63],"possible":[65],"given":[66],"viewing":[67],"angle":[68],"distance":[70],"constraints.":[71,148],"The":[72],"former":[73],"latter":[75],"are":[77,105],"known":[78],"problems":[84],"respectively.":[85],"Our":[86,132],"is":[88,152,169],"particularly":[89],"useful":[90],"automated":[92],"3D":[93],"reconstruction":[94],"street":[97],"level":[98,206],"indoor":[101],"environments":[102],"where":[103],"obstacles":[104],"omnipresent.":[106],"By":[107,120],"solving":[108,121],"problem,":[111,124],"maximize":[113,126],"size":[115],"reconstructed":[118],"model.":[119,131],"completeness":[128],"leverages":[134],"state":[136],"lattice":[137],"concept":[138],"such":[139],"planned":[142],"adheres":[144],"specified":[146],"motion":[147],"Furthermore,":[149],"our":[150,193,200],"able":[156],"run":[158],"on-board":[159],"real-time.":[163],"We":[164,187],"assume":[165],"equipped":[170],"forward-looking":[173],"depth-sensing":[174],"camera":[175,183],"form":[178],"either":[180],"stereo":[182],"or":[184],"RGB-D":[185],"camera.":[186],"use":[188],"simulation":[189],"experiments":[190],"validate":[192],"algorithm.":[194],"addition,":[196],"show":[198],"achieves":[202],"significantly":[204],"higher":[205],"compared":[210],"an":[212],"exploration-only":[213],"approach":[214],"still":[216],"allowing":[217],"fully":[221],"explore":[222],"environment.":[224]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":21},{"year":2020,"cited_by_count":10},{"year":2019,"cited_by_count":19},{"year":2018,"cited_by_count":9},{"year":2017,"cited_by_count":14},{"year":2016,"cited_by_count":9},{"year":2014,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
