{"id":"https://openalex.org/W2419396125","doi":"https://doi.org/10.1109/icra.2016.7487651","title":"Simultaneous tracking and rendering: Real-time monocular localization for MAVs","display_name":"Simultaneous tracking and rendering: Real-time monocular localization for MAVs","publication_year":2016,"publication_date":"2016-05-01","ids":{"openalex":"https://openalex.org/W2419396125","doi":"https://doi.org/10.1109/icra.2016.7487651","mag":"2419396125"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2016.7487651","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487651","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/1721.1/105368","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5063242159","display_name":"Kyel Ok","orcid":null},"institutions":[{"id":"https://openalex.org/I4210107838","display_name":"Robust Chip (United States)","ror":"https://ror.org/01rp86637","country_code":"US","type":"company","lineage":["https://openalex.org/I4210107838"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kyel Ok","raw_affiliation_strings":["Robust Robotics Group, MIT"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robust Robotics Group, MIT","institution_ids":["https://openalex.org/I4210107838"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063469179","display_name":"W. Nicholas Greene","orcid":null},"institutions":[{"id":"https://openalex.org/I4210107838","display_name":"Robust Chip (United States)","ror":"https://ror.org/01rp86637","country_code":"US","type":"company","lineage":["https://openalex.org/I4210107838"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"W. Nicholas Greene","raw_affiliation_strings":["Robust Robotics Group, MIT"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robust Robotics Group, MIT","institution_ids":["https://openalex.org/I4210107838"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004980809","display_name":"Nicholas Roy","orcid":"https://orcid.org/0000-0002-4277-2928"},"institutions":[{"id":"https://openalex.org/I4210107838","display_name":"Robust Chip (United States)","ror":"https://ror.org/01rp86637","country_code":"US","type":"company","lineage":["https://openalex.org/I4210107838"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nicholas Roy","raw_affiliation_strings":["Robust Robotics Group, MIT"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robust Robotics Group, MIT","institution_ids":["https://openalex.org/I4210107838"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4210107838"],"apc_list":null,"apc_paid":null,"fwci":12.2776,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.97930856,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"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":0.9991999864578247,"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/computer-vision","display_name":"Computer vision","score":0.8019027709960938},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7783098220825195},{"id":"https://openalex.org/keywords/rendering","display_name":"Rendering (computer graphics)","score":0.7751895785331726},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7401083111763},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.5230287313461304},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.4204213619232178},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.39488327503204346}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.8019027709960938},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7783098220825195},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.7751895785331726},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7401083111763},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.5230287313461304},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.4204213619232178},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.39488327503204346}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2016.7487651","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487651","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:dspace.mit.edu:1721.1/105368","is_oa":true,"landing_page_url":"http://hdl.handle.net/1721.1/105368","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"MIT web domain","raw_type":"http://purl.org/eprint/type/ConferencePaper"}],"best_oa_location":{"id":"pmh:oai:dspace.mit.edu:1721.1/105368","is_oa":true,"landing_page_url":"http://hdl.handle.net/1721.1/105368","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"MIT web domain","raw_type":"http://purl.org/eprint/type/ConferencePaper"},"sustainable_development_goals":[{"score":0.75,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320333591","display_name":"Multidisciplinary University Research Initiative","ror":null},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"},{"id":"https://openalex.org/F4320338281","display_name":"Army Research Office","ror":"https://ror.org/05epdh915"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1513954757","https://openalex.org/W1518580144","https://openalex.org/W1542460026","https://openalex.org/W1616969904","https://openalex.org/W1980911747","https://openalex.org/W1989976536","https://openalex.org/W2005115267","https://openalex.org/W2013345945","https://openalex.org/W2021851106","https://openalex.org/W2035379092","https://openalex.org/W2041232406","https://openalex.org/W2059898159","https://openalex.org/W2092428023","https://openalex.org/W2098221733","https://openalex.org/W2113500802","https://openalex.org/W2114384289","https://openalex.org/W2117228865","https://openalex.org/W2129000642","https://openalex.org/W2140912855","https://openalex.org/W2143769815","https://openalex.org/W2150252608","https://openalex.org/W2151103935","https://openalex.org/W2151290401","https://openalex.org/W2278591674","https://openalex.org/W2606694271","https://openalex.org/W6630722710","https://openalex.org/W6647879023"],"related_works":["https://openalex.org/W2736638679","https://openalex.org/W291250033","https://openalex.org/W1968716783","https://openalex.org/W2008385118","https://openalex.org/W4313046826","https://openalex.org/W4307623796","https://openalex.org/W2035757446","https://openalex.org/W880955280","https://openalex.org/W2106647072","https://openalex.org/W4246858109"],"abstract_inverted_index":{"We":[0,137],"propose":[1],"a":[2,27,51,99,134],"method":[3],"of":[4,15,30,65,87,111,123],"real-time":[5],"monocular":[6],"camera-based":[7],"localization":[8,73],"in":[9,141],"known":[10],"environments.":[11,144],"With":[12],"the":[13,31,69,88,109,121],"goal":[14],"controlling":[16],"high-speed":[17],"micro":[18],"air":[19],"vehicles":[20],"(MAVs),":[21],"we":[22,53,83],"localize":[23],"with":[24,94],"respect":[25,95],"to":[26,96],"mesh":[28],"map":[29],"environment":[32,89],"that":[33,46],"can":[34,47],"support":[35],"both":[36],"pose":[37,56],"estimation":[38,57],"and":[39,79,90,126],"trajectory":[40],"planning.":[41],"Using":[42],"only":[43],"limited":[44],"hardware":[45],"be":[48],"carried":[49],"on":[50],"MAV,":[52],"achieve":[54],"accurate":[55,128],"at":[58],"rates":[59],"above":[60],"50":[61],"Hz,":[62],"an":[63],"order":[64],"magnitude":[66],"faster":[67],"than":[68],"current":[70],"state-of-the-art":[71],"mesh-based":[72],"algorithms.":[74],"In":[75],"our":[76,139],"simultaneous":[77],"tracking":[78,113,131],"rendering":[80],"(STAR)":[81],"approach,":[82],"render":[84],"virtual":[85,115],"images":[86,93,125],"track":[91],"camera":[92,112],"them":[97],"using":[98],"robust":[100],"semi-direct":[101],"image":[102,116],"alignment":[103],"technique.":[104],"Our":[105],"main":[106],"contribution":[107],"is":[108],"decoupling":[110],"from":[114],"rendering,":[117],"which":[118],"drastically":[119],"reduces":[120],"number":[122],"rendered":[124],"enables":[127],"full":[129],"camera-rate":[130],"without":[132],"needing":[133],"high-end":[135],"GPU.":[136],"demonstrate":[138],"approach":[140],"GPS-denied":[142],"indoor":[143]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":4}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}