{"id":"https://openalex.org/W2994627688","doi":"https://doi.org/10.1109/iecon.2019.8927168","title":"Vision-based MAV Navigation in Underground Mine Using Convolutional Neural Network","display_name":"Vision-based MAV Navigation in Underground Mine Using Convolutional Neural Network","publication_year":2019,"publication_date":"2019-10-01","ids":{"openalex":"https://openalex.org/W2994627688","doi":"https://doi.org/10.1109/iecon.2019.8927168","mag":"2994627688"},"language":"en","primary_location":{"id":"doi:10.1109/iecon.2019.8927168","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon.2019.8927168","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-75674","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5023682583","display_name":"Sina Sharif Mansouri","orcid":"https://orcid.org/0000-0001-7631-002X"},"institutions":[{"id":"https://openalex.org/I190632392","display_name":"Lule\u00e5 University of Technology","ror":"https://ror.org/016st3p78","country_code":"SE","type":"education","lineage":["https://openalex.org/I190632392"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Sina Sharif Mansouri","raw_affiliation_strings":["Department of Computer, Electrical and Space Engineering, Robotics Team, Lule\u00e5 University of Technology, Lule\u00e5, Sweden"],"affiliations":[{"raw_affiliation_string":"Department of Computer, Electrical and Space Engineering, Robotics Team, Lule\u00e5 University of Technology, Lule\u00e5, Sweden","institution_ids":["https://openalex.org/I190632392"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058278718","display_name":"Petros Karvelis","orcid":"https://orcid.org/0000-0002-0483-4868"},"institutions":[{"id":"https://openalex.org/I190632392","display_name":"Lule\u00e5 University of Technology","ror":"https://ror.org/016st3p78","country_code":"SE","type":"education","lineage":["https://openalex.org/I190632392"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Petros Karvelis","raw_affiliation_strings":["Department of Computer, Electrical and Space Engineering, Robotics Team, Lule\u00e5 University of Technology, Lule\u00e5, Sweden"],"affiliations":[{"raw_affiliation_string":"Department of Computer, Electrical and Space Engineering, Robotics Team, Lule\u00e5 University of Technology, Lule\u00e5, Sweden","institution_ids":["https://openalex.org/I190632392"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039277979","display_name":"Christoforos Kanellakis","orcid":"https://orcid.org/0000-0001-8870-6718"},"institutions":[{"id":"https://openalex.org/I190632392","display_name":"Lule\u00e5 University of Technology","ror":"https://ror.org/016st3p78","country_code":"SE","type":"education","lineage":["https://openalex.org/I190632392"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Christoforos Kanellakis","raw_affiliation_strings":["Department of Computer, Electrical and Space Engineering, Robotics Team, Lule\u00e5 University of Technology, Lule\u00e5, Sweden"],"affiliations":[{"raw_affiliation_string":"Department of Computer, Electrical and Space Engineering, Robotics Team, Lule\u00e5 University of Technology, Lule\u00e5, Sweden","institution_ids":["https://openalex.org/I190632392"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054821221","display_name":"Dariusz Kominiak","orcid":null},"institutions":[{"id":"https://openalex.org/I190632392","display_name":"Lule\u00e5 University of Technology","ror":"https://ror.org/016st3p78","country_code":"SE","type":"education","lineage":["https://openalex.org/I190632392"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Dariusz Kominiak","raw_affiliation_strings":["Department of Computer, Electrical and Space Engineering, Robotics Team, Lule\u00e5 University of Technology, Lule\u00e5, Sweden"],"affiliations":[{"raw_affiliation_string":"Department of Computer, Electrical and Space Engineering, Robotics Team, Lule\u00e5 University of Technology, Lule\u00e5, Sweden","institution_ids":["https://openalex.org/I190632392"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064878830","display_name":"George Nikolakopoulos","orcid":"https://orcid.org/0000-0003-0126-1897"},"institutions":[{"id":"https://openalex.org/I190632392","display_name":"Lule\u00e5 University of Technology","ror":"https://ror.org/016st3p78","country_code":"SE","type":"education","lineage":["https://openalex.org/I190632392"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"George Nikolakopoulos","raw_affiliation_strings":["Department of Computer, Electrical and Space Engineering, Robotics Team, Lule\u00e5 University of Technology, Lule\u00e5, Sweden"],"affiliations":[{"raw_affiliation_string":"Department of Computer, Electrical and Space Engineering, Robotics Team, Lule\u00e5 University of Technology, Lule\u00e5, Sweden","institution_ids":["https://openalex.org/I190632392"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5023682583"],"corresponding_institution_ids":["https://openalex.org/I190632392"],"apc_list":null,"apc_paid":null,"fwci":5.9505,"has_fulltext":false,"cited_by_count":25,"citation_normalized_percentile":{"value":0.95858169,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"750","last_page":"755"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9995999932289124,"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":0.9995999932289124,"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9993000030517578,"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":0.9980000257492065,"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/convolutional-neural-network","display_name":"Convolutional neural network","score":0.729164719581604},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7267054319381714},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7152892351150513},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6994447112083435},{"id":"https://openalex.org/keywords/centroid","display_name":"Centroid","score":0.531764566898346},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.4317205846309662}],"concepts":[{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.729164719581604},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7267054319381714},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7152892351150513},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6994447112083435},{"id":"https://openalex.org/C146599234","wikidata":"https://www.wikidata.org/wiki/Q511093","display_name":"Centroid","level":2,"score":0.531764566898346},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.4317205846309662}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iecon.2019.8927168","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon.2019.8927168","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society","raw_type":"proceedings-article"},{"id":"pmh:oai:DiVA.org:ltu-75674","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-75674","pdf_url":null,"source":{"id":"https://openalex.org/S4306401559","display_name":"KTH Publication Database DiVA (KTH Royal Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:DiVA.org:ltu-75674","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-75674","pdf_url":null,"source":{"id":"https://openalex.org/S4306401559","display_name":"KTH Publication Database DiVA (KTH Royal Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"score":0.4099999964237213,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W107968503","https://openalex.org/W1522301498","https://openalex.org/W1716876189","https://openalex.org/W2095705004","https://openalex.org/W2128254161","https://openalex.org/W2135336512","https://openalex.org/W2163605009","https://openalex.org/W2296673577","https://openalex.org/W2467663293","https://openalex.org/W2469875636","https://openalex.org/W2543011743","https://openalex.org/W2582222835","https://openalex.org/W2624442909","https://openalex.org/W2649341231","https://openalex.org/W2788239209","https://openalex.org/W2789773866","https://openalex.org/W2883107451","https://openalex.org/W2892746432","https://openalex.org/W2903902823","https://openalex.org/W2905144608","https://openalex.org/W2911147127","https://openalex.org/W2921521985","https://openalex.org/W2964121744","https://openalex.org/W2990041418","https://openalex.org/W4253920039","https://openalex.org/W6674330103","https://openalex.org/W6684191040","https://openalex.org/W6755286842","https://openalex.org/W6758488825","https://openalex.org/W6770644922"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"This":[0],"article":[1],"presents":[2],"a":[3,52,151],"Convolutional":[4],"Neural":[5],"Network":[6],"(CNN)":[7],"method":[8,65,146,167],"to":[9,50,99,122],"enable":[10],"autonomous":[11],"navigation":[12],"of":[13,62,67,70,103,107,142,164],"low-cost":[14],"Micro":[15],"Aerial":[16],"Vehicle":[17],"(MAV)":[18],"platforms":[19],"along":[20,55],"dark":[21],"underground":[22,178],"mine":[23,179],"environments.":[24],"The":[25,116,145],"proposed":[26,166],"CNN":[27],"component":[28],"provides":[29],"online":[30],"heading":[31],"rate":[32],"commands":[33],"for":[34,74],"the":[35,39,43,48,56,63,68,71,76,104,108,124,128,132,140,143,148,162,165],"MAV":[36,149],"by":[37],"utilising":[38],"image":[40,83,88],"stream":[41],"from":[42,81,91],"on-board":[44],"camera,":[45],"thus":[46,154],"allowing":[47],"platform":[49],"follow":[51],"collision-free":[53],"path":[54],"tunnel":[57,93],"axis.":[58],"A":[59],"novel":[60],"part":[61],"developed":[64],"consists":[66],"generation":[69],"data-set":[72],"used":[73,121],"training":[75,141],"CNN.":[77,144],"More":[78],"specifically,":[79],"inspired":[80],"single":[82],"haze":[84],"removal":[85],"algorithms,":[86],"various":[87],"data-sets":[89],"collected":[90],"real":[92],"environments":[94],"have":[95],"been":[96,169],"processed":[97],"offline":[98],"provide":[100],"an":[101,177],"estimation":[102,157],"depth":[105,118],"information":[106],"scene,":[109],"where":[110],"ground":[111],"truth":[112],"is":[113,120,136,158],"not":[114,159],"available.":[115],"calculated":[117],"map":[119],"extract":[123],"open":[125],"space":[126],"in":[127,139,173,176,180],"tunnel,":[129],"expressed":[130],"through":[131],"area":[133],"centroid":[134],"and":[135],"finally":[137],"provided":[138],"considers":[147],"as":[150],"floating":[152],"object,":[153],"accurate":[155],"pose":[156],"required.":[160],"Finally,":[161],"capability":[163],"has":[168],"successfully":[170],"experimentally":[171],"evaluated":[172],"field":[174],"trials":[175],"Sweden.":[181]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":10}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}