{"id":"https://openalex.org/W2043424691","doi":"https://doi.org/10.1109/iros.2012.6386234","title":"Robust optical-flow based self-motion estimation for a quadrotor UAV","display_name":"Robust optical-flow based self-motion estimation for a quadrotor UAV","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W2043424691","doi":"https://doi.org/10.1109/iros.2012.6386234","mag":"2043424691"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2012.6386234","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6386234","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5026933077","display_name":"Volker Grabe","orcid":null},"institutions":[{"id":"https://openalex.org/I4210112925","display_name":"Max Planck Institute for Biological Cybernetics","ror":"https://ror.org/026nmvv73","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210112925"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Volker Grabe","raw_affiliation_strings":["Max Planck Institute for Biological Cybernetics, Tubingen, Germany"],"affiliations":[{"raw_affiliation_string":"Max Planck Institute for Biological Cybernetics, Tubingen, Germany","institution_ids":["https://openalex.org/I4210112925"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000138876","display_name":"HH B\u00fclthoff","orcid":"https://orcid.org/0000-0003-2568-0607"},"institutions":[{"id":"https://openalex.org/I197347611","display_name":"Korea University","ror":"https://ror.org/047dqcg40","country_code":"KR","type":"education","lineage":["https://openalex.org/I197347611"]},{"id":"https://openalex.org/I4210112925","display_name":"Max Planck Institute for Biological Cybernetics","ror":"https://ror.org/026nmvv73","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210112925"]}],"countries":["DE","KR"],"is_corresponding":false,"raw_author_name":"Heinrich H. Bulthoff","raw_affiliation_strings":["Department of Brain and Cognitive Engineering, Korea University, Seoul, South Korea","Max Planck Institute for Biological Cybernetics, Tubingen, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Brain and Cognitive Engineering, Korea University, Seoul, South Korea","institution_ids":["https://openalex.org/I197347611"]},{"raw_affiliation_string":"Max Planck Institute for Biological Cybernetics, Tubingen, Germany","institution_ids":["https://openalex.org/I4210112925"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067595490","display_name":"Paolo Robuffo Giordano","orcid":"https://orcid.org/0000-0001-6919-7751"},"institutions":[{"id":"https://openalex.org/I4210112925","display_name":"Max Planck Institute for Biological Cybernetics","ror":"https://ror.org/026nmvv73","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210112925"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Paolo Robuffo Giordano","raw_affiliation_strings":["Max Planck Institute for Biological Cybernetics, Tubingen, Germany"],"affiliations":[{"raw_affiliation_string":"Max Planck Institute for Biological Cybernetics, Tubingen, Germany","institution_ids":["https://openalex.org/I4210112925"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5026933077"],"corresponding_institution_ids":["https://openalex.org/I4210112925"],"apc_list":null,"apc_paid":null,"fwci":6.9426,"has_fulltext":false,"cited_by_count":50,"citation_normalized_percentile":{"value":0.97467173,"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":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":1.0,"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/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/T13114","display_name":"Image Processing Techniques and Applications","score":0.996399998664856,"subfield":{"id":"https://openalex.org/subfields/2214","display_name":"Media Technology"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7165632843971252},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7149043083190918},{"id":"https://openalex.org/keywords/optical-flow","display_name":"Optical flow","score":0.698541522026062},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6977909803390503},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.6248570680618286},{"id":"https://openalex.org/keywords/homography","display_name":"Homography","score":0.5833132266998291},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.563267707824707},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.5198288559913635},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.46715396642684937},{"id":"https://openalex.org/keywords/motion-estimation","display_name":"Motion estimation","score":0.4439370632171631},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16206571459770203},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.11957117915153503},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.0988503098487854},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.0768163800239563}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7165632843971252},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7149043083190918},{"id":"https://openalex.org/C155542232","wikidata":"https://www.wikidata.org/wiki/Q736111","display_name":"Optical flow","level":3,"score":0.698541522026062},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6977909803390503},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.6248570680618286},{"id":"https://openalex.org/C28751775","wikidata":"https://www.wikidata.org/wiki/Q2112539","display_name":"Homography","level":4,"score":0.5833132266998291},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.563267707824707},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5198288559913635},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.46715396642684937},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.4439370632171631},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16206571459770203},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.11957117915153503},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0988503098487854},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0768163800239563},{"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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/iros.2012.6386234","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6386234","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.398.382","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.398.382","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.kyb.tuebingen.mpg.de/fileadmin/user_upload/files/publications/2012/IROS-2012-Grabe.pdf","raw_type":"text"},{"id":"pmh:oai:escidoc.org:escidoc:1787450","is_oa":false,"landing_page_url":"http://hdl.handle.net/11858/00-001M-0000-0013-B5C6-2","pdf_url":null,"source":{"id":"https://openalex.org/S7407052962","display_name":"Max Planck Digital Library","issn_l":null,"issn":[],"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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:pure.mpg.de:item_1787450","is_oa":false,"landing_page_url":"https://hdl.handle.net/11858/00-001M-0000-0013-B5C6-2","pdf_url":null,"source":{"id":"https://openalex.org/S4306400654","display_name":"MPG.PuRe (Max Planck Society)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I149899117","host_organization_name":"Max Planck Society","host_organization_lineage":["https://openalex.org/I149899117"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/10","score":0.6600000262260437,"display_name":"Reduced inequalities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W297039922","https://openalex.org/W1565206031","https://openalex.org/W1975326224","https://openalex.org/W2006501475","https://openalex.org/W2014017473","https://openalex.org/W2044233231","https://openalex.org/W2047682254","https://openalex.org/W2063468777","https://openalex.org/W2082991751","https://openalex.org/W2098009605","https://openalex.org/W2118877769","https://openalex.org/W2128739770","https://openalex.org/W2130103520","https://openalex.org/W2132666664","https://openalex.org/W2151290401","https://openalex.org/W2156939321","https://openalex.org/W2738004119","https://openalex.org/W6633567737","https://openalex.org/W6677548441","https://openalex.org/W6679388247"],"related_works":["https://openalex.org/W17155033","https://openalex.org/W3207760230","https://openalex.org/W1496222301","https://openalex.org/W1590307681","https://openalex.org/W2536018345","https://openalex.org/W4312814274","https://openalex.org/W1993800635","https://openalex.org/W2030154815","https://openalex.org/W2051121715","https://openalex.org/W1929254672"],"abstract_inverted_index":{"Robotic":[0],"vision":[1],"has":[2],"become":[3],"an":[4],"important":[5],"field":[6],"of":[7,24,35,44,109,122],"research":[8],"for":[9,20,41],"micro":[10],"aerial":[11],"vehicles":[12,26],"in":[13,85,95,114],"the":[14,32,42,59,72,81,92,96,107,110],"recent":[15],"years.":[16],"While":[17],"many":[18],"approaches":[19],"autonomous":[21],"visual":[22],"control":[23],"such":[25],"rely":[27],"on":[28,100],"powerful":[29],"ground":[30],"stations,":[31],"increasing":[33],"availability":[34],"small":[36],"and":[37,66],"light":[38],"hardware":[39],"allows":[40],"design":[43],"more":[45],"independent":[46],"systems.":[47],"In":[48],"this":[49],"context,":[50],"we":[51],"present":[52],"a":[53,63,101,115,120],"robust":[54],"algorithm":[55],"able":[56],"to":[57,78,87,91,125],"recover":[58],"UAV":[60,104],"ego-motion":[61],"using":[62],"monocular":[64],"camera":[65],"on-board":[67],"hardware.":[68],"Our":[69],"method":[70],"exploits":[71],"continuous":[73],"homography":[74],"constraint":[75],"so":[76],"as":[77],"discriminate":[79],"among":[80],"observed":[82],"feature":[83],"points":[84],"order":[86],"classify":[88],"those":[89],"belonging":[90],"dominant":[93],"plane":[94],"scene.":[97],"Extensive":[98],"experiments":[99],"real":[102],"quadrotor":[103],"demonstrate":[105],"that":[106],"estimation":[108],"scaled":[111],"linear":[112],"velocity":[113],"cluttered":[116],"environment":[117],"improved":[118],"by":[119],"factor":[121],"25%":[123],"compared":[124],"previous":[126],"approaches.":[127]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":9},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":7},{"year":2015,"cited_by_count":11},{"year":2014,"cited_by_count":8},{"year":2013,"cited_by_count":6}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}