{"id":"https://openalex.org/W2138286408","doi":"https://doi.org/10.1109/iros.2012.6386270","title":"Visual-inertial SLAM for a small helicopter in large outdoor environments","display_name":"Visual-inertial SLAM for a small helicopter in large outdoor environments","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W2138286408","doi":"https://doi.org/10.1109/iros.2012.6386270","mag":"2138286408"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2012.6386270","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6386270","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","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/20.500.11850/62179","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5055860801","display_name":"Markus Achtelik","orcid":null},"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":"Markus W. Achtelik","raw_affiliation_strings":["ETH Zurich, Switzerland","ETH Z\u00fcrich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"ETH Z\u00fcrich, Germany","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031067680","display_name":"Simon Lynen","orcid":"https://orcid.org/0000-0002-6421-541X"},"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":"Simon Lynen","raw_affiliation_strings":["ETH Zurich, Switzerland","ETH Z\u00fcrich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"ETH Z\u00fcrich, Germany","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075449650","display_name":"Stephan Wei\u00df","orcid":"https://orcid.org/0000-0001-6906-5409"},"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":"Stephan Weiss","raw_affiliation_strings":["ETH Zurich, Switzerland","ETH Z\u00fcrich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"ETH Z\u00fcrich, Germany","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044711470","display_name":"Laurent Kneip","orcid":"https://orcid.org/0000-0001-6727-6608"},"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":"Laurent Kneip","raw_affiliation_strings":["ETH Zurich, Switzerland","ETH Z\u00fcrich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"ETH Z\u00fcrich, Germany","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055582765","display_name":"Margarita Chli","orcid":"https://orcid.org/0000-0001-5611-7492"},"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":"Margarita Chli","raw_affiliation_strings":["ETH Zurich, Switzerland","ETH Z\u00fcrich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"ETH Z\u00fcrich, Germany","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083003222","display_name":"Roland Siegwart","orcid":"https://orcid.org/0000-0002-2760-7983"},"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":"Roland Siegwart","raw_affiliation_strings":["Autonomous Systems Laboratory, ETH Zurich, Switzerland","ETH Z\u00fcrich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Laboratory, ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"ETH Z\u00fcrich, Germany","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I35440088"],"apc_list":null,"apc_paid":null,"fwci":187.5781,"has_fulltext":false,"cited_by_count":50,"citation_normalized_percentile":{"value":0.9993653,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2651","last_page":"2652"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9984999895095825,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9940999746322632,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7699898481369019},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7313318252563477},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7127231359481812},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6800076961517334},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.6545034050941467},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6499542593955994},{"id":"https://openalex.org/keywords/fuse","display_name":"Fuse (electrical)","score":0.616371750831604},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.5975629091262817},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.4610438048839569},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3150266408920288},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2978922724723816},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.187585711479187}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7699898481369019},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7313318252563477},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7127231359481812},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6800076961517334},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.6545034050941467},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6499542593955994},{"id":"https://openalex.org/C141353440","wikidata":"https://www.wikidata.org/wiki/Q182221","display_name":"Fuse (electrical)","level":2,"score":0.616371750831604},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.5975629091262817},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.4610438048839569},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3150266408920288},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2978922724723816},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.187585711479187},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/iros.2012.6386270","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6386270","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:10.1.1.371.4152","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.371.4152","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://margaritachli.com/papers/IROS2012paper.pdf","raw_type":"text"},{"id":"pmh:oai:openresearch-repository.anu.edu.au:1885/72493","is_oa":false,"landing_page_url":"http://hdl.handle.net/1885/72493","pdf_url":null,"source":{"id":"https://openalex.org/S4306402539","display_name":"ANU Open Research (Australian National University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I118347636","host_organization_name":"Australian National University","host_organization_lineage":["https://openalex.org/I118347636"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference paper"},{"id":"pmh:oai:research-collection.ethz.ch:20.500.11850/62179","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/62179","pdf_url":null,"source":{"id":"https://openalex.org/S4306402302","display_name":"Repository for Publications and Research Data (ETH Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I35440088","host_organization_name":"ETH Zurich","host_organization_lineage":["https://openalex.org/I35440088"],"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":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) : 7 - 12 Oct. 2012, Vilamoura, Algarve, Portugal","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"doi:10.3929/ethz-a-010034802","is_oa":true,"landing_page_url":"https://doi.org/10.3929/ethz-a-010034802","pdf_url":null,"source":{"id":"https://openalex.org/S7407051236","display_name":"ETH Z\u00fcrich Research Collection","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":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Other"}],"best_oa_location":{"id":"pmh:oai:research-collection.ethz.ch:20.500.11850/62179","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/62179","pdf_url":null,"source":{"id":"https://openalex.org/S4306402302","display_name":"Repository for Publications and Research Data (ETH Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I35440088","host_organization_name":"ETH Zurich","host_organization_lineage":["https://openalex.org/I35440088"],"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":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) : 7 - 12 Oct. 2012, Vilamoura, Algarve, Portugal","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.5299999713897705}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1979843398","https://openalex.org/W2049750053","https://openalex.org/W2098860918","https://openalex.org/W2112510830","https://openalex.org/W2140924050","https://openalex.org/W2142424817","https://openalex.org/W2147536420","https://openalex.org/W2151290401","https://openalex.org/W2152671441","https://openalex.org/W2159786429","https://openalex.org/W2399880942","https://openalex.org/W3144404684","https://openalex.org/W6663139161","https://openalex.org/W6680714886"],"related_works":["https://openalex.org/W3000097931","https://openalex.org/W2354322770","https://openalex.org/W4237547500","https://openalex.org/W1570848052","https://openalex.org/W2373192430","https://openalex.org/W4239268388","https://openalex.org/W2991246638","https://openalex.org/W4386821976","https://openalex.org/W2382856674","https://openalex.org/W2980723633"],"abstract_inverted_index":{"In":[0],"this":[1],"video,":[2],"we":[3,25],"present":[4],"our":[5],"latest":[6],"results":[7],"towards":[8],"fully":[9],"autonomous":[10,38],"flights":[11,39,78,101],"with":[12,54,65,79,85,94,111],"a":[13,17,31],"small":[14,63],"helicopter.":[15],"Using":[16],"monocular":[18],"camera":[19],"as":[20,89,91,116],"the":[21,109],"only":[22,112],"exteroceptive":[23],"sensor,":[24],"fuse":[26],"inertial":[27],"measurements":[28],"to":[29,36],"achieve":[30],"self-calibrating":[32],"power-on-and-go":[33],"system,":[34],"able":[35],"perform":[37],"in":[40,58,77,108],"previously":[41,55],"unknown,":[42],"large,":[43],"outdoor":[44],"spaces.":[45],"Our":[46],"framework":[47],"achieves":[48],"Simultaneous":[49],"Localization":[50],"And":[51],"Mapping":[52],"(SLAM)":[53],"unseen":[56],"robustness":[57],"onboard":[59],"aerial":[60],"navigation":[61],"for":[62],"platforms":[64],"natural":[66],"restrictions":[67],"on":[68],"weight":[69],"and":[70],"computational":[71],"power.":[72],"We":[73],"demonstrate":[74],"successful":[75],"operation":[76],"altitude":[80],"between":[81],"0.2-70":[82],"m,":[83],"trajectories":[84],"350":[86],"m":[87],"length,":[88],"well":[90],"dynamic":[92],"maneuvers":[93],"track":[95],"speed":[96],"of":[97],"2":[98],"m/s.":[99],"All":[100],"shown":[102],"are":[103],"performed":[104],"autonomously":[105],"using":[106],"vision":[107],"loop,":[110],"high-level":[113],"waypoints":[114],"given":[115],"directions.":[117]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":9},{"year":2015,"cited_by_count":7},{"year":2014,"cited_by_count":11},{"year":2013,"cited_by_count":7}],"updated_date":"2026-07-07T14:30:12.667765","created_date":"2025-10-10T00:00:00"}
