{"id":"https://openalex.org/W2060042080","doi":"https://doi.org/10.1109/iros.2013.6696482","title":"Efficient onbard RGBD-SLAM for autonomous MAVs","display_name":"Efficient onbard RGBD-SLAM for autonomous MAVs","publication_year":2013,"publication_date":"2013-11-01","ids":{"openalex":"https://openalex.org/W2060042080","doi":"https://doi.org/10.1109/iros.2013.6696482","mag":"2060042080"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2013.6696482","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696482","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 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/A5106892631","display_name":"Sebastian Scherer","orcid":"https://orcid.org/0000-0002-8380-2361"},"institutions":[{"id":"https://openalex.org/I8087733","display_name":"University of T\u00fcbingen","ror":"https://ror.org/03a1kwz48","country_code":"DE","type":"education","lineage":["https://openalex.org/I8087733"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Sebastian A. Scherer","raw_affiliation_strings":["Department of Computer Science, University of Tuebingen, Tuebin-gen, Germany","Dept. of Comput. Sci., Univ. of Tuebingen, Tuebin-gen, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Tuebingen, Tuebin-gen, Germany","institution_ids":["https://openalex.org/I8087733"]},{"raw_affiliation_string":"Dept. of Comput. Sci., Univ. of Tuebingen, Tuebin-gen, Germany","institution_ids":["https://openalex.org/I8087733"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004958444","display_name":"Andreas Zell","orcid":"https://orcid.org/0000-0003-3299-2211"},"institutions":[{"id":"https://openalex.org/I8087733","display_name":"University of T\u00fcbingen","ror":"https://ror.org/03a1kwz48","country_code":"DE","type":"education","lineage":["https://openalex.org/I8087733"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Andreas Zell","raw_affiliation_strings":["Department of Computer Science, University of Tuebingen, Tuebin-gen, Germany","Dept. of Comput. Sci., Univ. of Tuebingen, Tuebin-gen, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Tuebingen, Tuebin-gen, Germany","institution_ids":["https://openalex.org/I8087733"]},{"raw_affiliation_string":"Dept. of Comput. Sci., Univ. of Tuebingen, Tuebin-gen, Germany","institution_ids":["https://openalex.org/I8087733"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5106892631"],"corresponding_institution_ids":["https://openalex.org/I8087733"],"apc_list":null,"apc_paid":null,"fwci":104.8992,"has_fulltext":false,"cited_by_count":48,"citation_normalized_percentile":{"value":0.99814167,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1062","last_page":"1068"},"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":0.9987000226974487,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9937000274658203,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"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-science","display_name":"Computer science","score":0.7508127689361572},{"id":"https://openalex.org/keywords/bundle-adjustment","display_name":"Bundle adjustment","score":0.7410300970077515},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.70527583360672},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6847299337387085},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.6454287767410278},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6318538784980774},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5661953687667847},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5245490074157715},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.520315408706665},{"id":"https://openalex.org/keywords/on-the-fly","display_name":"On the fly","score":0.49821019172668457},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4749829173088074},{"id":"https://openalex.org/keywords/bundle","display_name":"Bundle","score":0.46638962626457214},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.341572642326355},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.34137147665023804},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1547250747680664},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.13891801238059998},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.10920384526252747}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7508127689361572},{"id":"https://openalex.org/C179458375","wikidata":"https://www.wikidata.org/wiki/Q1020763","display_name":"Bundle adjustment","level":3,"score":0.7410300970077515},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.70527583360672},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6847299337387085},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.6454287767410278},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6318538784980774},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5661953687667847},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5245490074157715},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.520315408706665},{"id":"https://openalex.org/C2781020372","wikidata":"https://www.wikidata.org/wiki/Q533093","display_name":"On the fly","level":2,"score":0.49821019172668457},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4749829173088074},{"id":"https://openalex.org/C2778134712","wikidata":"https://www.wikidata.org/wiki/Q1047307","display_name":"Bundle","level":2,"score":0.46638962626457214},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.341572642326355},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.34137147665023804},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1547250747680664},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.13891801238059998},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.10920384526252747},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2013.6696482","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696482","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.644.834","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.644.834","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cogsys.cs.uni-tuebingen.de/publikationen/2013/scherer2013iros.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1187244281","https://openalex.org/W1565206031","https://openalex.org/W1987648924","https://openalex.org/W1991172434","https://openalex.org/W2021851106","https://openalex.org/W2025864680","https://openalex.org/W2029780423","https://openalex.org/W2034574444","https://openalex.org/W2073660060","https://openalex.org/W2094368692","https://openalex.org/W2097649661","https://openalex.org/W2102780469","https://openalex.org/W2112510830","https://openalex.org/W2115601136","https://openalex.org/W2118877769","https://openalex.org/W2134138606","https://openalex.org/W2151290401","https://openalex.org/W2295583866","https://openalex.org/W2509493982","https://openalex.org/W4253283574","https://openalex.org/W6627862999","https://openalex.org/W6675455886","https://openalex.org/W6677548441","https://openalex.org/W6697152077","https://openalex.org/W6724925041"],"related_works":["https://openalex.org/W2378211422","https://openalex.org/W2416513692","https://openalex.org/W2992292799","https://openalex.org/W159468655","https://openalex.org/W2371097030","https://openalex.org/W2058290256","https://openalex.org/W2110862966","https://openalex.org/W3033220023","https://openalex.org/W2020684218","https://openalex.org/W2963200201"],"abstract_inverted_index":{"We":[0,41,87],"present":[1],"a":[2,26,57,70,81,98],"computationally":[3],"inexpensive":[4],"RGBD-SLAM":[5],"solution":[6],"taylored":[7],"to":[8,18,56,111],"the":[9,89,105],"application":[10],"on":[11,37,97],"autonomous":[12],"MAVs,":[13],"which":[14],"enables":[15,108],"our":[16,94,109],"MAV":[17],"fly":[19,112],"in":[20],"an":[21],"unknown":[22],"environment":[23],"and":[24,65,91,102],"create":[25],"map":[27],"of":[28,69,72,93],"its":[29,38,51],"surroundings":[30],"completely":[31],"autonomously,":[32],"with":[33,54,77],"all":[34],"computations":[35],"running":[36],"onboard":[39],"computer.":[40],"achieve":[42],"this":[43],"by":[44],"implementing":[45],"efficient":[46,66],"methods":[47],"for":[48,83],"both":[49],"tracking":[50],"current":[52],"location":[53],"respect":[55],"heavily":[58],"processed":[59],"previously":[60],"seen":[61],"RGBD":[62],"image":[63],"(keyframe)":[64],"relative":[67],"registration":[68],"set":[71],"keyframes":[73],"using":[74],"bundle":[75],"adjustment":[76],"depth":[78],"constraints":[79],"as":[80],"front-end":[82],"pose":[84],"graph":[85],"optimization.":[86],"prove":[88],"accuracy":[90],"efficiency":[92],"system":[95],"based":[96],"public":[99],"benchmark":[100],"dataset":[101],"demonstrate":[103],"that":[104],"proposed":[106],"method":[107],"quadrotor":[110],"autonomously.":[113]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":9},{"year":2014,"cited_by_count":2}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}