{"id":"https://openalex.org/W1970563618","doi":"https://doi.org/10.1109/iros.2013.6696805","title":"Integrated navigation system using camera and gimbaled laser scanner for indoor and outdoor autonomous flight of UAVs","display_name":"Integrated navigation system using camera and gimbaled laser scanner for indoor and outdoor autonomous flight of UAVs","publication_year":2013,"publication_date":"2013-11-01","ids":{"openalex":"https://openalex.org/W1970563618","doi":"https://doi.org/10.1109/iros.2013.6696805","mag":"1970563618"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2013.6696805","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696805","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":"conference-paper","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/A5112825694","display_name":"Sungsik Huh","orcid":null},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sungsik Huh","raw_affiliation_strings":["Department of Aerospace Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Republic of Korea","Dept. of Aerosp. Eng., Korea Adv. Inst. of Sci. & Technol. (KAIST), Daejeon, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Republic of Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"Dept. of Aerosp. Eng., Korea Adv. Inst. of Sci. & Technol. (KAIST), Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053591461","display_name":"David Hyunchul Shim","orcid":"https://orcid.org/0000-0002-1929-7022"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"David Hyunchul Shim","raw_affiliation_strings":["Department of Aerospace Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Republic of Korea","Dept. of Aerosp. Eng., Korea Adv. Inst. of Sci. & Technol. (KAIST), Daejeon, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Republic of Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"Dept. of Aerosp. Eng., Korea Adv. Inst. of Sci. & Technol. (KAIST), Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101724793","display_name":"Jonghyuk Kim","orcid":"https://orcid.org/0000-0003-4505-1103"},"institutions":[{"id":"https://openalex.org/I118347636","display_name":"Australian National University","ror":"https://ror.org/019wvm592","country_code":"AU","type":"education","lineage":["https://openalex.org/I118347636"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Jonghyuk Kim","raw_affiliation_strings":["School of Engineering, Australian National University, Australia","[School of Engineering, Australian National University, Canberra, ACT, Australia]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering, Australian National University, Australia","institution_ids":["https://openalex.org/I118347636"]},{"raw_affiliation_string":"[School of Engineering, Australian National University, Canberra, ACT, Australia]","institution_ids":["https://openalex.org/I118347636"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":21.1993,"has_fulltext":false,"cited_by_count":63,"citation_normalized_percentile":{"value":0.99598765,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"3158","last_page":"3163"},"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":0.9980999827384949,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9976000189781189,"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/gimbal","display_name":"Gimbal","score":0.8364886045455933},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7178633213043213},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.698430061340332},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6662724614143372},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6642687320709229},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6081646084785461},{"id":"https://openalex.org/keywords/laser-scanning","display_name":"Laser scanning","score":0.6054614782333374},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.476337730884552},{"id":"https://openalex.org/keywords/camera-resectioning","display_name":"Camera resectioning","score":0.46434885263442993},{"id":"https://openalex.org/keywords/scanner","display_name":"Scanner","score":0.45544931292533875},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.43797022104263306},{"id":"https://openalex.org/keywords/camera-auto-calibration","display_name":"Camera auto-calibration","score":0.4327557682991028},{"id":"https://openalex.org/keywords/image-sensor","display_name":"Image sensor","score":0.4153628647327423},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3359503149986267},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27594679594039917},{"id":"https://openalex.org/keywords/laser","display_name":"Laser","score":0.2722854018211365},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.23468074202537537}],"concepts":[{"id":"https://openalex.org/C125750033","wikidata":"https://www.wikidata.org/wiki/Q1146104","display_name":"Gimbal","level":2,"score":0.8364886045455933},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7178633213043213},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.698430061340332},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6662724614143372},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6642687320709229},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6081646084785461},{"id":"https://openalex.org/C141349535","wikidata":"https://www.wikidata.org/wiki/Q1361664","display_name":"Laser scanning","level":3,"score":0.6054614782333374},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.476337730884552},{"id":"https://openalex.org/C110898773","wikidata":"https://www.wikidata.org/wiki/Q2933935","display_name":"Camera resectioning","level":2,"score":0.46434885263442993},{"id":"https://openalex.org/C2779751349","wikidata":"https://www.wikidata.org/wiki/Q1474480","display_name":"Scanner","level":2,"score":0.45544931292533875},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.43797022104263306},{"id":"https://openalex.org/C94816000","wikidata":"https://www.wikidata.org/wiki/Q5026006","display_name":"Camera auto-calibration","level":3,"score":0.4327557682991028},{"id":"https://openalex.org/C76935873","wikidata":"https://www.wikidata.org/wiki/Q209121","display_name":"Image sensor","level":2,"score":0.4153628647327423},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3359503149986267},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27594679594039917},{"id":"https://openalex.org/C520434653","wikidata":"https://www.wikidata.org/wiki/Q38867","display_name":"Laser","level":2,"score":0.2722854018211365},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.23468074202537537},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2013.6696805","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696805","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:openresearch-repository.anu.edu.au:1885/82642","is_oa":false,"landing_page_url":"http://hdl.handle.net/1885/82642","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":"IEEE International Conference on Intelligent Robots and Systems","raw_type":"Conference paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W988466463","https://openalex.org/W1532362218","https://openalex.org/W1982318371","https://openalex.org/W2033819227","https://openalex.org/W2040938785","https://openalex.org/W2087387266","https://openalex.org/W2112510830","https://openalex.org/W2114384289","https://openalex.org/W2118428504","https://openalex.org/W2123432765","https://openalex.org/W2130103520","https://openalex.org/W2132453268","https://openalex.org/W2159786429","https://openalex.org/W2246782745","https://openalex.org/W3021282624","https://openalex.org/W6631707545","https://openalex.org/W6679388247"],"related_works":["https://openalex.org/W2785097492","https://openalex.org/W2118427684","https://openalex.org/W2378222798","https://openalex.org/W2052984831","https://openalex.org/W2061162617","https://openalex.org/W2391933270","https://openalex.org/W227461850","https://openalex.org/W1503004767","https://openalex.org/W1970302691","https://openalex.org/W2392935764"],"abstract_inverted_index":{"This":[0,94],"paper":[1],"describes":[2],"an":[3,15,56],"integrated":[4],"navigation":[5,118,165,172],"sensor":[6,35,132],"module,":[7],"including":[8],"a":[9,11,38,80,87,90,98,116,169],"camera,":[10],"laser":[12,34,92,108,140],"scanner,":[13],"and":[14,27,31,65,89,106,149,158],"inertial":[16],"sensor,":[17],"for":[18,85,129,143],"unmanned":[19],"aerial":[20],"vehicles":[21],"(UAVs)":[22],"to":[23,41,69,102],"fly":[24],"both":[25],"indoors":[26],"outdoors.":[28],"The":[29,51,134],"camera":[30,88,105],"the":[32,46,49,71,75,104,107,122,159,181],"gimbaled":[33,91],"work":[36],"in":[37,62],"complementary":[39],"manner":[40],"extract":[42],"feature":[43],"points":[44],"from":[45],"environment":[47],"around":[48],"vehicle.":[50,76],"features":[52,138],"are":[53,151],"processed":[54],"using":[55],"online":[57],"extended":[58],"Kalman":[59],"filter":[60],"(EKF)":[61],"simultaneous":[63],"localization":[64],"mapping":[66],"(SLAM)":[67],"algorithm":[68,119,135],"estimate":[70],"navigational":[72],"states":[73],"of":[74],"In":[77],"this":[78],"paper,":[79],"new":[81],"method":[82,96],"is":[83,127],"proposed":[84],"calibrating":[86],"sensor.":[93],"calibration":[95],"uses":[97],"simple":[99],"visual":[100],"marker":[101],"calibrate":[103],"scanner":[109],"with":[110,139],"each":[111],"other.":[112],"We":[113],"also":[114],"propose":[115],"real-time":[117,170],"based":[120],"on":[121,153,180],"EKF":[123],"SLAM":[124],"algorithm,":[125],"which":[126],"suitable":[128],"our":[130,154,163],"camera-laser":[131],"package.":[133],"merges":[136],"image":[137],"range":[141],"data":[142],"state":[144],"estimation.":[145],"Finally,":[146],"these":[147],"sensors":[148],"algorithms":[150],"implemented":[152],"octo-rotor":[155],"UAV":[156],"platform":[157],"result":[160],"shows":[161],"that":[162],"onboard":[164],"module":[166],"can":[167],"provide":[168],"three-dimensional":[171],"solution":[173],"without":[174],"any":[175],"assumptions":[176],"or":[177],"prior":[178],"information":[179],"surroundings.":[182]},"counts_by_year":[{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":8},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":12},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":9},{"year":2014,"cited_by_count":8}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}