{"id":"https://openalex.org/W2210072957","doi":"https://doi.org/10.1109/iros.2015.7353354","title":"Real-time 3D navigation for autonomous vision-guided MAVs","display_name":"Real-time 3D navigation for autonomous vision-guided MAVs","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W2210072957","doi":"https://doi.org/10.1109/iros.2015.7353354","mag":"2210072957"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2015.7353354","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353354","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5016375169","display_name":"Shengdong Xu","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":"Shengdong Xu","raw_affiliation_strings":["Department of Computer Science, ETH Z\u00fcrich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, ETH Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007298146","display_name":"Dominik Honegger","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":"Dominik Honegger","raw_affiliation_strings":["Department of Computer Science, ETH Z\u00fcrich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, ETH Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021908609","display_name":"Marc Pollefeys","orcid":"https://orcid.org/0000-0003-2448-2318"},"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":"Marc Pollefeys","raw_affiliation_strings":["Department of Computer Science, ETH Z\u00fcrich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, ETH Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026928192","display_name":"Lionel Heng","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":"Lionel Heng","raw_affiliation_strings":["Department of Computer Science, ETH Z\u00fcrich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, ETH Z\u00fcrich, Switzerland","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":null,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"46","issue":null,"first_page":"53","last_page":"59"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","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/T10586","display_name":"Robotic Path Planning Algorithms","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":0.9993000030517578,"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":0.9901999831199646,"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/motion-planning","display_name":"Motion planning","score":0.7179071307182312},{"id":"https://openalex.org/keywords/octree","display_name":"Octree","score":0.6530919075012207},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6316142678260803},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5075615644454956},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.5011508464813232},{"id":"https://openalex.org/keywords/data-structure","display_name":"Data structure","score":0.4466363787651062},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4398476779460907},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.41180533170700073},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4068882167339325},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3725687265396118},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.36756664514541626},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.29894310235977173},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24505165219306946}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7179071307182312},{"id":"https://openalex.org/C141297171","wikidata":"https://www.wikidata.org/wiki/Q1143237","display_name":"Octree","level":2,"score":0.6530919075012207},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6316142678260803},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5075615644454956},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.5011508464813232},{"id":"https://openalex.org/C162319229","wikidata":"https://www.wikidata.org/wiki/Q175263","display_name":"Data structure","level":2,"score":0.4466363787651062},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4398476779460907},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.41180533170700073},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4068882167339325},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3725687265396118},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.36756664514541626},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.29894310235977173},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24505165219306946},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2015.7353354","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353354","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.707.2676","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.707.2676","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://people.inf.ethz.ch/pomarc/pubs/XuIROS15.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.4099999964237213,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W198732646","https://openalex.org/W1942294243","https://openalex.org/W1975492090","https://openalex.org/W1996183429","https://openalex.org/W2024676408","https://openalex.org/W2054775725","https://openalex.org/W2069647917","https://openalex.org/W2082511574","https://openalex.org/W2113029345","https://openalex.org/W2130957631","https://openalex.org/W2145772536","https://openalex.org/W2155873302","https://openalex.org/W2162991084","https://openalex.org/W2165036656","https://openalex.org/W2167562394","https://openalex.org/W3013983152","https://openalex.org/W6608150121","https://openalex.org/W6679589628","https://openalex.org/W6775299407"],"related_works":["https://openalex.org/W1620863146","https://openalex.org/W2368795992","https://openalex.org/W4308080200","https://openalex.org/W2908094156","https://openalex.org/W2389896347","https://openalex.org/W4395071568","https://openalex.org/W2904203243","https://openalex.org/W3139139461","https://openalex.org/W2125569607","https://openalex.org/W2106119116"],"abstract_inverted_index":{"Autonomous":[0],"navigation":[1],"of":[2,13,101,132,161,175,203,218],"micro":[3],"aerial":[4],"vehicles":[5],"(MAVs)":[6],"in":[7,18,54,106,148],"a-priori":[8],"unknown":[9],"environments":[10],"is":[11,57,87,115,182,194],"one":[12],"the":[14,38,41,52,62,74,130,149,189,201,216],"most":[15],"challenging":[16],"problems":[17],"robotics.":[19],"First,":[20],"a":[21,27,48,66,82,92,98,107,123,133,171,178,185],"MAV":[22],"has":[23,44],"to":[24,45,51,60,81,89,137,184],"incrementally":[25],"build":[26],"3D":[28,94,109],"geometric":[29],"map":[30],"from":[31],"raw":[32],"sensor":[33],"data.":[34],"Then,":[35],"based":[36],"on":[37],"mapping":[39],"information,":[40],"path":[42,75,125,204,220],"planner":[43],"search":[46,63,84,105,151,193],"for":[47,144],"cost-optimal":[49],"trajectory":[50,147],"goal":[53],"real-time.":[55],"It":[56],"common":[58],"practice":[59],"discretize":[61],"space":[64,163],"into":[65,164],"state":[67,95,110,135,140,155,209],"lattice;":[68],"by":[69],"doing":[70],"so,":[71],"we":[72,121],"reduce":[73],"planning":[76,126,205,221],"problem":[77,85],"with":[78,206],"differential":[79],"constraints":[80],"graph":[83,104,192],"that":[86],"easier":[88],"solve.":[90],"However,":[91],"regular":[93,108,134],"lattice":[96,111,136,156],"requires":[97],"large":[99,159],"amount":[100],"memory":[102,180],"while":[103],"incorporating":[112],"numerous":[113],"states":[114],"computationally":[116],"intensive.":[117],"In":[118],"this":[119,219],"paper,":[120],"introduce":[122],"novel":[124],"algorithm":[127],"which":[128],"extends":[129],"concept":[131],"an":[138,145,207],"octree-based":[139,154,208],"lattice,":[141,210],"and":[142,168,187,211],"searches":[143],"optimal":[146],"octree-partitioned":[150],"space.":[152],"Our":[153],"representation":[157],"discretizes":[158],"swathes":[160],"free":[162],"few":[165],"symbolic":[166],"octants,":[167],"thus,":[169],"encodes":[170],"significantly":[172],"fewer":[173],"number":[174],"states.":[176],"As":[177],"result,":[179],"consumption":[181],"kept":[183],"minimum,":[186],"at":[188],"same":[190],"time,":[191],"made":[195],"more":[196],"efficient.":[197],"Simulation":[198],"experiments":[199],"demonstrate":[200],"efficiency":[202],"further":[212],"field":[213],"trials":[214],"prove":[215],"viability":[217],"algorithm.":[222]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}