{"id":"https://openalex.org/W2214613866","doi":"https://doi.org/10.1109/iros.2015.7353622","title":"Real-time visual-inertial mapping, re-localization and planning onboard MAVs in unknown environments","display_name":"Real-time visual-inertial mapping, re-localization and planning onboard MAVs in unknown environments","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W2214613866","doi":"https://doi.org/10.1109/iros.2015.7353622","mag":"2214613866"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2015.7353622","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353622","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":"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/A5012356005","display_name":"Michael Burri","orcid":"https://orcid.org/0000-0002-4540-2519"},"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":"Michael Burri","raw_affiliation_strings":["ETH Z\u00fcrich, Autonomous Systems Lab"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Z\u00fcrich, Autonomous Systems Lab","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050090757","display_name":"Helen Oleynikova","orcid":"https://orcid.org/0000-0002-1831-2315"},"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":"Helen Oleynikova","raw_affiliation_strings":["ETH Z\u00fcrich, Autonomous Systems Lab"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Z\u00fcrich, Autonomous Systems Lab","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","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 Z\u00fcrich, Autonomous Systems Lab"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Z\u00fcrich, Autonomous Systems Lab","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":["ETH Z\u00fcrich, Autonomous Systems Lab"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Z\u00fcrich, Autonomous Systems Lab","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":321.0926,"has_fulltext":false,"cited_by_count":160,"citation_normalized_percentile":{"value":0.99983742,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"1872","last_page":"1878"},"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":0.9995999932289124,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/odometry","display_name":"Odometry","score":0.8405282497406006},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.7741086483001709},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7371928691864014},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6564447283744812},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.6491236686706543},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6484578251838684},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.6229681372642517},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.45567071437835693},{"id":"https://openalex.org/keywords/operator","display_name":"Operator (biology)","score":0.43942782282829285},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.42717477679252625},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4079623222351074},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3828253149986267},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3682306408882141}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.8405282497406006},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.7741086483001709},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7371928691864014},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6564447283744812},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.6491236686706543},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6484578251838684},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.6229681372642517},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.45567071437835693},{"id":"https://openalex.org/C17020691","wikidata":"https://www.wikidata.org/wiki/Q139677","display_name":"Operator (biology)","level":5,"score":0.43942782282829285},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.42717477679252625},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4079623222351074},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3828253149986267},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3682306408882141},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C158448853","wikidata":"https://www.wikidata.org/wiki/Q425218","display_name":"Repressor","level":4,"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/C86339819","wikidata":"https://www.wikidata.org/wiki/Q407384","display_name":"Transcription factor","level":3,"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2015.7353622","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353622","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"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.46000000834465027,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1518680072","https://openalex.org/W1583132079","https://openalex.org/W1942294243","https://openalex.org/W1971086298","https://openalex.org/W1990101796","https://openalex.org/W1996985406","https://openalex.org/W2006368361","https://openalex.org/W2021542322","https://openalex.org/W2024676408","https://openalex.org/W2050145531","https://openalex.org/W2057832664","https://openalex.org/W2060794637","https://openalex.org/W2091790851","https://openalex.org/W2127752689","https://openalex.org/W2133844819","https://openalex.org/W2162991084","https://openalex.org/W2204575239","https://openalex.org/W2482392012","https://openalex.org/W4230475428","https://openalex.org/W4241431727","https://openalex.org/W6721835424"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W2414561716","https://openalex.org/W3024737167","https://openalex.org/W2998370018","https://openalex.org/W3161199934","https://openalex.org/W3125052734","https://openalex.org/W2303855011","https://openalex.org/W3123982513","https://openalex.org/W2312326526"],"abstract_inverted_index":{"In":[0,124],"this":[1],"work,":[2,128],"we":[3],"present":[4],"an":[5,68,96],"MAV":[6,51],"system":[7],"that":[8],"is":[9,28,74,80],"able":[10],"to":[11,48,83,98,108,126],"relocalize":[12],"itself,":[13],"create":[14],"consistent":[15,72],"maps":[16],"and":[17,33,41,121,134],"plan":[18],"paths":[19,107],"in":[20,23,42,76,113,135],"full":[21],"3D":[22,106],"previously":[24,110],"unknown":[25],"environments.":[26],"This":[27,92],"solely":[29],"based":[30,63],"on":[31,64],"vision":[32],"IMU":[34],"measurements":[35],"with":[36],"all":[37,129],"components":[38,130],"running":[39],"onboard":[40,133],"real-time.":[43],"We":[44],"use":[45,118],"visual-inertial":[46],"odometry":[47,90],"keep":[49],"the":[50,61,77,88,114,117,142],"airborne":[52],"safely":[53],"locally,":[54],"as":[55,57,95],"well":[56],"for":[58,85],"exploration":[59],"of":[60,87,119,141],"environment":[62],"high-level":[65],"input":[66,97],"by":[67],"operator.":[69],"A":[70],"globally":[71],"map":[73,93],"constructed":[75],"background,":[78],"which":[79,103],"then":[81],"used":[82],"correct":[84],"drift":[86],"visual":[89],"algorithm.":[91],"serves":[94],"our":[99],"proposed":[100],"global":[101],"planner,":[102],"finds":[104],"dynamic":[105],"any":[109,138],"visited":[111],"place":[112],"map,":[115],"without":[116,137],"teach":[120],"repeat":[122],"algorithms.":[123],"contrast":[125],"previous":[127],"are":[131],"executed":[132],"real-time":[136],"prior":[139],"knowledge":[140],"environment.":[143]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":17},{"year":2021,"cited_by_count":19},{"year":2020,"cited_by_count":29},{"year":2019,"cited_by_count":16},{"year":2018,"cited_by_count":17},{"year":2017,"cited_by_count":25},{"year":2016,"cited_by_count":8}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}