{"id":"https://openalex.org/W2886780319","doi":"https://doi.org/10.1109/iros.2018.8593405","title":"Drone Detection Using Depth Maps","display_name":"Drone Detection Using Depth Maps","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2886780319","doi":"https://doi.org/10.1109/iros.2018.8593405","mag":"2886780319"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8593405","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593405","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 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/A5023900271","display_name":"Adri\u00e1n Carrio","orcid":"https://orcid.org/0000-0001-6711-7279"},"institutions":[{"id":"https://openalex.org/I88060688","display_name":"Universidad Polit\u00e9cnica de Madrid","ror":"https://ror.org/03n6nwv02","country_code":"ES","type":"education","lineage":["https://openalex.org/I88060688"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Adrian Carrio","raw_affiliation_strings":["Computer Vision & Aerial Robotics Group, Universidad Politecnica de Madrid (UPM-CSIC), Madrid, Spain"],"affiliations":[{"raw_affiliation_string":"Computer Vision & Aerial Robotics Group, Universidad Politecnica de Madrid (UPM-CSIC), Madrid, Spain","institution_ids":["https://openalex.org/I88060688"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050296324","display_name":"Sai Vemprala","orcid":"https://orcid.org/0000-0001-7554-5417"},"institutions":[{"id":"https://openalex.org/I91045830","display_name":"Texas A&M University","ror":"https://ror.org/01f5ytq51","country_code":"US","type":"education","lineage":["https://openalex.org/I91045830"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sai Vemprala","raw_affiliation_strings":["Department of Mechanical Engineering, Texas A&M University, College Station, TX, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Texas A&M University, College Station, TX, USA","institution_ids":["https://openalex.org/I91045830"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087757683","display_name":"Andres Ripoll","orcid":null},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Andres Ripoll","raw_affiliation_strings":["Delft Center for Systems and Control (DCSC), Technische Universiteit Delft (TU Delft), Delft, CD, The Netherlands"],"affiliations":[{"raw_affiliation_string":"Delft Center for Systems and Control (DCSC), Technische Universiteit Delft (TU Delft), Delft, CD, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053144325","display_name":"Srikanth Saripalli","orcid":"https://orcid.org/0000-0002-3906-7574"},"institutions":[{"id":"https://openalex.org/I91045830","display_name":"Texas A&M University","ror":"https://ror.org/01f5ytq51","country_code":"US","type":"education","lineage":["https://openalex.org/I91045830"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Srikanth Saripalli","raw_affiliation_strings":["Department of Mechanical Engineering, Texas A&M University, College Station, TX, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Texas A&M University, College Station, TX, USA","institution_ids":["https://openalex.org/I91045830"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001678286","display_name":"Pascual Campoy","orcid":"https://orcid.org/0000-0002-9894-2009"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Pascual Campoy","raw_affiliation_strings":["Delft Center for Systems and Control (DCSC), Technische Universiteit Delft (TU Delft), Delft, CD, The Netherlands"],"affiliations":[{"raw_affiliation_string":"Delft Center for Systems and Control (DCSC), Technische Universiteit Delft (TU Delft), Delft, CD, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5023900271"],"corresponding_institution_ids":["https://openalex.org/I88060688"],"apc_list":null,"apc_paid":null,"fwci":2.1936,"has_fulltext":false,"cited_by_count":54,"citation_normalized_percentile":{"value":0.91235344,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"1034","last_page":"1037"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9993000030517578,"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":0.9993000030517578,"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":0.9991999864578247,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9980000257492065,"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/drone","display_name":"Drone","score":0.9051898717880249},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.763178288936615},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7521638870239258},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6596081852912903},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6490767598152161},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.6381982564926147},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6048004031181335},{"id":"https://openalex.org/keywords/azimuth","display_name":"Azimuth","score":0.49987316131591797},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.48606303334236145},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.44861191511154175},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.4457370936870575},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4441494047641754},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.43120497465133667},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.4228064715862274},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.4100210666656494},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.21218785643577576},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2024655044078827},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.17430207133293152},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14976656436920166},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.14387327432632446},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.11183661222457886},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.1047484278678894},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.08155307173728943},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.06893333792686462}],"concepts":[{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.9051898717880249},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.763178288936615},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7521638870239258},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6596081852912903},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6490767598152161},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.6381982564926147},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6048004031181335},{"id":"https://openalex.org/C159737794","wikidata":"https://www.wikidata.org/wiki/Q124274","display_name":"Azimuth","level":2,"score":0.49987316131591797},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.48606303334236145},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.44861191511154175},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.4457370936870575},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4441494047641754},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.43120497465133667},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.4228064715862274},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4100210666656494},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.21218785643577576},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2024655044078827},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.17430207133293152},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14976656436920166},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.14387327432632446},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.11183661222457886},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.1047484278678894},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.08155307173728943},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.06893333792686462},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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":1,"locations":[{"id":"doi:10.1109/iros.2018.8593405","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593405","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.4300000071525574}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W116751493","https://openalex.org/W1898291352","https://openalex.org/W2047232995","https://openalex.org/W2132985428","https://openalex.org/W2149106668","https://openalex.org/W2248342438","https://openalex.org/W2432876546","https://openalex.org/W2464322612","https://openalex.org/W2464890187","https://openalex.org/W2539381657","https://openalex.org/W2562137911","https://openalex.org/W2570343428","https://openalex.org/W2599520707","https://openalex.org/W2615547864","https://openalex.org/W2718471533","https://openalex.org/W2739434881","https://openalex.org/W2765322173","https://openalex.org/W2793278411","https://openalex.org/W3098564007","https://openalex.org/W6604820715","https://openalex.org/W6729261160"],"related_works":["https://openalex.org/W2913749762","https://openalex.org/W2321940404","https://openalex.org/W2140606111","https://openalex.org/W4380590094","https://openalex.org/W2050548713","https://openalex.org/W2991662304","https://openalex.org/W3119736302","https://openalex.org/W2794689129","https://openalex.org/W4381746183","https://openalex.org/W2975575631"],"abstract_inverted_index":{"Obstacle":[0],"avoidance":[1,24],"is":[2,108,120],"a":[3,59,75,166],"key":[4,121],"feature":[5],"for":[6,18,49,111],"safe":[7],"Unmanned":[8],"Aerial":[9],"Vehicle":[10],"(UAV)":[11],"navigation.":[12],"While":[13,82],"solutions":[14],"have":[15],"been":[16,69,133],"proposed":[17,129],"static":[19],"obstacle":[20],"avoidance,":[21,113],"systems":[22,52],"enabling":[23],"of":[25,61,66,93,104,117,144,156,162,170],"dynamic":[26],"objects,":[27],"such":[28,51],"as":[29,44,46,114],"drones,":[30],"are":[31],"hard":[32],"to":[33,36,73,122,149],"implement":[34],"due":[35],"the":[37,47,105],"detection":[38,80,130,168],"range":[39,169],"and":[40,71,91,165],"field-of-view":[41],"(FOV)":[42],"requirements,":[43],"well":[45],"constraints":[48],"integrating":[50],"on-board":[53],"small":[54],"UAVs.":[55],"In":[56],"this":[57],"work,":[58],"dataset":[60],"6k":[62],"synthetic":[63],"depth":[64,97,138],"maps":[65],"drones":[67,119,145],"has":[68,132],"generated":[70],"used":[72],"train":[74],"state-of-the-art":[76],"deep":[77],"learning-based":[78],"drone":[79],"model.":[81],"many":[83],"sensing":[84],"technologies":[85],"can":[86],"only":[87],"provide":[88],"relative":[89],"altitude":[90],"azimuth":[92],"an":[94,153,159],"obstacle,":[95],"our":[96],"map-based":[98],"approach":[99],"enables":[100],"full":[101],"3D":[102,115],"localization":[103,116],"obstacle.":[106],"This":[107],"extremely":[109],"useful":[110],"collision":[112],"detected":[118],"perform":[123],"efficient":[124],"collision-free":[125],"path":[126],"planning.":[127],"The":[128],"technique":[131],"validated":[134],"in":[135],"several":[136],"real":[137],"map":[139],"sequences,":[140],"with":[141],"multiple":[142],"types":[143],"flying":[146],"at":[147],"up":[148],"2":[150],"m/s,":[151],"achieving":[152],"average":[154,160],"precision":[155],"98.7":[157],"%,":[158],"recall":[161],"74.7":[163],"%":[164],"record":[167],"9.5":[171],"meters.":[172]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":6}],"updated_date":"2026-02-25T23:00:34.991745","created_date":"2025-10-10T00:00:00"}
