{"id":"https://openalex.org/W3046974599","doi":"https://doi.org/10.1109/iros45743.2020.9341682","title":"BRM Localization: UAV Localization in GNSS-Denied Environments Based on Matching of Numerical Map and UAV Images","display_name":"BRM Localization: UAV Localization in GNSS-Denied Environments Based on Matching of Numerical Map and UAV Images","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3046974599","doi":"https://doi.org/10.1109/iros45743.2020.9341682","mag":"3046974599"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341682","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341682","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2008.01347","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102737549","display_name":"Junho Choi","orcid":"https://orcid.org/0000-0001-8799-5976"},"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":true,"raw_author_name":"Junho Choi","raw_affiliation_strings":["Korea Advanced Institute of Science and Technology(KAIST),Urban Robotics Laboratory,Daejeon,South Korea,34141","Korea Adv. Inst. of Sci. and Technol"],"affiliations":[{"raw_affiliation_string":"Korea Advanced Institute of Science and Technology(KAIST),Urban Robotics Laboratory,Daejeon,South Korea,34141","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"Korea Adv. Inst. of Sci. and Technol","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059521863","display_name":"Hyun Myung","orcid":"https://orcid.org/0000-0002-5799-2026"},"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":"Hyun Myung","raw_affiliation_strings":["Korea Advanced Institute of Science and Technology(KAIST),Urban Robotics Laboratory,Daejeon,South Korea,34141","Korea Adv. Inst. of Sci. and Technol"],"affiliations":[{"raw_affiliation_string":"Korea Advanced Institute of Science and Technology(KAIST),Urban Robotics Laboratory,Daejeon,South Korea,34141","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"Korea Adv. Inst. of Sci. and Technol","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5102737549"],"corresponding_institution_ids":["https://openalex.org/I157485424"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.15028475,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"4537","last_page":"4544"},"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":0.9976000189781189,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9962999820709229,"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/gnss-applications","display_name":"GNSS applications","score":0.9083740711212158},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7358807921409607},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.7070931196212769},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6885079145431519},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6273057460784912},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5820403099060059},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.54982590675354},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.4670487940311432},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4535849392414093},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.4216155409812927},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3207492232322693},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.21561643481254578},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10246142745018005},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.06653451919555664}],"concepts":[{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.9083740711212158},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7358807921409607},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.7070931196212769},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6885079145431519},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6273057460784912},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5820403099060059},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.54982590675354},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.4670487940311432},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4535849392414093},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.4216155409812927},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3207492232322693},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.21561643481254578},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10246142745018005},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.06653451919555664},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/iros45743.2020.9341682","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341682","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2008.01347","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2008.01347","pdf_url":"https://arxiv.org/pdf/2008.01347","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"mag:3046974599","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/2008.01347","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2008.01347","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2008.01347","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2008.01347","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2008.01347","pdf_url":"https://arxiv.org/pdf/2008.01347","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3046974599.pdf","grobid_xml":"https://content.openalex.org/works/W3046974599.grobid-xml"},"referenced_works_count":29,"referenced_works":["https://openalex.org/W1560409598","https://openalex.org/W1677409904","https://openalex.org/W1901129140","https://openalex.org/W1970504153","https://openalex.org/W1980931495","https://openalex.org/W1985011424","https://openalex.org/W2006586997","https://openalex.org/W2016768068","https://openalex.org/W2067170667","https://openalex.org/W2082521027","https://openalex.org/W2091790851","https://openalex.org/W2117228865","https://openalex.org/W2125188427","https://openalex.org/W2216550548","https://openalex.org/W2564632156","https://openalex.org/W2609294517","https://openalex.org/W2621384129","https://openalex.org/W2745859992","https://openalex.org/W2883702102","https://openalex.org/W2902446117","https://openalex.org/W2906979704","https://openalex.org/W2910850106","https://openalex.org/W2968394312","https://openalex.org/W2981804141","https://openalex.org/W4246614213","https://openalex.org/W4249592091","https://openalex.org/W6637400245","https://openalex.org/W6639824700","https://openalex.org/W6671078720"],"related_works":["https://openalex.org/W3130508491","https://openalex.org/W2942886148","https://openalex.org/W3109489651","https://openalex.org/W2802896717","https://openalex.org/W2806377868","https://openalex.org/W3039033883","https://openalex.org/W3154074926","https://openalex.org/W2901295001","https://openalex.org/W2412792670","https://openalex.org/W2968394312","https://openalex.org/W3016394932","https://openalex.org/W2921873869","https://openalex.org/W3135522707","https://openalex.org/W2993487188","https://openalex.org/W2806587748","https://openalex.org/W2936909296","https://openalex.org/W3082198268","https://openalex.org/W2903882176","https://openalex.org/W170177870","https://openalex.org/W3193131018"],"abstract_inverted_index":{"Localization":[0],"is":[1,110,127,142],"one":[2],"of":[3,36,63,76,118,147],"the":[4,34,48,57,73,77,113,123,132,136,145,156,164,180,200,208],"most":[5,19],"important":[6],"technologies":[7],"needed":[8],"to":[9,23,46,55,197],"use":[10,21,39],"Unmanned":[11],"Aerial":[12],"Vehicles":[13],"(UAVs)":[14],"in":[15,79,122,144],"actual":[16],"fields.":[17],"Currently,":[18],"UAVs":[20,37,49],"GNSS":[22,44,53,192],"estimate":[24],"their":[25],"position.":[26],"Recently,":[27],"there":[28],"have":[29],"been":[30],"attacks":[31],"that":[32,38,70,120,155,199],"target":[33],"weaknesses":[35],"GNSS,":[40],"such":[41],"as":[42,88],"interrupting":[43],"signal":[45],"crash":[47],"or":[50],"sending":[51],"fake":[52],"signals":[54],"hijack":[56],"UAVs.":[58],"To":[59],"avoid":[60],"this":[61,65],"kind":[62],"situation,":[64],"paper":[66],"proposes":[67],"an":[68,100],"algorithm":[69],"deals":[71],"with":[72,104,131],"localization":[74,85],"problem":[75],"UAV":[78,97,105,114,187,195],"GNSS-denied":[80],"environments.":[81],"We":[82],"propose":[83],"a":[84,96],"method,":[86],"named":[87],"BRM":[89],"(Building":[90],"Ratio":[91],"Map":[92],"based)":[93],"localization,":[94],"for":[95,174],"by":[98],"matching":[99,179],"existing":[101],"numerical":[102,137],"map":[103],"images.":[106,115],"The":[107,116,139],"building":[108,133],"area":[109],"extracted":[111],"from":[112,194],"ratio":[117],"buildings":[119],"occupy":[121],"corresponding":[124],"image":[125],"frame":[126],"calculated":[128],"and":[129,178,191],"matched":[130],"information":[134],"on":[135],"map.":[138],"position":[140,157],"estimation":[141,158],"started":[143],"range":[146],"several":[148],"km":[149],"<sup":[150],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[151],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">2</sup>":[152],"area,":[153],"so":[154],"can":[159,203],"be":[160],"performed":[161],"without":[162],"knowing":[163],"exact":[165],"initial":[166],"coordinate.":[167],"Only":[168],"freely":[169],"available":[170],"maps":[171],"are":[172],"used":[173],"training":[175],"data":[176,193],"set":[177],"ground":[181],"truth.":[182],"Finally,":[183],"we":[184],"get":[185],"real":[186],"images,":[188],"IMU":[189],"data,":[190],"flight":[196],"show":[198],"proposed":[201],"method":[202],"achieve":[204],"better":[205],"performance":[206],"than":[207],"conventional":[209],"methods.":[210]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
