{"id":"https://openalex.org/W4312737222","doi":"https://doi.org/10.1109/iros47612.2022.9981921","title":"Accurate Vision-based Flight with Fixed-Wing Drones","display_name":"Accurate Vision-based Flight with Fixed-Wing Drones","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312737222","doi":"https://doi.org/10.1109/iros47612.2022.9981921"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981921","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981921","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://infoscience.epfl.ch/record/297966","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5009491839","display_name":"Valentin W\u00fcest","orcid":null},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Valentin W\u00fcest","raw_affiliation_strings":["Ecole Polytechnique Federale de Lausanne (EPFL),Laboratory of Intelligent Systems,Lausanne,Switzerland,CH1015"],"affiliations":[{"raw_affiliation_string":"Ecole Polytechnique Federale de Lausanne (EPFL),Laboratory of Intelligent Systems,Lausanne,Switzerland,CH1015","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079457986","display_name":"Enrico Ajanic","orcid":"https://orcid.org/0000-0001-6772-2700"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Enrico Ajanic","raw_affiliation_strings":["Ecole Polytechnique Federale de Lausanne (EPFL),Laboratory of Intelligent Systems,Lausanne,Switzerland,CH1015"],"affiliations":[{"raw_affiliation_string":"Ecole Polytechnique Federale de Lausanne (EPFL),Laboratory of Intelligent Systems,Lausanne,Switzerland,CH1015","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101783024","display_name":"Matthias M\u00fcller","orcid":"https://orcid.org/0009-0003-0614-0733"},"institutions":[{"id":"https://openalex.org/I4210094487","display_name":"Intel (Germany)","ror":"https://ror.org/00m2x0g47","country_code":"DE","type":"company","lineage":["https://openalex.org/I1343180700","https://openalex.org/I4210094487"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Matthias M\u00fcller","raw_affiliation_strings":["Intel,Embodied AI Lab,Neubiberg,Germany,85579"],"affiliations":[{"raw_affiliation_string":"Intel,Embodied AI Lab,Neubiberg,Germany,85579","institution_ids":["https://openalex.org/I4210094487"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059369445","display_name":"Dario Floreano","orcid":"https://orcid.org/0000-0002-5330-4863"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Dario Floreano","raw_affiliation_strings":["Ecole Polytechnique Federale de Lausanne (EPFL),Laboratory of Intelligent Systems,Lausanne,Switzerland,CH1015"],"affiliations":[{"raw_affiliation_string":"Ecole Polytechnique Federale de Lausanne (EPFL),Laboratory of Intelligent Systems,Lausanne,Switzerland,CH1015","institution_ids":["https://openalex.org/I5124864"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5009491839"],"corresponding_institution_ids":["https://openalex.org/I5124864"],"apc_list":null,"apc_paid":null,"fwci":1.9818,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.89036601,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"12344","last_page":"12351"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991999864578247,"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/T11133","display_name":"UAV Applications and Optimization","score":0.9976000189781189,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/gnss-applications","display_name":"GNSS applications","score":0.9413739442825317},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7251436710357666},{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.6634657979011536},{"id":"https://openalex.org/keywords/air-navigation","display_name":"Air navigation","score":0.554178774356842},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5361618399620056},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4674708843231201},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4523247182369232},{"id":"https://openalex.org/keywords/gnss-augmentation","display_name":"GNSS augmentation","score":0.423525333404541},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41325145959854126},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.33755940198898315},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.11485344171524048}],"concepts":[{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.9413739442825317},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7251436710357666},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.6634657979011536},{"id":"https://openalex.org/C504623915","wikidata":"https://www.wikidata.org/wiki/Q1427822","display_name":"Air navigation","level":3,"score":0.554178774356842},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5361618399620056},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4674708843231201},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4523247182369232},{"id":"https://openalex.org/C166212672","wikidata":"https://www.wikidata.org/wiki/Q2165162","display_name":"GNSS augmentation","level":4,"score":0.423525333404541},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41325145959854126},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.33755940198898315},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.11485344171524048},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros47612.2022.9981921","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981921","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:infoscience.epfl.ch:297966","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/297966","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"conference paper"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:297966","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/297966","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"conference paper"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320924","display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung","ror":"https://ror.org/00yjd3n13"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1516290892","https://openalex.org/W1518672027","https://openalex.org/W1967238647","https://openalex.org/W1987206750","https://openalex.org/W1990613079","https://openalex.org/W1991676561","https://openalex.org/W1993488883","https://openalex.org/W2003032652","https://openalex.org/W2016689188","https://openalex.org/W2022400583","https://openalex.org/W2026623447","https://openalex.org/W2039007366","https://openalex.org/W2054145244","https://openalex.org/W2057799302","https://openalex.org/W2070735679","https://openalex.org/W2080019992","https://openalex.org/W2089801374","https://openalex.org/W2103080574","https://openalex.org/W2111252976","https://openalex.org/W2151838149","https://openalex.org/W2197847098","https://openalex.org/W2291088924","https://openalex.org/W2315490716","https://openalex.org/W2341833211","https://openalex.org/W2517829986","https://openalex.org/W2614122538","https://openalex.org/W2744837742","https://openalex.org/W2765891159","https://openalex.org/W2768081159","https://openalex.org/W2775178860","https://openalex.org/W2901248500","https://openalex.org/W2967464230","https://openalex.org/W2967477763","https://openalex.org/W2984206678","https://openalex.org/W3037800619","https://openalex.org/W3121726350","https://openalex.org/W4210270825"],"related_works":["https://openalex.org/W3197004465","https://openalex.org/W2998303370","https://openalex.org/W4389860168","https://openalex.org/W2201305964","https://openalex.org/W2374813830","https://openalex.org/W2091251439","https://openalex.org/W2525440477","https://openalex.org/W2605536446","https://openalex.org/W3103057830","https://openalex.org/W3205180365"],"abstract_inverted_index":{"Fixed-wing":[0],"drones":[1],"must":[2],"navigate":[3],"to":[4,26,97,100,109,135,181,194,206,211],"the":[5,48,56,103,111,122,130,142,145,152,155,167,186,199,208,218],"desired":[6],"location":[7,50],"accurately":[8,101],"for":[9,88,137],"maneuvers":[10,34],"such":[11,33],"as":[12],"picking":[13],"up":[14],"objects":[15],"and":[16,51,75,95,121,140,184,216],"perching.":[17],"However,":[18],"current":[19],"GNSS":[20,37,73,86,138,171],"receivers":[21],"limit":[22],"their":[23],"navigation":[24,116],"accuracy":[25,113,143,153],"several":[27],"meters":[28],"in":[29,203],"outdoor":[30,107],"environments,":[31],"making":[32],"impossible.":[35],"RTK":[36,119,163],"can":[38],"improve":[39],"flight":[40,112],"accuracy,":[41],"but":[42],"it":[43],"requires":[44],"ground":[45],"stations":[46],"at":[47],"target":[49],"additional":[52],"communication":[53],"modules":[54],"on":[55,84,160,213],"drone.":[57],"Here,":[58],"we":[59],"describe":[60],"a":[61,72,85,91],"fixed-wing":[62,221],"platform":[63],"with":[64,162],"onboard":[65,79],"computation":[66],"that":[67,151],"uses":[68],"positional":[69],"information":[70,99],"from":[71,77,178,191],"receiver":[74],"vision":[76],"an":[78,174],"camera.":[80],"The":[81],"drone":[82],"relies":[83],"signal":[87],"flying":[89],"towards":[90],"point":[92],"of":[93,114,132,144,154,170,176,220],"interest":[94],"switches":[96],"vision-based":[98,133],"reach":[102],"target.":[104],"We":[105,126,197],"conducted":[106],"experiments":[108],"compare":[110],"three":[115],"methods:":[117],"GNSS,":[118,120],"proposed":[123,146,156],"GNSS-vision":[124,157,165],"method.":[125,147],"also":[127],"systematically":[128],"assessed":[129],"robustness":[131],"control":[134],"compensate":[136],"errors":[139],"quantify":[141],"Our":[148],"results":[149,215],"show":[150],"system":[158],"is":[159],"par":[161],"GNSS.":[164],"reduces":[166,185],"average":[168],"error":[169],"by":[172],"over":[173],"order":[175],"magnitude,":[177],"3.033":[179],"m":[180,193],"0.283":[182],"m,":[183],"variance":[187],"across":[188],"repeated":[189],"flights":[190],"2.095":[192],"0.309":[195],"m.":[196],"open-source":[198],"software-hardware":[200],"architecture":[201],"used":[202],"this":[204],"paper":[205],"enable":[207],"research":[209],"community":[210],"build":[212],"these":[214],"expand":[217],"capabilities":[219],"drones.":[222]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1}],"updated_date":"2026-04-14T08:04:32.555800","created_date":"2025-10-10T00:00:00"}
