{"id":"https://openalex.org/W4389665831","doi":"https://doi.org/10.1109/iros55552.2023.10342295","title":"A Small Form Factor Aerial Research Vehicle for Pick-and-Place Tasks with Onboard Real-Time Object Detection and Visual Odometry","display_name":"A Small Form Factor Aerial Research Vehicle for Pick-and-Place Tasks with Onboard Real-Time Object Detection and Visual Odometry","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389665831","doi":"https://doi.org/10.1109/iros55552.2023.10342295"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10342295","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10342295","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5049222054","display_name":"Cora A. Dimmig","orcid":"https://orcid.org/0000-0002-8132-3535"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Cora A. Dimmig","raw_affiliation_strings":["Johns Hopkins University,Laboratory for Computational Sensing and Robotics (LCSR),Department of Mechanical Engineering,Baltimore,MD,USA,21218"],"affiliations":[{"raw_affiliation_string":"Johns Hopkins University,Laboratory for Computational Sensing and Robotics (LCSR),Department of Mechanical Engineering,Baltimore,MD,USA,21218","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089127358","display_name":"Anna Goodridge","orcid":null},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anna Goodridge","raw_affiliation_strings":["Johns Hopkins University,LCSR,Baltimore,MD,USA,21218"],"affiliations":[{"raw_affiliation_string":"Johns Hopkins University,LCSR,Baltimore,MD,USA,21218","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108766219","display_name":"Gabriel Baraban","orcid":null},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gabriel Baraban","raw_affiliation_strings":["Johns Hopkins University,Laboratory for Computational Sensing and Robotics (LCSR),Department of Mechanical Engineering,Baltimore,MD,USA,21218"],"affiliations":[{"raw_affiliation_string":"Johns Hopkins University,Laboratory for Computational Sensing and Robotics (LCSR),Department of Mechanical Engineering,Baltimore,MD,USA,21218","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114075468","display_name":"Pupei Zhu","orcid":null},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Pupei Zhu","raw_affiliation_strings":["Johns Hopkins University,LCSR,Baltimore,MD,USA,21218"],"affiliations":[{"raw_affiliation_string":"Johns Hopkins University,LCSR,Baltimore,MD,USA,21218","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022921263","display_name":"Joyraj Bhowmick","orcid":null},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joyraj Bhowmick","raw_affiliation_strings":["Johns Hopkins University,LCSR,Baltimore,MD,USA,21218"],"affiliations":[{"raw_affiliation_string":"Johns Hopkins University,LCSR,Baltimore,MD,USA,21218","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047928755","display_name":"Marin Kobilarov","orcid":"https://orcid.org/0000-0003-4115-800X"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Marin Kobilarov","raw_affiliation_strings":["Johns Hopkins University,Laboratory for Computational Sensing and Robotics (LCSR),Department of Mechanical Engineering,Baltimore,MD,USA,21218"],"affiliations":[{"raw_affiliation_string":"Johns Hopkins University,Laboratory for Computational Sensing and Robotics (LCSR),Department of Mechanical Engineering,Baltimore,MD,USA,21218","institution_ids":["https://openalex.org/I145311948"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5049222054"],"corresponding_institution_ids":["https://openalex.org/I145311948"],"apc_list":null,"apc_paid":null,"fwci":2.2034,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.88995664,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"6289","last_page":"6296"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9998000264167786,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9972000122070312,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/computer-science","display_name":"Computer science","score":0.7357050180435181},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6138290166854858},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6086124777793884},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.601083517074585},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.5890581011772156},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.5536483526229858},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5411990284919739},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.5011329650878906},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.47074493765830994},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.452295184135437},{"id":"https://openalex.org/keywords/factor","display_name":"Factor (programming language)","score":0.45185840129852295},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.4309958815574646},{"id":"https://openalex.org/keywords/agile-software-development","display_name":"Agile software development","score":0.425730437040329},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.35008931159973145},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.2295316755771637},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.1372484266757965}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7357050180435181},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6138290166854858},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6086124777793884},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.601083517074585},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.5890581011772156},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.5536483526229858},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5411990284919739},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.5011329650878906},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47074493765830994},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.452295184135437},{"id":"https://openalex.org/C2781039887","wikidata":"https://www.wikidata.org/wiki/Q1391724","display_name":"Factor (programming language)","level":2,"score":0.45185840129852295},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.4309958815574646},{"id":"https://openalex.org/C14185376","wikidata":"https://www.wikidata.org/wiki/Q30232","display_name":"Agile software development","level":2,"score":0.425730437040329},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.35008931159973145},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.2295316755771637},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.1372484266757965},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","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},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros55552.2023.10342295","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10342295","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G8169544920","display_name":null,"funder_award_id":"1925189","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1496729756","https://openalex.org/W1548040463","https://openalex.org/W1909903157","https://openalex.org/W1966301784","https://openalex.org/W1999941908","https://openalex.org/W2015996585","https://openalex.org/W2060781099","https://openalex.org/W2762764329","https://openalex.org/W2768263061","https://openalex.org/W2771926486","https://openalex.org/W2781015180","https://openalex.org/W2891970369","https://openalex.org/W2912478739","https://openalex.org/W2950921159","https://openalex.org/W3015238808","https://openalex.org/W3021901191","https://openalex.org/W3077668761","https://openalex.org/W3099629894","https://openalex.org/W3125494316","https://openalex.org/W3160193765","https://openalex.org/W3174123873","https://openalex.org/W3175777965","https://openalex.org/W4205508625","https://openalex.org/W4221155307","https://openalex.org/W4283262038","https://openalex.org/W4312876407","https://openalex.org/W4312959471","https://openalex.org/W6754677871"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W3024737167","https://openalex.org/W2414561716","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W2312326526","https://openalex.org/W2412578866","https://openalex.org/W3105866016","https://openalex.org/W4312703710"],"abstract_inverted_index":{"This":[0,75],"paper":[1],"introduces":[2],"a":[3,27,43,97,111,166],"novel,":[4],"small":[5,98,170],"form-factor,":[6],"aerial":[7,29],"vehicle":[8,30],"research":[9],"platform":[10],"for":[11,57],"agile":[12],"object":[13,58,88],"detection,":[14],"classification,":[15],"tracking,":[16],"and":[17,31,37,48,90,100,125,148,163],"interaction":[18],"tasks.":[19],"General-purpose":[20],"hardware":[21,145],"components":[22,41],"were":[23],"designed":[24],"to":[25,34,106,159],"augment":[26],"given":[28],"enable":[32,62,160],"it":[33],"perform":[35],"safe":[36],"reliable":[38],"grasping.":[39,59],"These":[40],"include":[42],"custom":[44],"collision":[45],"tolerant":[46],"cage":[47],"low-cost":[49],"Gripper":[50],"Extension":[51],"Package,":[52],"which":[53],"we":[54,132],"call":[55],"GREP,":[56],"Small":[60],"vehicles":[61],"applications":[63],"in":[64,138],"highly":[65],"constrained":[66],"environments,":[67,122],"but":[68],"are":[69,151],"often":[70],"limited":[71],"by":[72],"computational":[73],"resources.":[74],"work":[76],"evaluates":[77],"the":[78,129,136,144],"challenges":[79],"of":[80,87,113,128,141,169],"pick-and-place":[81],"tasks,":[82],"with":[83,103],"entirely":[84],"onboard":[85],"computation":[86],"pose":[89],"visual":[91],"odometry":[92],"based":[93],"state":[94],"estimation":[95],"on":[96,165],"platform,":[99],"demonstrates":[101],"experiments":[102],"enough":[104],"accuracy":[105],"reliably":[107],"grasp":[108],"objects.":[109],"In":[110],"total":[112],"70":[114],"trials":[115],"across":[116],"challenging":[117],"cases":[118],"such":[119],"as":[120,153],"cluttered":[121],"obstructed":[123],"targets,":[124],"multiple":[126],"instances":[127],"same":[130],"target,":[131],"demonstrated":[133],"successfully":[134],"grasping":[135],"target":[137],"93":[139],"%":[140],"trials.":[142],"Both":[143],"component":[146],"designs":[147],"software":[149],"framework":[150],"released":[152],"open-source,":[154],"since":[155],"our":[156],"intention":[157],"is":[158],"easy":[161],"reproduction":[162],"application":[164],"wide":[167],"range":[168],"vehicles.":[171]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}