{"id":"https://openalex.org/W4410737971","doi":"https://doi.org/10.1109/jiot.2025.3573755","title":"Multiview Landmark-Assisted UAV Swarm 6-DoF Pose Estimation Using Resonant Beam and VIO","display_name":"Multiview Landmark-Assisted UAV Swarm 6-DoF Pose Estimation Using Resonant Beam and VIO","publication_year":2025,"publication_date":"2025-05-26","ids":{"openalex":"https://openalex.org/W4410737971","doi":"https://doi.org/10.1109/jiot.2025.3573755"},"language":"en","primary_location":{"id":"doi:10.1109/jiot.2025.3573755","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2025.3573755","pdf_url":null,"source":{"id":"https://openalex.org/S2480266640","display_name":"IEEE Internet of Things Journal","issn_l":"2327-4662","issn":["2327-4662","2372-2541"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Internet of Things Journal","raw_type":"journal-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/A5101728518","display_name":"Siyuan Du","orcid":"https://orcid.org/0000-0003-2905-6115"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Siyuan Du","raw_affiliation_strings":["School of Computer Science and Technology, Tongji University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102030700","display_name":"Mengyuan Xu","orcid":null},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mengyuan Xu","raw_affiliation_strings":["School of Computer Science and Technology, Tongji University, Shanghai, China"],"raw_orcid":"https://orcid.org/0009-0002-4368-9437","affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010232516","display_name":"Yixuan Li","orcid":"https://orcid.org/0000-0003-0333-9838"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yixuan Li","raw_affiliation_strings":["School of Computer Science and Technology, Tongji University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070617771","display_name":"Fang Wen","orcid":"https://orcid.org/0000-0002-3170-8971"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wen Fang","raw_affiliation_strings":["College of Electronic and Information Engineering, Tongji University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-3170-8971","affiliations":[{"raw_affiliation_string":"College of Electronic and Information Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101803093","display_name":"Qingwen Liu","orcid":"https://orcid.org/0000-0002-5239-0608"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qingwen Liu","raw_affiliation_strings":["School of Computer Science and Technology, Tongji University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-5239-0608","affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089663996","display_name":"Peng Yi","orcid":"https://orcid.org/0000-0002-2494-1505"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peng Yi","raw_affiliation_strings":["College of Electronic and Information Engineering, Tongji University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-2494-1505","affiliations":[{"raw_affiliation_string":"College of Electronic and Information Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100359415","display_name":"Yiguang Hong","orcid":"https://orcid.org/0000-0001-9505-8739"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210120485","display_name":"Academy of Mathematics and Systems Science","ror":"https://ror.org/02jkmyk67","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210120485"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yiguang Hong","raw_affiliation_strings":["Key Laboratory of Systems and Control, Academy of Mathematics and Systems Science, Chinese Academy of Sciences, Beijing, China","Academy of Mathematics and Systems Science, Key Laboratory of Systems and Control, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-9505-8739","affiliations":[{"raw_affiliation_string":"Key Laboratory of Systems and Control, Academy of Mathematics and Systems Science, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210120485","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Academy of Mathematics and Systems Science, Key Laboratory of Systems and Control, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210120485","https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5101728518"],"corresponding_institution_ids":["https://openalex.org/I116953780"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.13884329,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"12","issue":"15","first_page":"31511","last_page":"31525"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9983000159263611,"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":0.9983000159263611,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9884999990463257,"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/T11701","display_name":"Space Satellite Systems and Control","score":0.9843999743461609,"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/landmark","display_name":"Landmark","score":0.8734936118125916},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.727982759475708},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5582627654075623},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.5405845046043396},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.4749757647514343},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4686441123485565}],"concepts":[{"id":"https://openalex.org/C2780297707","wikidata":"https://www.wikidata.org/wiki/Q4895393","display_name":"Landmark","level":2,"score":0.8734936118125916},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.727982759475708},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5582627654075623},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.5405845046043396},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.4749757647514343},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4686441123485565}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/jiot.2025.3573755","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2025.3573755","pdf_url":null,"source":{"id":"https://openalex.org/S2480266640","display_name":"IEEE Internet of Things Journal","issn_l":"2327-4662","issn":["2327-4662","2372-2541"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Internet of Things Journal","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G123118652","display_name":null,"funder_award_id":"22120210543","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G25680558","display_name":null,"funder_award_id":"62071334","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3807052321","display_name":null,"funder_award_id":"62305019","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5017453317","display_name":null,"funder_award_id":"62301308","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7984483848","display_name":null,"funder_award_id":"62371342","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1564897360","https://openalex.org/W1677409904","https://openalex.org/W2010388563","https://openalex.org/W2176760663","https://openalex.org/W2296228853","https://openalex.org/W2535547924","https://openalex.org/W2564353599","https://openalex.org/W2592936284","https://openalex.org/W2745859992","https://openalex.org/W2951391949","https://openalex.org/W3012268014","https://openalex.org/W3041390508","https://openalex.org/W3089503906","https://openalex.org/W3128707666","https://openalex.org/W3177198924","https://openalex.org/W3200189438","https://openalex.org/W3211433726","https://openalex.org/W3214262727","https://openalex.org/W4225855172","https://openalex.org/W4294982728","https://openalex.org/W4296558686","https://openalex.org/W4312286391","https://openalex.org/W4312292772","https://openalex.org/W4376461369","https://openalex.org/W4380590088","https://openalex.org/W4390190868","https://openalex.org/W4390659224","https://openalex.org/W4390816654","https://openalex.org/W4391547686","https://openalex.org/W4392382744","https://openalex.org/W4392979799","https://openalex.org/W4400266727","https://openalex.org/W4401980549","https://openalex.org/W6770755233","https://openalex.org/W6864527971"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"As":[0],"an":[1],"essential":[2],"aerial":[3],"platform":[4],"in":[5,17,42,233],"Internet":[6],"of":[7,71,102,106,143,173,185],"Things":[8],"(IoT)":[9],"applications,":[10],"UAV":[11,175],"swarms":[12],"require":[13],"high-precision":[14],"attitude":[15,219],"estimation":[16,40,122,142],"GPS-limited":[18],"and":[19,33,82,104,133,159,166,204,236],"dynamic":[20,43],"environments,":[21],"which":[22],"supports":[23],"higher-level":[24],"IoT":[25],"functions":[26],"such":[27],"as":[28],"smart":[29],"logistics,":[30],"disaster":[31],"response,":[32],"environmental":[34],"monitoring.":[35],"However,":[36],"most":[37],"odometry-based":[38],"pose":[39,98,171],"methods":[41],"scenarios":[44],"without":[45],"GPS":[46],"encounter":[47],"issues":[48],"with":[49,113,182],"cumulative":[50,64],"errors":[51,65],"over":[52,230],"time.":[53],"In":[54],"this":[55],"paper,":[56],"we":[57,91,148],"propose":[58],"a":[59,119,150,156],"method":[60,123],"to":[61,197],"reduce":[62],"these":[63],"by":[66,194,214,226],"constraining":[67],"the":[68,93,100,110,141,174,183,217,222,227,234],"absolute":[69,169],"positioning":[70,192,212],"Visual-Inertial":[72],"Odometry":[73],"(VIO)":[74],"using":[75,99],"relative":[76,97,145,188,207],"poses":[77,189,208],"obtained":[78],"from":[79,109,221],"multi-view":[80,164],"landmark":[81],"Resonant-Beam":[83],"(RBeam)":[84],"sensors":[85],"between":[86],"UAVs.":[87],"For":[88,116],"synchronous":[89,187,203],"moments,":[90,118],"estimate":[92],"6":[94],"Degree-of-Freedom":[95],"(DoF)":[96],"Angle":[101],"Arrival":[103],"Time":[105],"Flight":[107],"data":[108],"RBeam,":[111,163,228],"combined":[112],"nonlinear":[114],"optimization.":[115],"asynchronous":[117,144,206],"two-stage":[120],"visual":[121,205],"is":[124],"introduced,":[125],"combining":[126],"multi-camera":[127],"epipolar":[128],"geometry":[129],"for":[130,137,168],"rotation":[131],"recovery":[132],"depth":[134],"reconstruction":[135],"optimization":[136,172],"translation":[138],"recovery,":[139],"enabling":[140],"poses.":[146],"Finally,":[147],"design":[149],"global":[151],"objective":[152],"function":[153],"based":[154],"on":[155],"sliding":[157],"window":[158],"factor":[160],"graph,":[161],"integrating":[162],"landmark,":[165],"VIO":[167],"6-DoF":[170],"swarm.":[176],"Simulation":[177],"results":[178],"demonstrate":[179],"that":[180],"optimizing":[181],"addition":[184],"RBeam":[186,202],"improves":[190],"overall":[191,211],"accuracy":[193,213],"32.94%":[195],"compared":[196],"pure":[198],"VIO.":[199],"Incorporating":[200],"both":[201],"further":[209],"enhances":[210],"37.65%.":[215],"Additionally,":[216],"UAV\u2019s":[218],"benefits":[220],"rotational":[223],"constraints":[224],"provided":[225],"achieving":[229],"30%":[231],"improvement":[232],"pitch":[235],"yaw":[237],"directions.":[238]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}