{"id":"https://openalex.org/W2803723354","doi":"https://doi.org/10.1109/lra.2018.2837687","title":"VI-RPE: Visual-Inertial Relative Pose Estimation for Aerial Vehicles","display_name":"VI-RPE: Visual-Inertial Relative Pose Estimation for Aerial Vehicles","publication_year":2018,"publication_date":"2018-05-17","ids":{"openalex":"https://openalex.org/W2803723354","doi":"https://doi.org/10.1109/lra.2018.2837687","mag":"2803723354"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2018.2837687","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2837687","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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 Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/20.500.11850/264548","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5080227679","display_name":"Lucas Teixeira","orcid":"https://orcid.org/0000-0002-3192-827X"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Lucas Teixeira","raw_affiliation_strings":["Vision for Robotics Lab, ETH Zurich, Zurich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-3192-827X","affiliations":[{"raw_affiliation_string":"Vision for Robotics Lab, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008027236","display_name":"Fabiola Maffra","orcid":"https://orcid.org/0000-0001-8011-4865"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Fabiola Maffra","raw_affiliation_strings":["Vision for Robotics Lab, ETH Zurich, Zurich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0001-8011-4865","affiliations":[{"raw_affiliation_string":"Vision for Robotics Lab, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031459073","display_name":"Marco Moos","orcid":"https://orcid.org/0000-0001-8411-5793"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Marco Moos","raw_affiliation_strings":["Vision for Robotics Lab, ETH Zurich, Zurich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0001-8411-5793","affiliations":[{"raw_affiliation_string":"Vision for Robotics Lab, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055582765","display_name":"Margarita Chli","orcid":"https://orcid.org/0000-0001-5611-7492"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Margarita Chli","raw_affiliation_strings":["Vision for Robotics Lab, ETH Zurich, Zurich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0001-5611-7492","affiliations":[{"raw_affiliation_string":"Vision for Robotics Lab, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I35440088"],"apc_list":null,"apc_paid":null,"fwci":27.3252,"has_fulltext":false,"cited_by_count":34,"citation_normalized_percentile":{"value":0.98980458,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"3","issue":"4","first_page":"2770","last_page":"2777"},"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9979000091552734,"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/computer-science","display_name":"Computer science","score":0.7156747579574585},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.7138658165931702},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7125059366226196},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6704736351966858},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6248447299003601},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.5793964266777039},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.5097166895866394},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4897623062133789},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4894472658634186},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3223470449447632}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7156747579574585},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.7138658165931702},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7125059366226196},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6704736351966858},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6248447299003601},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5793964266777039},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5097166895866394},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4897623062133789},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4894472658634186},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3223470449447632},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/lra.2018.2837687","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2837687","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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 Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:www.research-collection.ethz.ch:20.500.11850/264548","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/264548","pdf_url":null,"source":{"id":"https://openalex.org/S4306402302","display_name":"Repository for Publications and Research Data (ETH Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I35440088","host_organization_name":"ETH Zurich","host_organization_lineage":["https://openalex.org/I35440088"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters, 3 (4)","raw_type":"info:eu-repo/semantics/article"},{"id":"doi:10.3929/ethz-b-000264548","is_oa":true,"landing_page_url":"https://doi.org/10.3929/ethz-b-000264548","pdf_url":null,"source":{"id":"https://openalex.org/S7407051236","display_name":"ETH Z\u00fcrich Research Collection","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":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:www.research-collection.ethz.ch:20.500.11850/264548","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/264548","pdf_url":null,"source":{"id":"https://openalex.org/S4306402302","display_name":"Repository for Publications and Research Data (ETH Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I35440088","host_organization_name":"ETH Zurich","host_organization_lineage":["https://openalex.org/I35440088"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters, 3 (4)","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/4","display_name":"Quality Education","score":0.4399999976158142}],"awards":[{"id":"https://openalex.org/G2527352189","display_name":"Collaborative vision-based perception for teams of (aerial) robots","funder_award_id":"157585","funder_id":"https://openalex.org/F4320320924","funder_display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung"},{"id":"https://openalex.org/G580951548","display_name":null,"funder_award_id":"PP00P2","funder_id":"https://openalex.org/F4320320924","funder_display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320320924","display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung","ror":"https://ror.org/00yjd3n13"},{"id":"https://openalex.org/F4320321652","display_name":"Eidgen\u00f6ssische Technische Hochschule Z\u00fcrich","ror":"https://ror.org/05a28rw58"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1997186114","https://openalex.org/W2063468777","https://openalex.org/W2085261163","https://openalex.org/W2091790851","https://openalex.org/W2098752567","https://openalex.org/W2125188427","https://openalex.org/W2141585124","https://openalex.org/W2155056756","https://openalex.org/W2216550548","https://openalex.org/W2254248904","https://openalex.org/W2284951713","https://openalex.org/W2399919427","https://openalex.org/W2413156523","https://openalex.org/W2465948386","https://openalex.org/W2534025521","https://openalex.org/W2565939207","https://openalex.org/W2618092744","https://openalex.org/W2735858878","https://openalex.org/W2765705914","https://openalex.org/W2781015180","https://openalex.org/W2807703263","https://openalex.org/W3099085298","https://openalex.org/W3101917063","https://openalex.org/W3141505394","https://openalex.org/W3144401423","https://openalex.org/W4240843445","https://openalex.org/W4246614213"],"related_works":["https://openalex.org/W2736638679","https://openalex.org/W4306804934","https://openalex.org/W4313046826","https://openalex.org/W1968716783","https://openalex.org/W3003695190","https://openalex.org/W2035976912","https://openalex.org/W3089173771","https://openalex.org/W2025404243","https://openalex.org/W2138795192","https://openalex.org/W2333544554"],"abstract_inverted_index":{"With":[0],"a":[1,13,65,70,76,83],"large":[2],"body":[3],"of":[4,12,36,79,103,157],"literature":[5],"dedicated":[6],"to":[7,51,68,97,114,150,162],"ego-motion":[8],"estimation":[9,54,90],"and":[10,26,48,100,136,139,152,155],"perception":[11],"robot's":[14],"workspace,":[15],"the":[16,44,116,121,130,144,160],"robotics":[17],"community":[18],"has":[19],"seen":[20],"some":[21],"impressive":[22],"advances":[23],"in":[24,39,60,73],"self-localization":[25],"mapping,":[27],"however,":[28],"we":[29,63],"are":[30],"still":[31],"far":[32],"from":[33,82],"general":[34],"applicability":[35],"such":[37],"approaches":[38],"real":[40,137],"scenarios.":[41],"Driven":[42],"by":[43],"need":[45],"for":[46],"portable":[47],"low-cost":[49],"solutions":[50],"relative":[52],"pose":[53,89,119],"between":[55,129],"unmanned":[56],"aerial":[57,98],"vehicles":[58],"(UAVs),":[59],"this":[61,164],"letter,":[62],"propose":[64],"new":[66],"framework":[67],"track":[69],"master":[71],"UAV":[72,85],"real-time,":[74],"carrying":[75],"known":[77],"constellation":[78],"LED":[80],"markers,":[81],"slave":[84],"without":[86],"any":[87],"other":[88],"capability.":[91],"This":[92],"setup":[93],"is":[94,112,166],"especially":[95],"interesting":[96],"manipulation":[99],"close-up":[101],"inspection":[102],"structures":[104],"with":[105,120],"low":[106],"or":[107],"no":[108],"texture.":[109],"Our":[110],"approach":[111,146],"able":[113],"fuse":[115],"estimated":[117],"master's":[118],"slave's":[122],"onboard":[123],"inertial":[124],"readings,":[125],"supporting":[126],"intermittent":[127],"communication":[128],"UAVs.":[131],"Evaluation":[132],"on":[133],"both":[134],"simulation":[135],"indoor":[138],"outdoor":[140],"experiments":[141],"reveals":[142],"that":[143],"proposed":[145],"achieves":[147],"unprecedented":[148],"robustness":[149],"noise":[151],"occlusion,":[153],"accuracy,":[154],"speed":[156],"computation.":[158],"All":[159],"code":[161],"reproduce":[163],"work":[165],"publicly":[167],"available.":[168]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":4}],"updated_date":"2026-08-06T08:24:18.245995","created_date":"2025-10-10T00:00:00"}
