{"id":"https://openalex.org/W3134703279","doi":"https://doi.org/10.1109/lra.2021.3064282","title":"Human-Piloted Drone Racing: Visual Processing and Control","display_name":"Human-Piloted Drone Racing: Visual Processing and Control","publication_year":2021,"publication_date":"2021-03-08","ids":{"openalex":"https://openalex.org/W3134703279","doi":"https://doi.org/10.1109/lra.2021.3064282","mag":"3134703279"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3064282","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3064282","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":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.zora.uzh.ch/id/eprint/216657/1/RAL21_Pfeiffer_preprint_2021-02-27.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5064767239","display_name":"Christian Pfeiffer","orcid":"https://orcid.org/0000-0001-7825-7701"},"institutions":[{"id":"https://openalex.org/I202697423","display_name":"University of Zurich","ror":"https://ror.org/02crff812","country_code":"CH","type":"education","lineage":["https://openalex.org/I202697423"]},{"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":"Christian Pfeiffer","raw_affiliation_strings":["Robotics and Perception Group, Department of Informatics, University of Zurich, and Department of Neuroinformatics, University of Zurich and ETH Zurich, Z\u00fcrich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0001-7825-7701","affiliations":[{"raw_affiliation_string":"Robotics and Perception Group, Department of Informatics, University of Zurich, and Department of Neuroinformatics, University of Zurich and ETH Zurich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I202697423","https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057116316","display_name":"Davide Scaramuzza","orcid":"https://orcid.org/0000-0002-3831-6778"},"institutions":[{"id":"https://openalex.org/I202697423","display_name":"University of Zurich","ror":"https://ror.org/02crff812","country_code":"CH","type":"education","lineage":["https://openalex.org/I202697423"]},{"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":"Davide Scaramuzza","raw_affiliation_strings":["Robotics and Perception Group, Department of Informatics, University of Zurich, and Department of Neuroinformatics, University of Zurich and ETH Zurich, Z\u00fcrich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-3831-6778","affiliations":[{"raw_affiliation_string":"Robotics and Perception Group, Department of Informatics, University of Zurich, and Department of Neuroinformatics, University of Zurich and ETH Zurich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I202697423","https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.4789,"has_fulltext":false,"cited_by_count":63,"citation_normalized_percentile":{"value":0.96706758,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"6","issue":"2","first_page":"3467","last_page":"3474"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11707","display_name":"Gaze Tracking and Assistive Technology","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11707","display_name":"Gaze Tracking and Assistive Technology","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"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/T10648","display_name":"Virtual Reality Applications and Impacts","score":0.9943000078201294,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"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/T10427","display_name":"Visual perception and processing mechanisms","score":0.9916999936103821,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.9180388450622559},{"id":"https://openalex.org/keywords/gaze","display_name":"Gaze","score":0.5899002552032471},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5260847806930542},{"id":"https://openalex.org/keywords/eye-movement","display_name":"Eye movement","score":0.5235426425933838},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5173963308334351},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4824146032333374},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4671928882598877},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4393848478794098},{"id":"https://openalex.org/keywords/eye-tracking","display_name":"Eye tracking","score":0.43799346685409546},{"id":"https://openalex.org/keywords/aeronautics","display_name":"Aeronautics","score":0.4244774580001831},{"id":"https://openalex.org/keywords/latency","display_name":"Latency (audio)","score":0.41121822595596313},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.32020965218544006},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29304951429367065}],"concepts":[{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.9180388450622559},{"id":"https://openalex.org/C2779916870","wikidata":"https://www.wikidata.org/wiki/Q14467155","display_name":"Gaze","level":2,"score":0.5899002552032471},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5260847806930542},{"id":"https://openalex.org/C153050134","wikidata":"https://www.wikidata.org/wiki/Q760256","display_name":"Eye movement","level":2,"score":0.5235426425933838},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5173963308334351},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4824146032333374},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4671928882598877},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4393848478794098},{"id":"https://openalex.org/C56461940","wikidata":"https://www.wikidata.org/wiki/Q970687","display_name":"Eye tracking","level":2,"score":0.43799346685409546},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.4244774580001831},{"id":"https://openalex.org/C82876162","wikidata":"https://www.wikidata.org/wiki/Q17096504","display_name":"Latency (audio)","level":2,"score":0.41121822595596313},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.32020965218544006},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29304951429367065},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/lra.2021.3064282","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3064282","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.zora.uzh.ch:216657","is_oa":true,"landing_page_url":"https://www.zora.uzh.ch/id/eprint/216657/1/RAL21_Pfeiffer_preprint_2021-02-27.pdf","pdf_url":"https://www.zora.uzh.ch/id/eprint/216657/1/RAL21_Pfeiffer_preprint_2021-02-27.pdf","source":{"id":"https://openalex.org/S4306401281","display_name":"Zurich Open Repository and Archive (University of Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I202697423","host_organization_name":"University of Zurich","host_organization_lineage":["https://openalex.org/I202697423"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"Pfeiffer, Christian; Scaramuzza, Davide (2022). Human-Piloted Drone Racing: Visual Processing and Control. IEEE Robotics and Automation Letters, 6(2):3467-3474.","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:arXiv.org:2103.04672","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2103.04672","pdf_url":"https://arxiv.org/pdf/2103.04672","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":"pmh:doi:10.5167/uzh-216657","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Text"},{"id":"doi:10.5167/uzh-216657","is_oa":true,"landing_page_url":"https://doi.org/10.5167/uzh-216657","pdf_url":null,"source":{"id":"https://openalex.org/S4306401281","display_name":"Zurich Open Repository and Archive (University of Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I202697423","host_organization_name":"University of Zurich","host_organization_lineage":["https://openalex.org/I202697423"],"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":"JournalArticle"}],"best_oa_location":{"id":"pmh:oai:www.zora.uzh.ch:216657","is_oa":true,"landing_page_url":"https://www.zora.uzh.ch/id/eprint/216657/1/RAL21_Pfeiffer_preprint_2021-02-27.pdf","pdf_url":"https://www.zora.uzh.ch/id/eprint/216657/1/RAL21_Pfeiffer_preprint_2021-02-27.pdf","source":{"id":"https://openalex.org/S4306401281","display_name":"Zurich Open Repository and Archive (University of Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I202697423","host_organization_name":"University of Zurich","host_organization_lineage":["https://openalex.org/I202697423"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"Pfeiffer, Christian; Scaramuzza, Davide (2022). Human-Piloted Drone Racing: Visual Processing and Control. IEEE Robotics and Automation Letters, 6(2):3467-3474.","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W1963864613","https://openalex.org/W1973508505","https://openalex.org/W1982441207","https://openalex.org/W1986346645","https://openalex.org/W2017142040","https://openalex.org/W2022154559","https://openalex.org/W2034325404","https://openalex.org/W2041574867","https://openalex.org/W2059543867","https://openalex.org/W2073715880","https://openalex.org/W2075715381","https://openalex.org/W2090284566","https://openalex.org/W2096851008","https://openalex.org/W2106321929","https://openalex.org/W2108703536","https://openalex.org/W2108748822","https://openalex.org/W2129979884","https://openalex.org/W2135293892","https://openalex.org/W2137242579","https://openalex.org/W2155816257","https://openalex.org/W2162489854","https://openalex.org/W2339027962","https://openalex.org/W2599032451","https://openalex.org/W2767676582","https://openalex.org/W2784210351","https://openalex.org/W2891210102","https://openalex.org/W2911956173","https://openalex.org/W2945506992","https://openalex.org/W2947869875","https://openalex.org/W2955550294","https://openalex.org/W2957625227","https://openalex.org/W2964095882","https://openalex.org/W2968243907","https://openalex.org/W3011692743","https://openalex.org/W3040334549","https://openalex.org/W3139765571","https://openalex.org/W3205915463","https://openalex.org/W4241963026","https://openalex.org/W4299811618","https://openalex.org/W6680487651","https://openalex.org/W6775186109","https://openalex.org/W6990623037"],"related_works":["https://openalex.org/W4384434815","https://openalex.org/W2161294397","https://openalex.org/W2012644758","https://openalex.org/W2047559669","https://openalex.org/W1701036363","https://openalex.org/W2958385752","https://openalex.org/W1561131412","https://openalex.org/W1981014703","https://openalex.org/W4206950173","https://openalex.org/W2186236678"],"abstract_inverted_index":{"Humans":[0],"race":[1],"drones":[2],"faster":[3],"than":[4],"algorithms,":[5],"despite":[6],"being":[7],"limited":[8],"to":[9,96],"a":[10,73,79,88,168],"fixed":[11],"camera":[12],"angle,":[13],"body":[14],"rate":[15],"control,":[16],"and":[17,69,131,155,158,163,175],"response":[18,186],"latencies":[19],"in":[20,54,72,105,200],"the":[21,31,61,136,144,147,176,194],"order":[22],"of":[23,25,30,33,36,146,179,188,196],"hundreds":[24],"milliseconds.":[26],"A":[27],"better":[28],"understanding":[29],"ability":[32],"human":[34,64,139],"pilots":[35,86,140],"selecting":[37],"appropriate":[38],"motor":[39],"commands":[40],"from":[41,82],"highly":[42,89],"dynamic":[43],"visual":[44],"information":[45],"may":[46],"provide":[47],"key":[48],"insights":[49],"for":[50,151],"solving":[51],"current":[52],"challenges":[53],"vision-based":[55],"autonomous":[56],"navigation.":[57],"This":[58],"work":[59],"investigates":[60],"relationship":[62],"between":[63,171],"eye":[65,116,173,198],"movements,":[66],"control":[67],"behavior,":[68],"flight":[70,149],"performance":[71,108],"drone":[74,85,91,106,202],"racing":[75,92,107],"task.":[76],"We":[77,204],"collected":[78],"multimodal":[80],"dataset":[81,207],"21":[83],"experienced":[84],"using":[87],"realistic":[90],"simulator,":[93],"also":[94],"used":[95],"recruit":[97],"professional":[98],"pilots.":[99],"Our":[100],"results":[101,192],"show":[102],"task-specific":[103],"improvements":[104],"over":[109],"time.":[110],"In":[111],"particular,":[112],"we":[113,166],"found":[114,167],"that":[115],"gaze":[117],"tracks":[118],"future":[119,148],"waypoints":[120],"(i.e.,":[121,153,161],"gates),":[122],"with":[123,182],"first":[124],"fixations":[125],"occurring":[126],"on":[127],"average":[128,184],"1.5":[129],"seconds":[130],"16":[132],"meters":[133],"before":[134],"reaching":[135],"gate.":[137],"Moreover,":[138],"consistently":[141],"looked":[142],"at":[143],"inside":[145],"path":[150],"lateral":[152],"left":[154],"right":[156],"turns)":[157],"vertical":[159],"maneuvers":[160],"ascending":[162],"descending).":[164],"Finally,":[165],"strong":[169],"correlation":[170],"pilots'":[172],"movements":[174,199],"commanded":[177],"direction":[178],"quadrotor":[180],"flight,":[181],"an":[183],"visual-motor":[185],"latency":[187],"220":[189],"ms.":[190],"These":[191],"highlight":[193],"importance":[195],"coordinated":[197],"human-piloted":[201],"racing.":[203],"make":[205],"our":[206],"publicly":[208],"available.":[209]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":13},{"year":2023,"cited_by_count":15},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":7}],"updated_date":"2026-08-14T07:06:38.338062","created_date":"2025-10-10T00:00:00"}