{"id":"https://openalex.org/W4416667808","doi":"https://doi.org/10.1109/lra.2026.3693026","title":"MonoSpheres: Large-Scale Monocular SLAM-Based UAV Exploration Through Perception-Coupled Mapping and Planning","display_name":"MonoSpheres: Large-Scale Monocular SLAM-Based UAV Exploration Through Perception-Coupled Mapping and Planning","publication_year":2026,"publication_date":"2026-05-14","ids":{"openalex":"https://openalex.org/W4416667808","doi":"https://doi.org/10.1109/lra.2026.3693026"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2026.3693026","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2026.3693026","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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":"hybrid","oa_url":"https://doi.org/10.1109/lra.2026.3693026","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5006698091","display_name":"Tom\u00e1\u0161 Musil","orcid":"https://orcid.org/0000-0002-4013-560X"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Tom\u00e1\u0161 Musil","raw_affiliation_strings":["Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague, Prague 6, Czech Republic"],"raw_orcid":"https://orcid.org/0000-0002-9421-6544","affiliations":[{"raw_affiliation_string":"Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague, Prague 6, Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059220416","display_name":"Mat\u011bj Petrl\u00edk","orcid":"https://orcid.org/0000-0002-5337-9558"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Mat\u011bj Petrl\u00edk","raw_affiliation_strings":["Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague, Prague 6, Czech Republic"],"raw_orcid":"https://orcid.org/0000-0002-5337-9558","affiliations":[{"raw_affiliation_string":"Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague, Prague 6, Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004992661","display_name":"Martin Saska","orcid":"https://orcid.org/0000-0001-7106-3816"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Martin Saska","raw_affiliation_strings":["Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague, Prague 6, Czech Republic"],"raw_orcid":"https://orcid.org/0000-0001-7106-3816","affiliations":[{"raw_affiliation_string":"Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague, Prague 6, Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I44504214"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.00187146,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"7","first_page":"8391","last_page":"8398"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9782999753952026,"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":0.9782999753952026,"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":0.006899999920278788,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.006599999964237213,"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/monocular","display_name":"Monocular","score":0.7986000180244446},{"id":"https://openalex.org/keywords/parallax","display_name":"Parallax","score":0.595300018787384},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4505999982357025},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.41839998960494995},{"id":"https://openalex.org/keywords/heading","display_name":"Heading (navigation)","score":0.396699994802475},{"id":"https://openalex.org/keywords/monocular-vision","display_name":"Monocular vision","score":0.38690000772476196},{"id":"https://openalex.org/keywords/quadcopter","display_name":"Quadcopter","score":0.38600000739097595},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.38179999589920044}],"concepts":[{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.7986000180244446},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7583000063896179},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.733299970626831},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6735000014305115},{"id":"https://openalex.org/C15759828","wikidata":"https://www.wikidata.org/wiki/Q165074","display_name":"Parallax","level":2,"score":0.595300018787384},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4505999982357025},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.41839998960494995},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.396699994802475},{"id":"https://openalex.org/C158829959","wikidata":"https://www.wikidata.org/wiki/Q1640606","display_name":"Monocular vision","level":2,"score":0.38690000772476196},{"id":"https://openalex.org/C2779199153","wikidata":"https://www.wikidata.org/wiki/Q43965","display_name":"Quadcopter","level":2,"score":0.38600000739097595},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.38179999589920044},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.37070000171661377},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3644999861717224},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.35429999232292175},{"id":"https://openalex.org/C2780428219","wikidata":"https://www.wikidata.org/wiki/Q16952335","display_name":"Cover (algebra)","level":2,"score":0.32600000500679016},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.31940001249313354},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.3125999867916107},{"id":"https://openalex.org/C193581530","wikidata":"https://www.wikidata.org/wiki/Q683778","display_name":"Structured light","level":2,"score":0.3116999864578247},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.3102000057697296},{"id":"https://openalex.org/C46681722","wikidata":"https://www.wikidata.org/wiki/Q4725589","display_name":"Alias","level":2,"score":0.3091000020503998},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.26440000534057617},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.26269999146461487},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.26190000772476196}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/lra.2026.3693026","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2026.3693026","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2511.17299","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2511.17299","pdf_url":"https://arxiv.org/pdf/2511.17299","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:arXiv.org:2511.17299","is_oa":true,"landing_page_url":"https://arxiv.org/abs/2511.17299","pdf_url":"https://arxiv.org/pdf/2511.17299","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2511.17299","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2511.17299","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.1109/lra.2026.3693026","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2026.3693026","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2677629327","display_name":null,"funder_award_id":"CZ.02.01.01","funder_id":"https://openalex.org/F4320321006","funder_display_name":"Grantov\u00e1 Agentura \u010cesk\u00e9 Republiky"},{"id":"https://openalex.org/G2678520069","display_name":null,"funder_award_id":"CZ.02.01","funder_id":"https://openalex.org/F4320321006","funder_display_name":"Grantov\u00e1 Agentura \u010cesk\u00e9 Republiky"},{"id":"https://openalex.org/G3810236772","display_name":null,"funder_award_id":"CZ.02.01","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G4396925471","display_name":null,"funder_award_id":"CZ.02.01.01","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G7594605176","display_name":null,"funder_award_id":"CZ.02.01.01/00/22 008/0004590","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320321006","display_name":"Grantov\u00e1 Agentura \u010cesk\u00e9 Republiky","ror":"https://ror.org/01pv73b02"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Autonomous":[0],"exploration":[1,44,123,174],"of":[2,62,79,99,137,161],"unknown":[3],"environments":[4,55],"is":[5,14,124,166],"a":[6,22,38,63],"key":[7],"capability":[8],"for":[9,17,59],"mobile":[10],"robots,":[11],"but":[12],"it":[13],"largely":[15],"unsolved":[16],"robots":[18],"equipped":[19],"with":[20,126],"only":[21],"single":[23],"monocular":[24,42,65,128,173],"camera":[25],"and":[26,52,71,85,96,114,134,152],"no":[27],"dense":[28],"range":[29],"sensors.":[30],"In":[31],"this":[32],"paper,":[33],"we":[34],"present":[35],"MonoSpheres":[36,165],"\u2014":[37],"novel":[39],"approach":[40,147],"to":[41,170,184],"vision-based":[43],"that":[45,121],"can":[46],"safely":[47],"cover":[48],"large-scale":[49],"unstructured":[50,177],"indoor":[51],"outdoor":[53,178],"3D":[54,172],"by":[56,89],"explicitly":[57],"accounting":[58],"the":[60,77,107,135,159,162,167],"properties":[61],"sparse":[64,80,127],"SLAM":[66],"frontend":[67],"in":[68,93,149,175],"both":[69],"mapping":[70,74],"planning.":[72],"The":[73,103],"module":[75,105],"solves":[76],"problems":[78],"depth":[81,87,129],"data,":[82],"free-space":[83,109],"gaps,":[84],"large":[86],"uncertainty":[88,110],"oversampling":[90],"free":[91],"space":[92],"texture-sparse":[94],"areas":[95],"keeping":[97],"track":[98],"obstacle":[100],"position":[101],"uncertainty.":[102],"planning":[104],"handles":[106],"added":[108],"through":[111],"rapid":[112],"replanning":[113],"perception-aware":[115],"heading":[116],"control.":[117],"We":[118,144,180],"further":[119],"show":[120],"frontier-based":[122],"possible":[125],"data":[130],"when":[131],"parallax":[132],"requirements":[133],"possibility":[136],"textureless":[138],"surfaces":[139],"are":[140],"taken":[141],"into":[142],"account.":[143],"evaluate":[145],"our":[146,182],"extensively":[148],"diverse":[150],"real-world":[151,176],"simulated":[153],"environments,":[154],"including":[155],"ablation":[156],"studies.":[157],"To":[158],"best":[160],"authors'":[163],"knowledge,":[164],"first":[168],"method":[169],"achieve":[171],"environments.":[179],"open-source":[181],"implementation":[183],"support":[185],"future":[186],"research.":[187]},"counts_by_year":[],"updated_date":"2026-07-03T08:13:44.112507","created_date":"2025-11-25T00:00:00"}