{"id":"https://openalex.org/W2888129882","doi":"https://doi.org/10.1109/med.2018.8442959","title":"Relative Pose Estimation of Unmanned Aerial Systems","display_name":"Relative Pose Estimation of Unmanned Aerial Systems","publication_year":2018,"publication_date":"2018-06-01","ids":{"openalex":"https://openalex.org/W2888129882","doi":"https://doi.org/10.1109/med.2018.8442959","mag":"2888129882"},"language":"en","primary_location":{"id":"doi:10.1109/med.2018.8442959","is_oa":false,"landing_page_url":"https://doi.org/10.1109/med.2018.8442959","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 26th Mediterranean Conference on Control and Automation (MED)","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/A5040810487","display_name":"\u0391\u03b8\u03b1\u03bd\u03ac\u03c3\u03b9\u03bf\u03c2 \u03a4\u03c3\u03bf\u03c5\u03ba\u03b1\u03bb\u03ac\u03c2","orcid":"https://orcid.org/0000-0001-5834-5405"},"institutions":[{"id":"https://openalex.org/I120250893","display_name":"New York University Abu Dhabi","ror":"https://ror.org/00e5k0821","country_code":"AE","type":"education","lineage":["https://openalex.org/I120250893","https://openalex.org/I57206974"]}],"countries":["AE"],"is_corresponding":true,"raw_author_name":"Athanasios Tsoukalas","raw_affiliation_strings":["Electrical & Computer Engineering, New York University Abu Dhabi, Abu Dhabi, United Arab Emirates"],"affiliations":[{"raw_affiliation_string":"Electrical & Computer Engineering, New York University Abu Dhabi, Abu Dhabi, United Arab Emirates","institution_ids":["https://openalex.org/I120250893"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048765370","display_name":"Anthony Tzes","orcid":"https://orcid.org/0000-0003-3709-2810"},"institutions":[{"id":"https://openalex.org/I120250893","display_name":"New York University Abu Dhabi","ror":"https://ror.org/00e5k0821","country_code":"AE","type":"education","lineage":["https://openalex.org/I120250893","https://openalex.org/I57206974"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Anthony Tzes","raw_affiliation_strings":["Electrical & Computer Engineering, New York University Abu Dhabi, Abu Dhabi, United Arab Emirates"],"affiliations":[{"raw_affiliation_string":"Electrical & Computer Engineering, New York University Abu Dhabi, Abu Dhabi, United Arab Emirates","institution_ids":["https://openalex.org/I120250893"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082413942","display_name":"Farshad Khorrami","orcid":"https://orcid.org/0000-0002-8418-004X"},"institutions":[{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Farshad Khorrami","raw_affiliation_strings":["Electrical & Computer Engineering Department, New York University, Brooklyn, NY, USA"],"affiliations":[{"raw_affiliation_string":"Electrical & Computer Engineering Department, New York University, Brooklyn, NY, USA","institution_ids":["https://openalex.org/I57206974"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5040810487"],"corresponding_institution_ids":["https://openalex.org/I120250893"],"apc_list":null,"apc_paid":null,"fwci":3.1051,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.91454776,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"155","last_page":"160"},"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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":0.9945999979972839,"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":0.670943558216095},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.6120834350585938},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.6101236343383789},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5824601650238037},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5822855234146118},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.5172048807144165},{"id":"https://openalex.org/keywords/fiducial-marker","display_name":"Fiducial marker","score":0.4728070795536041},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4680475890636444},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.4386701285839081},{"id":"https://openalex.org/keywords/ultra-wideband","display_name":"Ultra-wideband","score":0.4377751350402832},{"id":"https://openalex.org/keywords/ransac","display_name":"RANSAC","score":0.42729729413986206},{"id":"https://openalex.org/keywords/shutter","display_name":"Shutter","score":0.4194682240486145},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3333495557308197},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.16690906882286072},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1463671326637268},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.13143804669380188},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.11169728636741638},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10747078061103821}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.670943558216095},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.6120834350585938},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.6101236343383789},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5824601650238037},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5822855234146118},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.5172048807144165},{"id":"https://openalex.org/C173974348","wikidata":"https://www.wikidata.org/wiki/Q1469893","display_name":"Fiducial marker","level":2,"score":0.4728070795536041},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4680475890636444},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.4386701285839081},{"id":"https://openalex.org/C21916231","wikidata":"https://www.wikidata.org/wiki/Q851424","display_name":"Ultra-wideband","level":2,"score":0.4377751350402832},{"id":"https://openalex.org/C114744707","wikidata":"https://www.wikidata.org/wiki/Q218533","display_name":"RANSAC","level":3,"score":0.42729729413986206},{"id":"https://openalex.org/C2776871301","wikidata":"https://www.wikidata.org/wiki/Q691823","display_name":"Shutter","level":2,"score":0.4194682240486145},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3333495557308197},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.16690906882286072},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1463671326637268},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.13143804669380188},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.11169728636741638},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10747078061103821},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/med.2018.8442959","is_oa":false,"landing_page_url":"https://doi.org/10.1109/med.2018.8442959","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 26th Mediterranean Conference on Control and Automation (MED)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6700000166893005,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1498622074","https://openalex.org/W1747778109","https://openalex.org/W1994349244","https://openalex.org/W2060873147","https://openalex.org/W2084484115","https://openalex.org/W2085069379","https://openalex.org/W2092280157","https://openalex.org/W2126745741","https://openalex.org/W2148313857","https://openalex.org/W2294278833","https://openalex.org/W2295252581","https://openalex.org/W2418481778","https://openalex.org/W2534025521","https://openalex.org/W2540914696","https://openalex.org/W2560871202","https://openalex.org/W2582222835","https://openalex.org/W2585216535","https://openalex.org/W2585401210","https://openalex.org/W2756393463","https://openalex.org/W2765705914","https://openalex.org/W2768657325","https://openalex.org/W2962717121","https://openalex.org/W6745658175"],"related_works":["https://openalex.org/W2131378265","https://openalex.org/W2984240274","https://openalex.org/W3107042705","https://openalex.org/W2981196697","https://openalex.org/W3083084699","https://openalex.org/W4229588126","https://openalex.org/W1018308721","https://openalex.org/W4229059082","https://openalex.org/W4390872624","https://openalex.org/W2896146757"],"abstract_inverted_index":{"The":[0,20,64],"relative":[1,54,92,135,148],"accurate":[2],"pose":[3,55,65],"estimation":[4],"problem":[5],"of":[6,30,37,103],"collaborating":[7],"Unmanned":[8],"Aerial":[9],"Systems":[10],"(UASs)":[11],"in":[12,17,27,68,132,157],"GPS-denied":[13],"environments":[14],"is":[15,49,125,143],"addressed":[16],"this":[18],"article.":[19],"on-board":[21],"system":[22,74,142],"uses":[23],"fiducial":[24],"markers":[25],"attached":[26],"the":[28,38,53,57,60,81,91,110,123,130,140,147],"facets":[29],"a":[31,45,85,101],"truncated":[32],"rhombicuboctahedron":[33],"placed":[34],"on":[35],"top":[36],"UAS.":[39],"A":[40],"visual":[41,141],"marker-tracking":[42],"mechanism":[43],"using":[44,94],"global":[46],"shutter":[47],"camera":[48],"used":[50,144],"to":[51,120,145,155,159],"estimate":[52],"between":[56],"UASs":[58,131],"under":[59],"Line-of-Sight":[61],"(LoS)":[62],"constraint.":[63],"estimator":[66],"operates":[67],"parallel":[69],"with":[70],"an":[71],"Ultra-wideband":[72],"(UWB)":[73],"that":[75,109],"transmits":[76],"extremely":[77],"short":[78,134,152],"RF-pulses,":[79],"spreading":[80],"radio":[82],"energy":[83],"over":[84],"wide":[86],"frequency":[87],"band,":[88],"and":[89],"measures":[90],"distance":[93],"Time":[95],"Of":[96],"Arrival":[97],"(TOA)":[98],"measurements":[99,115,150],"from":[100],"set":[102],"off-board":[104],"anchors.":[105],"Experimental":[106],"studies":[107],"show":[108],"UWB-system":[111],"can":[112],"provide":[113],"satisfactory":[114],"at":[116,151],"large":[117],"distances":[118,136,153],"(2m":[119],"50m)":[121],"but":[122],"resolution":[124],"not":[126],"sufficient":[127],"for":[128],"operating":[129],"very":[133],"(under":[137],"5m).":[138],"Therefore,":[139],"improve":[146],"position":[149],"(0.2m":[154],"5m)":[156],"addition":[158],"providing":[160],"orientation":[161],"measurements.":[162]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":4}],"updated_date":"2026-02-25T08:12:03.925757","created_date":"2025-10-10T00:00:00"}