{"id":"https://openalex.org/W4403278816","doi":"https://doi.org/10.1109/mfi62651.2024.10705761","title":"A Robust Baro-Radar-Inertial Odometry M-Estimator for Multicopter Navigation in Cities and Forests","display_name":"A Robust Baro-Radar-Inertial Odometry M-Estimator for Multicopter Navigation in Cities and Forests","publication_year":2024,"publication_date":"2024-09-04","ids":{"openalex":"https://openalex.org/W4403278816","doi":"https://doi.org/10.1109/mfi62651.2024.10705761"},"language":"en","primary_location":{"id":"doi:10.1109/mfi62651.2024.10705761","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mfi62651.2024.10705761","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)","raw_type":"proceedings-article"},"type":"conference-paper","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":null,"display_name":"Rik Girod","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Rik Girod","raw_affiliation_strings":["ETH Z&#x00FC;rich,Autonomous Systems Lab,Z&#x00FC;rich,Switzerland,8092"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Z&#x00FC;rich,Autonomous Systems Lab,Z&#x00FC;rich,Switzerland,8092","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107099453","display_name":"Marco Hauswirth","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Marco Hauswirth","raw_affiliation_strings":["ETH Z&#x00FC;rich,Autonomous Systems Lab,Z&#x00FC;rich,Switzerland,8092"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Z&#x00FC;rich,Autonomous Systems Lab,Z&#x00FC;rich,Switzerland,8092","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070013986","display_name":"Patrick Pfreundschuh","orcid":"https://orcid.org/0000-0002-4127-8119"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Patrick Pfreundschuh","raw_affiliation_strings":["ETH Z&#x00FC;rich,Autonomous Systems Lab,Z&#x00FC;rich,Switzerland,8092"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Z&#x00FC;rich,Autonomous Systems Lab,Z&#x00FC;rich,Switzerland,8092","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108369615","display_name":"M. De Biasio","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mariano Biasio","raw_affiliation_strings":["ETH Z&#x00FC;rich,Autonomous Systems Lab,Z&#x00FC;rich,Switzerland,8092"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Z&#x00FC;rich,Autonomous Systems Lab,Z&#x00FC;rich,Switzerland,8092","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083003222","display_name":"Roland Siegwart","orcid":"https://orcid.org/0000-0002-2760-7983"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Roland Siegwart","raw_affiliation_strings":["ETH Z&#x00FC;rich,Autonomous Systems Lab,Z&#x00FC;rich,Switzerland,8092"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Z&#x00FC;rich,Autonomous Systems Lab,Z&#x00FC;rich,Switzerland,8092","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9976000189781189,"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":0.9976000189781189,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9653000235557556,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.95169997215271,"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/odometry","display_name":"Odometry","score":0.7516109347343445},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.6466214656829834},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5126282572746277},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.4815921485424042},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.4252910017967224},{"id":"https://openalex.org/keywords/environmental-science","display_name":"Environmental science","score":0.39241278171539307},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.38564375042915344},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.3463914394378662},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.26990026235580444},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.21971136331558228},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1381400227546692},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11061811447143555},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.09266206622123718},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07161492109298706},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.0600430965423584},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.05685657262802124}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.7516109347343445},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.6466214656829834},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5126282572746277},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.4815921485424042},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.4252910017967224},{"id":"https://openalex.org/C39432304","wikidata":"https://www.wikidata.org/wiki/Q188847","display_name":"Environmental science","level":0,"score":0.39241278171539307},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.38564375042915344},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.3463914394378662},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.26990026235580444},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.21971136331558228},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1381400227546692},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11061811447143555},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.09266206622123718},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07161492109298706},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0600430965423584},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.05685657262802124},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/mfi62651.2024.10705761","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mfi62651.2024.10705761","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/13","display_name":"Climate action","score":0.7599999904632568}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1968315983","https://openalex.org/W2017489593","https://openalex.org/W2118830518","https://openalex.org/W2121988680","https://openalex.org/W2158662637","https://openalex.org/W2214788824","https://openalex.org/W2745859992","https://openalex.org/W2746349752","https://openalex.org/W2968390259","https://openalex.org/W3087767329","https://openalex.org/W3090925395","https://openalex.org/W3118293846","https://openalex.org/W3141572377","https://openalex.org/W3157464965","https://openalex.org/W3206434649","https://openalex.org/W4214881827","https://openalex.org/W4226322873","https://openalex.org/W4230266908","https://openalex.org/W4313010044","https://openalex.org/W4383066445","https://openalex.org/W4402592730","https://openalex.org/W6756279856","https://openalex.org/W6857728393","https://openalex.org/W6858530472"],"related_works":["https://openalex.org/W4247347568","https://openalex.org/W4250716077","https://openalex.org/W2024124515","https://openalex.org/W4300961947","https://openalex.org/W2415234998","https://openalex.org/W23037264","https://openalex.org/W2374423985","https://openalex.org/W2942773919","https://openalex.org/W2977244052","https://openalex.org/W2782016042"],"abstract_inverted_index":{"Search":[0],"and":[1,11,26,45,77,114,121,149],"rescue":[2],"operations":[3],"require":[4],"mobile":[5],"robots":[6],"to":[7,24,41,73,118,131],"navigate":[8],"unstructured":[9],"indoor":[10],"outdoor":[12],"environments.":[13,55,78],"In":[14],"particular,":[15],"actively":[16],"stabilized":[17],"multirotor":[18],"drones":[19],"need":[20],"precise":[21],"movement":[22],"data":[23],"balance":[25],"avoid":[27],"obstacles.":[28],"Combining":[29],"radial":[30],"velocities":[31],"from":[32],"on-chip":[33],"radar":[34,62],"with":[35,67,128],"MEMS":[36],"inertial":[37],"sensing":[38],"has":[39,81],"proven":[40],"provide":[42],"robust,":[43],"lightweight,":[44],"consistent":[46,126],"state":[47],"estimation,":[48],"even":[49],"in":[50,85,104,112],"visually":[51],"or":[52,89],"geometrically":[53],"degraded":[54],"Statistical":[56],"tests":[57],"robustify":[58],"these":[59],"estimators":[60],"against":[61],"outliers.":[63],"However,":[64],"available":[65,152],"work":[66,80,93],"binary":[68],"outlier":[69],"filters":[70],"lacks":[71],"adaptability":[72],"various":[74],"hardware":[75],"setups":[76],"Other":[79],"predominantly":[82],"been":[83],"tested":[84],"handheld":[86],"static":[87],"environments":[88],"automotive":[90],"contexts.":[91],"This":[92],"introduces":[94],"a":[95,125],"robust":[96],"baro-radar-inertial":[97],"odometry":[98],"(BRIO)":[99],"m-estimator":[100],"for":[101],"quadcopter":[102],"flights":[103,111],"typical":[105],"GNSS-denied":[106],"scenarios.":[107],"Extensive":[108],"real-world":[109],"closed-loop":[110],"cities":[113],"forests":[115],"demonstrate":[116],"robustness":[117],"moving":[119],"objects":[120],"ghost":[122],"targets,":[123],"maintaining":[124],"performance":[127],"0.5":[129],"%":[130,133],"3.2":[132],"drift":[134],"per":[135],"distance":[136],"traveled.":[137],"Benchmarks":[138],"on":[139],"public":[140],"datasets":[141],"validate":[142],"the":[143],"system's":[144],"generalizability.":[145],"The":[146],"code,":[147],"dataset,":[148],"video":[150],"are":[151],"at":[153],"https://github.com/ethz-asVrio.":[154]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":8}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
