{"id":"https://openalex.org/W3114330192","doi":"https://doi.org/10.1109/rcar49640.2020.9303255","title":"An Extensible Framework of Monocular SLAM with Depth Recovery for an Unmanned Aerial Vehicle","display_name":"An Extensible Framework of Monocular SLAM with Depth Recovery for an Unmanned Aerial Vehicle","publication_year":2020,"publication_date":"2020-09-28","ids":{"openalex":"https://openalex.org/W3114330192","doi":"https://doi.org/10.1109/rcar49640.2020.9303255","mag":"3114330192"},"language":"en","primary_location":{"id":"doi:10.1109/rcar49640.2020.9303255","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar49640.2020.9303255","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Real-time Computing and Robotics (RCAR)","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":"https://openalex.org/A5001454868","display_name":"Chenliang An","orcid":null},"institutions":[{"id":"https://openalex.org/I198091727","display_name":"Tiangong University","ror":"https://ror.org/00xsr9m91","country_code":"CN","type":"education","lineage":["https://openalex.org/I198091727"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chenliang An","raw_affiliation_strings":["School of Electrical Engineering and Automation, Tiangong University, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Automation, Tiangong University, Tianjin, China","institution_ids":["https://openalex.org/I198091727"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043873025","display_name":"Xitian Gao","orcid":null},"institutions":[{"id":"https://openalex.org/I198091727","display_name":"Tiangong University","ror":"https://ror.org/00xsr9m91","country_code":"CN","type":"education","lineage":["https://openalex.org/I198091727"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xitian Gao","raw_affiliation_strings":["School of Electrical Engineering and Automation, Tiangong University, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Automation, Tiangong University, Tianjin, China","institution_ids":["https://openalex.org/I198091727"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101952719","display_name":"Baoquan Li","orcid":null},"institutions":[{"id":"https://openalex.org/I198091727","display_name":"Tiangong University","ror":"https://ror.org/00xsr9m91","country_code":"CN","type":"education","lineage":["https://openalex.org/I198091727"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Baoquan Li","raw_affiliation_strings":["School of Electrical Engineering and Automation, Tiangong University, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Automation, Tiangong University, Tianjin, China","institution_ids":["https://openalex.org/I198091727"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I198091727"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"39","issue":null,"first_page":"274","last_page":"279"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9990000128746033,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9962000250816345,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.7453111410140991},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7444029450416565},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.699325442314148},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6763888597488403},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6282586455345154},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6143458485603333},{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.5606943368911743},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.49726155400276184},{"id":"https://openalex.org/keywords/monocular-vision","display_name":"Monocular vision","score":0.4877348840236664},{"id":"https://openalex.org/keywords/orb","display_name":"Orb (optics)","score":0.46604907512664795},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44156670570373535},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.41548144817352295},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.27012866735458374},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.10879701375961304}],"concepts":[{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.7453111410140991},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7444029450416565},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.699325442314148},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6763888597488403},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6282586455345154},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6143458485603333},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.5606943368911743},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.49726155400276184},{"id":"https://openalex.org/C158829959","wikidata":"https://www.wikidata.org/wiki/Q1640606","display_name":"Monocular vision","level":2,"score":0.4877348840236664},{"id":"https://openalex.org/C108260229","wikidata":"https://www.wikidata.org/wiki/Q47023","display_name":"Orb (optics)","level":3,"score":0.46604907512664795},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44156670570373535},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.41548144817352295},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.27012866735458374},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.10879701375961304},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/rcar49640.2020.9303255","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar49640.2020.9303255","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1920129727","https://openalex.org/W1969726450","https://openalex.org/W1977976974","https://openalex.org/W1986045690","https://openalex.org/W2047713324","https://openalex.org/W2109656638","https://openalex.org/W2151290401","https://openalex.org/W2153807823","https://openalex.org/W2156909576","https://openalex.org/W2269288365","https://openalex.org/W2342437324","https://openalex.org/W2524805456","https://openalex.org/W2535547924","https://openalex.org/W2564632156","https://openalex.org/W2565233142","https://openalex.org/W2745859992","https://openalex.org/W2754177129","https://openalex.org/W2896046166","https://openalex.org/W2919212960","https://openalex.org/W2943461297","https://openalex.org/W2945604450","https://openalex.org/W2971900972","https://openalex.org/W3007680438","https://openalex.org/W3102327032"],"related_works":["https://openalex.org/W2905458575","https://openalex.org/W2573918384","https://openalex.org/W2809055700","https://openalex.org/W2990775658","https://openalex.org/W3192389065","https://openalex.org/W3213997683","https://openalex.org/W2921358899","https://openalex.org/W4225747367","https://openalex.org/W2995270189","https://openalex.org/W2066600100"],"abstract_inverted_index":{"With":[0,98],"only":[1],"a":[2,20,76,81,149],"monocular":[3,51,74,163],"sensor,":[4,75],"an":[5,27,103],"extensible":[6],"framework":[7,143],"of":[8,41,48,173],"simultaneous":[9],"localization":[10],"and":[11,55,80,131,155,159],"mapping":[12],"(SLAM)":[13],"is":[14,24,53,58,114],"designed":[15,86],"with":[16,161],"depth":[17,67],"recovery":[18],"for":[19,108],"DJI-autonomous":[21],"drone,":[22],"which":[23],"integrated":[25,115],"in":[26,139],"onboard":[28,50],"computer":[29],"by":[30,126],"utilizing":[31],"the":[32,39,42,45,49,56,73,89,94,99,109,122,128,141,152,171,174],"Robot":[33],"Operating":[34],"System":[35],"(ROS).":[36],"Specifically,":[37],"on":[38,72],"basis":[40],"repository":[43],"ORB-SLAM2,":[44],"scaled":[46],"pose":[47,77,82,96,101],"vision":[52],"obtained,":[54],"AprilTag2":[57],"utilizied":[59],"to":[60,64,87,91,116,169],"make":[61],"fusion":[62],"operation":[63],"recover":[65],"scene":[66],"information.":[68,97],"In":[69],"addition,":[70],"based":[71],"conversion":[78],"module":[79,84],"release":[83],"are":[85,136,167],"allow":[88],"drone":[90],"directly":[92],"use":[93],"corresponding":[95],"provided":[100],"information,":[102],"outer-loop":[104],"geometric":[105],"tracking":[106,154],"controller":[107],"unmaned":[110],"aerial":[111],"vehicle":[112],"(UAV)":[113],"complete":[117],"flight":[118],"tasks":[119,157],"generated":[120],"from":[121],"trajectory":[123,153],"planning":[124],"module,":[125],"calculating":[127],"required":[129],"thrust":[130],"attitude.":[132],"Since":[133],"communication":[134],"interfaces":[135],"defined":[137],"clearly":[138],"ROS,":[140],"proposed":[142,175],"can":[144],"be":[145],"easily":[146],"implemented,":[147],"making":[148],"UAV":[150],"executes":[151],"landing":[156],"stably":[158],"accurately":[160],"merely":[162],"vision.":[164],"Practical":[165],"experiments":[166],"performed":[168],"validate":[170],"effectiveness":[172],"framework.":[176]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}