{"id":"https://openalex.org/W3116417706","doi":"https://doi.org/10.1109/rcar49640.2020.9303314","title":"Collaborative Localization of Aerial and Ground Mobile Robots through Orthomosaic Map","display_name":"Collaborative Localization of Aerial and Ground Mobile Robots through Orthomosaic Map","publication_year":2020,"publication_date":"2020-09-28","ids":{"openalex":"https://openalex.org/W3116417706","doi":"https://doi.org/10.1109/rcar49640.2020.9303314","mag":"3116417706"},"language":"en","primary_location":{"id":"doi:10.1109/rcar49640.2020.9303314","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar49640.2020.9303314","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":"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/A5080268597","display_name":"Xuecheng Xu","orcid":"https://orcid.org/0000-0002-0762-6714"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xuecheng Xu","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control Zhejiang University, Zhejiang, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control Zhejiang University, Zhejiang, China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101797801","display_name":"Zexi Chen","orcid":"https://orcid.org/0000-0002-9782-6022"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zexi Chen","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control Zhejiang University, Zhejiang, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control Zhejiang University, Zhejiang, China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060023404","display_name":"Jiaxin Guo","orcid":"https://orcid.org/0000-0002-2314-8804"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiaxin Guo","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control Zhejiang University, Zhejiang, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control Zhejiang University, Zhejiang, China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100371992","display_name":"Yue Wang","orcid":"https://orcid.org/0000-0002-0981-935X"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yue Wang","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control Zhejiang University, Zhejiang, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control Zhejiang University, Zhejiang, China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101459642","display_name":"Yunkai Wang","orcid":"https://orcid.org/0000-0002-7402-5003"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunkai Wang","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control Zhejiang University, Zhejiang, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control Zhejiang University, Zhejiang, China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019081110","display_name":"Rong Xiong","orcid":"https://orcid.org/0000-0001-9318-9014"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rong Xiong","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control Zhejiang University, Zhejiang, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control Zhejiang University, Zhejiang, China","institution_ids":["https://openalex.org/I55712492"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5080268597"],"corresponding_institution_ids":["https://openalex.org/I55712492"],"apc_list":null,"apc_paid":null,"fwci":6.2858,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.96755013,"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":"122","last_page":"127"},"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":0.9976999759674072,"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":0.9969000220298767,"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/computer-science","display_name":"Computer science","score":0.6951193809509277},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.689704179763794},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6749148368835449},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6588550806045532},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6113690137863159},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6028020977973938},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.5459176898002625},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5390177965164185},{"id":"https://openalex.org/keywords/landmark","display_name":"Landmark","score":0.5324780941009521},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.5094338059425354},{"id":"https://openalex.org/keywords/global-map","display_name":"Global Map","score":0.4581013023853302},{"id":"https://openalex.org/keywords/particle-filter","display_name":"Particle filter","score":0.45684942603111267},{"id":"https://openalex.org/keywords/map-matching","display_name":"Map matching","score":0.4200816750526428},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.29703328013420105},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.25783658027648926},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.23900902271270752},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.20046353340148926},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14656588435173035}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6951193809509277},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.689704179763794},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6749148368835449},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6588550806045532},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6113690137863159},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6028020977973938},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.5459176898002625},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5390177965164185},{"id":"https://openalex.org/C2780297707","wikidata":"https://www.wikidata.org/wiki/Q4895393","display_name":"Landmark","level":2,"score":0.5324780941009521},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.5094338059425354},{"id":"https://openalex.org/C2779188883","wikidata":"https://www.wikidata.org/wiki/Q82446","display_name":"Global Map","level":3,"score":0.4581013023853302},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.45684942603111267},{"id":"https://openalex.org/C2778559875","wikidata":"https://www.wikidata.org/wiki/Q1892023","display_name":"Map matching","level":3,"score":0.4200816750526428},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.29703328013420105},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.25783658027648926},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.23900902271270752},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.20046353340148926},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14656588435173035},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/rcar49640.2020.9303314","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar49640.2020.9303314","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":14,"referenced_works":["https://openalex.org/W1847213163","https://openalex.org/W1971812294","https://openalex.org/W1990101796","https://openalex.org/W2069065333","https://openalex.org/W2096525188","https://openalex.org/W2124409014","https://openalex.org/W2160584648","https://openalex.org/W2471969791","https://openalex.org/W2529660767","https://openalex.org/W2535897272","https://openalex.org/W2753517974","https://openalex.org/W3001499506","https://openalex.org/W4237347581","https://openalex.org/W6667603637"],"related_works":["https://openalex.org/W2125871801","https://openalex.org/W1581933381","https://openalex.org/W2123849027","https://openalex.org/W1585960250","https://openalex.org/W2120540633","https://openalex.org/W1976194731","https://openalex.org/W2133062384","https://openalex.org/W2540189345","https://openalex.org/W2379763979","https://openalex.org/W2944187815"],"abstract_inverted_index":{"With":[0],"the":[1,6,9,29,44,60,66,74,79,134,137,142,146,149,154],"deepening":[2],"of":[3,11,32,56,59,120,136,148,153],"research":[4],"on":[5],"SLAM":[7,13,31,116],"system,":[8],"possibility":[10],"cooperative":[12,30,115],"with":[14,85,93,106,117],"multi-robots":[15],"has":[16],"been":[17],"proposed.":[18],"This":[19],"paper":[20],"presents":[21],"a":[22,94,118],"map":[23,45,76,91,112],"matching":[24,43,92,97,113],"and":[25,63,88,104,130,145],"localization":[26,105],"approach":[27,38,110,150],"considering":[28],"an":[33],"aerial-ground":[34],"system.":[35],"The":[36,109],"proposed":[37,95],"aims":[39],"to":[40,70,128,133],"help":[41],"precisely":[42],"constructed":[46],"by":[47,78],"two":[48,138],"independent":[49],"systems":[50],"who":[51],"have":[52],"large":[53],"scale":[54],"variance":[55],"view":[57],"points":[58],"same":[61],"route":[62],"eventually":[64],"enables":[65,111],"ground":[67],"mobile":[68],"robot":[69],"localize":[71],"itself":[72],"in":[73],"global":[75],"given":[77],"drone.":[80],"It":[81],"contains":[82],"dense":[83],"mapping":[84],"Elevation":[86],"Map":[87],"software":[89],"\u201cMetashape\u201d,":[90],"template":[96],"algorithm,":[98],"weighted":[99],"normalized":[100],"cross":[101],"correlation":[102],"(WNCC)":[103],"particle":[107],"filter.":[108],"for":[114],"feasibility":[119],"multiple":[121],"scene":[122],"sensors,":[123],"varies":[124],"from":[125],"stereo":[126],"cameras":[127],"lidars,":[129],"is":[131],"insensitive":[132],"synchronization":[135],"systems.":[139],"We":[140],"demonstrate":[141],"accuracy,":[143],"robustness,":[144],"speed":[147],"under":[151],"experiments":[152],"Aero-Ground":[155],"Dataset":[156],"[1].":[157]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1}],"updated_date":"2026-03-12T08:34:05.389933","created_date":"2025-10-10T00:00:00"}
