{"id":"https://openalex.org/W2029912179","doi":"https://doi.org/10.1109/robio.2014.7090610","title":"Indoor hovering flight of a nano-scale helicopter by markerless visual servo control","display_name":"Indoor hovering flight of a nano-scale helicopter by markerless visual servo control","publication_year":2014,"publication_date":"2014-12-01","ids":{"openalex":"https://openalex.org/W2029912179","doi":"https://doi.org/10.1109/robio.2014.7090610","mag":"2029912179"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2014.7090610","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2014.7090610","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","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/A5019619963","display_name":"Takahiro Hatakeyama","orcid":null},"institutions":[{"id":"https://openalex.org/I146516829","display_name":"Hirosaki University","ror":"https://ror.org/02syg0q74","country_code":"JP","type":"education","lineage":["https://openalex.org/I146516829"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takahiro Hatakeyama","raw_affiliation_strings":["Department of Science and Technology, Hirosaki University, Hirosaki, Aomori, Japan","Department of Science and Technology, Hirosaki University, Bunkyo 3, Hirosaki, Aomori, 036-8561 Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Science and Technology, Hirosaki University, Hirosaki, Aomori, Japan","institution_ids":["https://openalex.org/I146516829"]},{"raw_affiliation_string":"Department of Science and Technology, Hirosaki University, Bunkyo 3, Hirosaki, Aomori, 036-8561 Japan","institution_ids":["https://openalex.org/I146516829"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015977716","display_name":"Takuya Numata","orcid":null},"institutions":[{"id":"https://openalex.org/I146516829","display_name":"Hirosaki University","ror":"https://ror.org/02syg0q74","country_code":"JP","type":"education","lineage":["https://openalex.org/I146516829"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takuya Numata","raw_affiliation_strings":["Department of Science and Technology, Hirosaki University, Hirosaki, Aomori, Japan","Department of Science and Technology, Hirosaki University, Bunkyo 3, Hirosaki, Aomori, 036-8561 Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Science and Technology, Hirosaki University, Hirosaki, Aomori, Japan","institution_ids":["https://openalex.org/I146516829"]},{"raw_affiliation_string":"Department of Science and Technology, Hirosaki University, Bunkyo 3, Hirosaki, Aomori, 036-8561 Japan","institution_ids":["https://openalex.org/I146516829"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036225483","display_name":"Yasushi Iwatani","orcid":"https://orcid.org/0000-0003-1446-8176"},"institutions":[{"id":"https://openalex.org/I146516829","display_name":"Hirosaki University","ror":"https://ror.org/02syg0q74","country_code":"JP","type":"education","lineage":["https://openalex.org/I146516829"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yasushi Iwatani","raw_affiliation_strings":["Department of Science and Technology, Hirosaki University, Hirosaki, Aomori, Japan","Department of Science and Technology, Hirosaki University, Bunkyo 3, Hirosaki, Aomori, 036-8561 Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Science and Technology, Hirosaki University, Hirosaki, Aomori, Japan","institution_ids":["https://openalex.org/I146516829"]},{"raw_affiliation_string":"Department of Science and Technology, Hirosaki University, Bunkyo 3, Hirosaki, Aomori, 036-8561 Japan","institution_ids":["https://openalex.org/I146516829"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I146516829"],"apc_list":null,"apc_paid":null,"fwci":0.1798,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.43340847,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"1880","last_page":"1885"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9987999796867371,"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"}},"topics":[{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9987999796867371,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9959999918937683,"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/T13114","display_name":"Image Processing Techniques and Applications","score":0.9843999743461609,"subfield":{"id":"https://openalex.org/subfields/2214","display_name":"Media Technology"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/quadcopter","display_name":"Quadcopter","score":0.9477865695953369},{"id":"https://openalex.org/keywords/servo-control","display_name":"Servo control","score":0.6485508680343628},{"id":"https://openalex.org/keywords/servo","display_name":"Servo","score":0.6202355623245239},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5428739190101624},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5330385565757751},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.461748868227005},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4424101710319519},{"id":"https://openalex.org/keywords/signal","display_name":"SIGNAL (programming language)","score":0.4311048984527588},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.35774677991867065},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.07626804709434509}],"concepts":[{"id":"https://openalex.org/C2779199153","wikidata":"https://www.wikidata.org/wiki/Q43965","display_name":"Quadcopter","level":2,"score":0.9477865695953369},{"id":"https://openalex.org/C32731416","wikidata":"https://www.wikidata.org/wiki/Q7455930","display_name":"Servo control","level":3,"score":0.6485508680343628},{"id":"https://openalex.org/C107354338","wikidata":"https://www.wikidata.org/wiki/Q1937153","display_name":"Servo","level":2,"score":0.6202355623245239},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5428739190101624},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5330385565757751},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.461748868227005},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4424101710319519},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.4311048984527588},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35774677991867065},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.07626804709434509},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/robio.2014.7090610","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2014.7090610","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320719","display_name":"Department of Science and Technology, Ministry of Science and Technology, India","ror":"https://ror.org/0101xrq71"},{"id":"https://openalex.org/F4320322617","display_name":"Okawa Foundation for Information and Telecommunications","ror":"https://ror.org/01enbtr31"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1520822062","https://openalex.org/W1968649289","https://openalex.org/W1972074105","https://openalex.org/W2033470618","https://openalex.org/W2060794637","https://openalex.org/W2076647906","https://openalex.org/W2091320636","https://openalex.org/W2149839062","https://openalex.org/W2545074589","https://openalex.org/W6631012428"],"related_works":["https://openalex.org/W2133614587","https://openalex.org/W2088603790","https://openalex.org/W2020441249","https://openalex.org/W2051011957","https://openalex.org/W597209009","https://openalex.org/W2385654506","https://openalex.org/W2546583032","https://openalex.org/W2546740270","https://openalex.org/W2096883364","https://openalex.org/W2519736857"],"abstract_inverted_index":{"This":[0],"paper":[1,145],"addresses":[2],"the":[3,21,24,30,51,63,88,98,119,150],"visual":[4,100,133,152,173],"servo":[5,101,134,153,174],"control":[6,95,102,110,175],"problem":[7],"of":[8,20,36,62,143],"a":[9,13,34,43,76,79,82,94,116,159,163],"nano-scale":[10,37,160],"quadcopter":[11],"with":[12,23],"monocular":[14],"onboard":[15],"camera.":[16],"The":[17,40,53,69,85,109,136,141],"total":[18],"weight":[19],"helicopter":[22,31,167],"camera":[25,41,54],"is":[26,42,48,112,122,138,146,155],"48":[27],"g,":[28],"and":[29,46,57,91],"belongs":[32],"to":[33,78,118,147],"class":[35],"aerial":[38],"vehicles.":[39],"wireless":[44],"device,":[45],"it":[47,58,92],"installed":[49],"beneath":[50],"helicopter.":[52,120],"looks":[55],"downward,":[56],"captures":[59],"an":[60],"image":[61,71,89],"ground":[64,83],"at":[65,81],"each":[66],"time":[67],"step.":[68],"captured":[70],"data":[72],"are":[73],"transferred":[74],"via":[75],"receiver":[77],"computer":[80,86],"station.":[84],"processes":[87],"data,":[90],"generates":[93],"signal":[96,111],"by":[97,131,171],"markerless":[99,132,151,172],"algorithm":[103],"proposed":[104],"in":[105,176],"our":[106,177],"previous":[107,178],"paper.":[108,179],"then":[113],"supplied":[114],"through":[115],"transmitter":[117],"It":[121],"demonstrated":[123],"that":[124,149],"five-minutes":[125],"hovering":[126],"flight":[127],"can":[128],"be":[129],"achieved":[130],"control.":[135],"controller":[137,154],"not":[139],"new.":[140],"contribution":[142],"this":[144],"confirm":[148],"also":[156],"valid":[157],"for":[158],"quadcopter,":[161],"while":[162],"coaxial":[164],"counter-rotating":[165],"micro":[166],"has":[168],"been":[169],"controlled":[170]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}