{"id":"https://openalex.org/W3003128971","doi":"https://doi.org/10.1109/robio49542.2019.8961463","title":"Real-Time Drift-Free Path Recording and Replaying Based On Virtual Image Matching For MAVs","display_name":"Real-Time Drift-Free Path Recording and Replaying Based On Virtual Image Matching For MAVs","publication_year":2019,"publication_date":"2019-12-01","ids":{"openalex":"https://openalex.org/W3003128971","doi":"https://doi.org/10.1109/robio49542.2019.8961463","mag":"3003128971"},"language":"en","primary_location":{"id":"doi:10.1109/robio49542.2019.8961463","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio49542.2019.8961463","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5086920847","display_name":"Ruihang Miao","orcid":"https://orcid.org/0000-0002-9180-1414"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruihang Miao","raw_affiliation_strings":["Shanghai Jiao Tong University,Department of Electronic Engineering,Shanghai,China,200240"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,Department of Electronic Engineering,Shanghai,China,200240","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032986088","display_name":"Peilin Liu","orcid":"https://orcid.org/0000-0002-5321-2336"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peilin Liu","raw_affiliation_strings":["Shanghai Jiao Tong University,Department of Electronic Engineering,Shanghai,China,200240"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,Department of Electronic Engineering,Shanghai,China,200240","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034251794","display_name":"Fei Wen","orcid":"https://orcid.org/0000-0002-3083-9611"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fei Wen","raw_affiliation_strings":["Shanghai Jiao Tong University,Department of Electronic Engineering,Shanghai,China,200240"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,Department of Electronic Engineering,Shanghai,China,200240","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028655194","display_name":"Zheng Gong","orcid":"https://orcid.org/0000-0002-6538-7344"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zheng Gong","raw_affiliation_strings":["Shanghai Jiao Tong University,Department of Electronic Engineering,Shanghai,China,200240"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,Department of Electronic Engineering,Shanghai,China,200240","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012509620","display_name":"Wuyang Xue","orcid":"https://orcid.org/0000-0002-7284-0629"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wuyang Xue","raw_affiliation_strings":["Shanghai Jiao Tong University,Department of Electronic Engineering,Shanghai,China,200240"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,Department of Electronic Engineering,Shanghai,China,200240","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048965499","display_name":"Rendong Ying","orcid":"https://orcid.org/0000-0001-6670-149X"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rendong Ying","raw_affiliation_strings":["Shanghai Jiao Tong University,Department of Electronic Engineering,Shanghai,China,200240"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,Department of Electronic Engineering,Shanghai,China,200240","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":0.8752,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.80285649,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"31","issue":null,"first_page":"2558","last_page":"2564"},"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":0.9998000264167786,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9962000250816345,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"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/computer-vision","display_name":"Computer vision","score":0.7389524579048157},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7367379069328308},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.7268927097320557},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6293511390686035},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.5666930675506592},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.5170698761940002},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.45310941338539124},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.44847676157951355},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4147687554359436},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.06944862008094788}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7389524579048157},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7367379069328308},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.7268927097320557},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6293511390686035},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.5666930675506592},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.5170698761940002},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.45310941338539124},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.44847676157951355},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4147687554359436},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.06944862008094788},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/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/robio49542.2019.8961463","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio49542.2019.8961463","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1482620628","https://openalex.org/W1612997784","https://openalex.org/W1970504153","https://openalex.org/W1995067233","https://openalex.org/W2001994261","https://openalex.org/W2003223511","https://openalex.org/W2007963058","https://openalex.org/W2035379092","https://openalex.org/W2075567787","https://openalex.org/W2087387266","https://openalex.org/W2087611038","https://openalex.org/W2107145440","https://openalex.org/W2111589119","https://openalex.org/W2130103520","https://openalex.org/W2145755120","https://openalex.org/W2151290401","https://openalex.org/W2163800924","https://openalex.org/W2205407818","https://openalex.org/W2410630689","https://openalex.org/W2980701808","https://openalex.org/W3103648783","https://openalex.org/W4245605175","https://openalex.org/W6679388247","https://openalex.org/W6682341742","https://openalex.org/W6714402795"],"related_works":["https://openalex.org/W3162200841","https://openalex.org/W2586280620","https://openalex.org/W2805505483","https://openalex.org/W2334071950","https://openalex.org/W2384744344","https://openalex.org/W4233932308","https://openalex.org/W1799694159","https://openalex.org/W2393169196","https://openalex.org/W2366610330","https://openalex.org/W4242143973"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"an":[3],"efficient":[4],"method":[5,21,96],"to":[6,40,51,54,85,88],"achieve":[7,119],"real-time":[8],"drift-free":[9,18],"path":[10,19,27,59,124],"replaying":[11,20],"for":[12,24,70,97],"Micro":[13],"Aerial":[14],"Vehicle":[15],"(MAV).":[16],"The":[17],"is":[22,68,83,108],"proposed":[23],"precise":[25,109,123],"autonomous":[26,120],"following":[28,125],"in":[29,126],"GPS-denied":[30],"environments.":[31],"In":[32],"this":[33],"paper,":[34],"we":[35,92],"present":[36],"solutions":[37],"on":[38],"how":[39],"effectively":[41],"select":[42],"recording":[43],"images":[44],"during":[45],"flying":[46],"and":[47,75,103,110,122,129],"drive":[48],"the":[49,58,72,77,104],"MAV":[50],"fly":[52],"automatically":[53],"target":[55],"position.":[56],"During":[57],"replaying,":[60],"a":[61],"strategy":[62],"named":[63],"triggered":[64],"virtual":[65,105],"image":[66,81,102,106],"matching":[67,99],"used":[69],"reducing":[71],"computational":[73],"cost":[74],"eliminating":[76],"drift.":[78],"Time":[79],"of":[80],"selection":[82],"reduced":[84],"negligible":[86],"due":[87],"above":[89],"strategy.":[90],"Moreover,":[91],"use":[93],"optical":[94],"flow":[95],"features":[98],"between":[100],"current":[101],"which":[107],"faster.":[111],"Experimental":[112],"results":[113],"show":[114],"that":[115],"our":[116],"approach":[117],"can":[118],"returning":[121],"indoor":[127],"scene":[128],"outdoor":[130],"scene.":[131]},"counts_by_year":[{"year":2020,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}