{"id":"https://openalex.org/W4317383804","doi":"https://doi.org/10.1109/robio55434.2022.10011837","title":"A Multi-stage Precision Landing Method for Autonomous eVTOL Based on Multi-marker Joint Localization","display_name":"A Multi-stage Precision Landing Method for Autonomous eVTOL Based on Multi-marker Joint Localization","publication_year":2022,"publication_date":"2022-12-05","ids":{"openalex":"https://openalex.org/W4317383804","doi":"https://doi.org/10.1109/robio55434.2022.10011837"},"language":"en","primary_location":{"id":"doi:10.1109/robio55434.2022.10011837","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio55434.2022.10011837","pdf_url":null,"source":{"id":"https://openalex.org/S4363607789","display_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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/A5013757245","display_name":"Senwei Xiang","orcid":"https://orcid.org/0009-0008-0665-8563"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Senwei Xiang","raw_affiliation_strings":["Research Center for Intelligent Robotics, Research Institute of Interdisciplinary Innovation,Zhejiang Lab,Hangzhou,China,310000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Center for Intelligent Robotics, Research Institute of Interdisciplinary Innovation,Zhejiang Lab,Hangzhou,China,310000","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068792892","display_name":"Minxiang Ye","orcid":"https://orcid.org/0000-0003-0083-7145"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Minxiang Ye","raw_affiliation_strings":["Research Center for Intelligent Robotics, Research Institute of Interdisciplinary Innovation,Zhejiang Lab,Hangzhou,China,310000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Center for Intelligent Robotics, Research Institute of Interdisciplinary Innovation,Zhejiang Lab,Hangzhou,China,310000","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039356472","display_name":"Shiqiang Zhu","orcid":"https://orcid.org/0000-0002-5687-4001"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shiqiang Zhu","raw_affiliation_strings":["Research Center for Intelligent Robotics, Research Institute of Interdisciplinary Innovation,Zhejiang Lab,Hangzhou,China,310000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Center for Intelligent Robotics, Research Institute of Interdisciplinary Innovation,Zhejiang Lab,Hangzhou,China,310000","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010340252","display_name":"Jason Gu","orcid":"https://orcid.org/0000-0002-7626-1077"},"institutions":[{"id":"https://openalex.org/I129902397","display_name":"Dalhousie University","ror":"https://ror.org/01e6qks80","country_code":"CA","type":"education","lineage":["https://openalex.org/I129902397"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Jason Gu","raw_affiliation_strings":["Dalhousie University,Department of Electrical and Computer Engineering,Halifax,NS,Canada,B3H 4R2"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dalhousie University,Department of Electrical and Computer Engineering,Halifax,NS,Canada,B3H 4R2","institution_ids":["https://openalex.org/I129902397"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032102869","display_name":"Anhuan Xie","orcid":"https://orcid.org/0000-0002-8348-0067"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Anhuan Xie","raw_affiliation_strings":["Research Center for Intelligent Robotics, Research Institute of Interdisciplinary Innovation,Zhejiang Lab,Hangzhou,China,310000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Center for Intelligent Robotics, Research Institute of Interdisciplinary Innovation,Zhejiang Lab,Hangzhou,China,310000","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066659875","display_name":"Zehua Men","orcid":null},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zehua Men","raw_affiliation_strings":["Research Center for Intelligent Robotics, Research Institute of Interdisciplinary Innovation,Zhejiang Lab,Hangzhou,China,310000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Center for Intelligent Robotics, Research Institute of Interdisciplinary Innovation,Zhejiang Lab,Hangzhou,China,310000","institution_ids":["https://openalex.org/I4210123185"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9993000030517578,"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/T11489","display_name":"Air Traffic Management and Optimization","score":0.9962999820709229,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.6402181386947632},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6310333609580994},{"id":"https://openalex.org/keywords/takeoff","display_name":"Takeoff","score":0.5736550688743591},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5556460022926331},{"id":"https://openalex.org/keywords/stage","display_name":"Stage (stratigraphy)","score":0.5154715180397034},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.457648903131485},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.45511960983276367},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38868170976638794},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33914244174957275},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.33547350764274597},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.30659234523773193},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1787606179714203},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.14209404587745667},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.09594124555587769}],"concepts":[{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.6402181386947632},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6310333609580994},{"id":"https://openalex.org/C2777717826","wikidata":"https://www.wikidata.org/wiki/Q854248","display_name":"Takeoff","level":2,"score":0.5736550688743591},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5556460022926331},{"id":"https://openalex.org/C146357865","wikidata":"https://www.wikidata.org/wiki/Q1123245","display_name":"Stage (stratigraphy)","level":2,"score":0.5154715180397034},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.457648903131485},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.45511960983276367},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38868170976638794},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33914244174957275},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.33547350764274597},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.30659234523773193},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1787606179714203},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.14209404587745667},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.09594124555587769},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio55434.2022.10011837","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio55434.2022.10011837","pdf_url":null,"source":{"id":"https://openalex.org/S4363607789","display_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.800000011920929,"display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G710380699","display_name":null,"funder_award_id":"62103383","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1594201073","https://openalex.org/W1991544872","https://openalex.org/W1994349244","https://openalex.org/W1997522477","https://openalex.org/W2030492481","https://openalex.org/W2102957353","https://openalex.org/W2147083891","https://openalex.org/W2463793248","https://openalex.org/W2909616347","https://openalex.org/W3001485403","https://openalex.org/W3034603778","https://openalex.org/W3103700576","https://openalex.org/W3130983322","https://openalex.org/W3171549099","https://openalex.org/W3173640017","https://openalex.org/W4225906436","https://openalex.org/W4244005937"],"related_works":["https://openalex.org/W2379975046","https://openalex.org/W2351766947","https://openalex.org/W4385984321","https://openalex.org/W2471779853","https://openalex.org/W2378910326","https://openalex.org/W2092183090","https://openalex.org/W4235325018","https://openalex.org/W2761471305","https://openalex.org/W2019104671","https://openalex.org/W1022062986"],"abstract_inverted_index":{"Electric":[0],"vertical":[1],"takeoff":[2],"and":[3,10,15,35,105,111,142],"landing":[4,44,78,114,166,183],"aircraft":[5],"(eVTOL)":[6],"has":[7],"drawn":[8],"more":[9,11],"attention":[12],"from":[13],"home":[14],"abroad":[16],"in":[17,71,156],"recent":[18],"years.":[19],"It":[20],"is":[21,45,85,171,185],"believed":[22],"autonomous":[23,41,160],"eVTOL":[24,65,122,161],"will":[25,66],"create":[26],"a":[27,94,112],"new":[28],"era":[29],"of":[30,132,144],"Urban":[31],"Air":[32,37],"Mobility":[33,38],"(UAM)":[34],"Advanced":[36],"(AAM).":[39],"To":[40],"eVTOL,":[42],"precision":[43,77],"an":[46,64,101,121],"extremely":[47],"critical":[48],"operation":[49],"for":[50,108,159],"it":[51,69],"directly":[52],"affects":[53],"flight":[54],"safety.":[55],"In":[56],"this":[57],"paper,":[58],"we":[59],"analyze":[60],"the":[61,72,109,140,145,182],"special":[62],"issues":[63],"encounter":[67],"when":[68],"lands":[70],"UAM":[73],"applications.":[74],"A":[75,130],"multi-stage":[76,113],"method":[79,89,119,153],"based":[80],"on":[81,120],"multi-marker":[82],"joint":[83],"localization":[84,106],"proposed":[86,146],"accordingly.":[87],"Our":[88],"contains":[90],"three":[91],"key":[92],"elements:":[93],"compatible":[95],"vertiport":[96,110],"with":[97],"multiple":[98],"visual":[99],"markers;":[100],"accurate,":[102],"fast":[103],"detection":[104],"algorithm":[107],"strategy.":[115],"We":[116],"implement":[117],"our":[118,152],"prototype":[123],"named":[124],"ZJ-Copter":[125],"developed":[126],"by":[127],"Zhejiang":[128],"Lab.":[129],"series":[131],"real-world":[133,157],"experiments":[134],"have":[135],"been":[136],"conducted":[137],"to":[138],"validate":[139],"effectiveness":[141],"accuracy":[143,170,184],"method.":[147],"Experiment":[148],"results":[149],"show":[150],"that":[151],"works":[154],"well":[155],"scenarios":[158],"without":[162],"GPS":[163],"signal":[164],"during":[165],"process.":[167],"The":[168],"positioning":[169],"less":[172,186],"than":[173,187],"0.1m":[174],"(altitude":[175],"<tex":[176],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[177],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">$&lt;":[178],"\\mathbf{10}\\mathbf{m}$</tex>":[179],"),":[180],"while":[181],"0.5m.":[188]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
