{"id":"https://openalex.org/W2112627853","doi":"https://doi.org/10.1109/robot.2006.1642131","title":"Vision-based altitude and pitch estimation for ultra-light indoor microflyers","display_name":"Vision-based altitude and pitch estimation for ultra-light indoor microflyers","publication_year":2006,"publication_date":"2006-01-01","ids":{"openalex":"https://openalex.org/W2112627853","doi":"https://doi.org/10.1109/robot.2006.1642131","mag":"2112627853"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2006.1642131","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2006.1642131","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://infoscience.epfl.ch/bitstreams/82148a8c-1efb-4b0e-8e4b-8a6512609e32/download","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5072366616","display_name":"Antoine Beyeler","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"A. Beyeler","raw_affiliation_strings":["Laboratory of Intelligent Syst., Ecole Polytech. Fed. de Lausanne"],"affiliations":[{"raw_affiliation_string":"Laboratory of Intelligent Syst., Ecole Polytech. Fed. de Lausanne","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017730937","display_name":"Claudio Mattiussi","orcid":"https://orcid.org/0000-0003-3613-6527"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"C. Mattiussi","raw_affiliation_strings":["Laboratory of Intelligent Syst., Ecole Polytech. Fed. de Lausanne"],"affiliations":[{"raw_affiliation_string":"Laboratory of Intelligent Syst., Ecole Polytech. Fed. de Lausanne","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110230721","display_name":"Jean\u2010Christophe Zufferey","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"J.-C. Zufferey","raw_affiliation_strings":["Laboratory of Intelligent Syst., Ecole Polytech. Fed. de Lausanne"],"affiliations":[{"raw_affiliation_string":"Laboratory of Intelligent Syst., Ecole Polytech. Fed. de Lausanne","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059369445","display_name":"Dario Floreano","orcid":"https://orcid.org/0000-0002-5330-4863"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"D. Floreano","raw_affiliation_strings":["Laboratory of Intelligent Syst., Ecole Polytech. Fed. de Lausanne"],"affiliations":[{"raw_affiliation_string":"Laboratory of Intelligent Syst., Ecole Polytech. Fed. de Lausanne","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5072366616"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.5572,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.83914202,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"2836","last_page":"2841"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9957000017166138,"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/T10851","display_name":"Optical Wireless Communication Technologies","score":0.9948999881744385,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/airspeed","display_name":"Airspeed","score":0.7347655296325684},{"id":"https://openalex.org/keywords/altitude","display_name":"Altitude (triangle)","score":0.7188081741333008},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6474319696426392},{"id":"https://openalex.org/keywords/gyroscope","display_name":"Gyroscope","score":0.5029346346855164},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49657827615737915},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.45382604002952576},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41853398084640503},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15113529562950134},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.14752700924873352},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11891922354698181}],"concepts":[{"id":"https://openalex.org/C26572238","wikidata":"https://www.wikidata.org/wiki/Q1197176","display_name":"Airspeed","level":2,"score":0.7347655296325684},{"id":"https://openalex.org/C6350597","wikidata":"https://www.wikidata.org/wiki/Q339495","display_name":"Altitude (triangle)","level":2,"score":0.7188081741333008},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6474319696426392},{"id":"https://openalex.org/C158488048","wikidata":"https://www.wikidata.org/wiki/Q483400","display_name":"Gyroscope","level":2,"score":0.5029346346855164},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49657827615737915},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.45382604002952576},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41853398084640503},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15113529562950134},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.14752700924873352},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11891922354698181},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.2006.1642131","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2006.1642131","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","raw_type":"proceedings-article"},{"id":"pmh:oai:infoscience.tind.io:63998","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/handle/20.500.14299/221645","pdf_url":"https://infoscience.epfl.ch/bitstreams/82148a8c-1efb-4b0e-8e4b-8a6512609e32/download","source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"conference proceedings"}],"best_oa_location":{"id":"pmh:oai:infoscience.tind.io:63998","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/handle/20.500.14299/221645","pdf_url":"https://infoscience.epfl.ch/bitstreams/82148a8c-1efb-4b0e-8e4b-8a6512609e32/download","source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"conference proceedings"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2112627853.pdf"},"referenced_works_count":26,"referenced_works":["https://openalex.org/W89519189","https://openalex.org/W770938780","https://openalex.org/W855861647","https://openalex.org/W1964390979","https://openalex.org/W1965703087","https://openalex.org/W1987687683","https://openalex.org/W1996186955","https://openalex.org/W2013256164","https://openalex.org/W2014824949","https://openalex.org/W2015764815","https://openalex.org/W2028245145","https://openalex.org/W2102160787","https://openalex.org/W2111575097","https://openalex.org/W2115270410","https://openalex.org/W2115992609","https://openalex.org/W2140638079","https://openalex.org/W2147638111","https://openalex.org/W2620432028","https://openalex.org/W2951788303","https://openalex.org/W3003662786","https://openalex.org/W3207033968","https://openalex.org/W4230193305","https://openalex.org/W4255672285","https://openalex.org/W6603708988","https://openalex.org/W6622409865","https://openalex.org/W6623668504"],"related_works":["https://openalex.org/W2168742579","https://openalex.org/W3111672294","https://openalex.org/W3171648615","https://openalex.org/W4236636304","https://openalex.org/W2061090284","https://openalex.org/W2125579716","https://openalex.org/W2684384989","https://openalex.org/W2769948943","https://openalex.org/W3006561710","https://openalex.org/W2138795192"],"abstract_inverted_index":{"Autonomous":[0],"control":[1,34,115],"of":[2,14,21,35,51,73,97,116],"ultra-light":[3],"indoor":[4,117],"microflyers":[5],"is":[6,107],"a":[7,29,36,49,98,109],"difficult":[8],"and":[9,54,94],"largely":[10],"unsolved":[11],"task":[12],"because":[13],"the":[15,19,81,87],"strong":[16],"limitations":[17],"on":[18,69],"kind":[20],"sensors":[22,56],"that":[23,57,92],"can":[24,101],"be":[25,102],"embedded.":[26],"We":[27,90],"propose":[28],"new":[30],"approach":[31,65],"for":[32],"altitude":[33,40,93,114],"10-gram":[37],"microflyer,":[38],"where":[39],"as":[41,43,79,84],"well":[42],"pitch":[44,95],"angle":[45,96],"are":[46],"estimated":[47],"using":[48],"set":[50],"visual,":[52],"airspeed":[53],"gyroscopic":[55],"weight":[58],"about":[59],"1":[60],"(g)":[61],"in":[62],"total.":[63],"This":[64,105],"does":[66],"not":[67],"rely":[68],"an":[70],"explicit":[71],"estimation":[72],"optic":[74],"flow,":[75],"but":[76],"rather":[77],"takes":[78],"input":[80],"raw":[82],"images":[83],"provided":[85],"by":[86],"vision":[88],"sensor.":[89],"show":[91],"simulated":[99],"agent":[100],"successfully":[103],"estimated.":[104],"result":[106],"thus":[108],"first":[110],"step":[111],"toward":[112],"autonomous":[113],"flying":[118],"robots":[119]},"counts_by_year":[{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
