{"id":"https://openalex.org/W2120109662","doi":"https://doi.org/10.1109/robot.2009.5152678","title":"Airborne smoothing and mapping using vision and inertial sensors","display_name":"Airborne smoothing and mapping using vision and inertial sensors","publication_year":2009,"publication_date":"2009-05-01","ids":{"openalex":"https://openalex.org/W2120109662","doi":"https://doi.org/10.1109/robot.2009.5152678","mag":"2120109662"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2009.5152678","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152678","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","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/A5050331911","display_name":"Mitch Bryson","orcid":"https://orcid.org/0000-0001-8784-6970"},"institutions":[{"id":"https://openalex.org/I129604602","display_name":"The University of Sydney","ror":"https://ror.org/0384j8v12","country_code":"AU","type":"education","lineage":["https://openalex.org/I129604602"]},{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"M. Bryson","raw_affiliation_strings":["Australian Centre for Field Robotics, University of Sydney, NSW, Australia","Australian Centre for Field Robotics, University of Sydney, NSW, 2006, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Australian Centre for Field Robotics, University of Sydney, NSW, Australia","institution_ids":["https://openalex.org/I129604602","https://openalex.org/I4210127558"]},{"raw_affiliation_string":"Australian Centre for Field Robotics, University of Sydney, NSW, 2006, Australia","institution_ids":["https://openalex.org/I129604602","https://openalex.org/I4210127558"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089990642","display_name":"Matthew Johnson\u2010Roberson","orcid":"https://orcid.org/0000-0002-0506-907X"},"institutions":[{"id":"https://openalex.org/I129604602","display_name":"The University of Sydney","ror":"https://ror.org/0384j8v12","country_code":"AU","type":"education","lineage":["https://openalex.org/I129604602"]},{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"M. Johnson-Roberson","raw_affiliation_strings":["Australian Centre for Field Robotics, University of Sydney, NSW, Australia","Australian Centre for Field Robotics, University of Sydney, NSW, 2006, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Australian Centre for Field Robotics, University of Sydney, NSW, Australia","institution_ids":["https://openalex.org/I129604602","https://openalex.org/I4210127558"]},{"raw_affiliation_string":"Australian Centre for Field Robotics, University of Sydney, NSW, 2006, Australia","institution_ids":["https://openalex.org/I129604602","https://openalex.org/I4210127558"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004268965","display_name":"Salah Sukkarieh","orcid":"https://orcid.org/0000-0003-1173-9268"},"institutions":[{"id":"https://openalex.org/I129604602","display_name":"The University of Sydney","ror":"https://ror.org/0384j8v12","country_code":"AU","type":"education","lineage":["https://openalex.org/I129604602"]},{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"S. Sukkarieh","raw_affiliation_strings":["Australian Centre for Field Robotics, University of Sydney, NSW, Australia","Australian Centre for Field Robotics, University of Sydney, NSW, 2006, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Australian Centre for Field Robotics, University of Sydney, NSW, Australia","institution_ids":["https://openalex.org/I129604602","https://openalex.org/I4210127558"]},{"raw_affiliation_string":"Australian Centre for Field Robotics, University of Sydney, NSW, 2006, Australia","institution_ids":["https://openalex.org/I129604602","https://openalex.org/I4210127558"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":63,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental 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":0.9997000098228455,"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/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.8418275713920593},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7300931215286255},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6779333353042603},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6723289489746094},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6346167325973511},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.6003551483154297},{"id":"https://openalex.org/keywords/smoothing","display_name":"Smoothing","score":0.5926750898361206},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5205180048942566},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5077520608901978},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.36264467239379883},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2943878769874573},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.24720749258995056},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1568886637687683},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.077108234167099}],"concepts":[{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.8418275713920593},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7300931215286255},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6779333353042603},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6723289489746094},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6346167325973511},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.6003551483154297},{"id":"https://openalex.org/C3770464","wikidata":"https://www.wikidata.org/wiki/Q775963","display_name":"Smoothing","level":2,"score":0.5926750898361206},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5205180048942566},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5077520608901978},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.36264467239379883},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2943878769874573},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.24720749258995056},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1568886637687683},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.077108234167099},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2009.5152678","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152678","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6499999761581421,"display_name":"Life in Land","id":"https://metadata.un.org/sdg/15"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320331430","display_name":"New South Wales Government","ror":"https://ror.org/0067dvq63"},{"id":"https://openalex.org/F4320334704","display_name":"Australian Research Council","ror":"https://ror.org/05mmh0f86"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W21877","https://openalex.org/W160501011","https://openalex.org/W1528329704","https://openalex.org/W1564768010","https://openalex.org/W1959789494","https://openalex.org/W1964117447","https://openalex.org/W2009422376","https://openalex.org/W2014730252","https://openalex.org/W2080629029","https://openalex.org/W2087745723","https://openalex.org/W2104643901","https://openalex.org/W2111308925","https://openalex.org/W2115797648","https://openalex.org/W2118877769","https://openalex.org/W2124313187","https://openalex.org/W2124535811","https://openalex.org/W2145312377","https://openalex.org/W2151103935","https://openalex.org/W2159702598","https://openalex.org/W2160537734","https://openalex.org/W2178020546","https://openalex.org/W2229412420","https://openalex.org/W4229666556","https://openalex.org/W4293775970","https://openalex.org/W6606710746","https://openalex.org/W6631751136","https://openalex.org/W6640809670","https://openalex.org/W6677548441"],"related_works":["https://openalex.org/W2091018038","https://openalex.org/W1978572805","https://openalex.org/W1992962589","https://openalex.org/W2383807498","https://openalex.org/W1997992934","https://openalex.org/W3032871857","https://openalex.org/W2225378543","https://openalex.org/W1987225439","https://openalex.org/W2991246638","https://openalex.org/W3161266721"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,26,48,62,81,97],"framework":[4],"for":[5,32,96],"integrating":[6],"sensor":[7,45],"information":[8,46],"from":[9,84],"an":[10],"inertial":[11],"measuring":[12],"unit":[13],"(IMU),":[14],"Global":[15],"Positioning":[16],"System":[17],"(GPS)":[18],"receiver":[19],"and":[20,108],"monocular":[21],"vision":[22],"camera":[23],"mounted":[24],"to":[25,40,56,61],"low-flying":[27],"unmanned":[28],"aerial":[29],"vehicle":[30,58],"(UAV)":[31],"building":[33,80],"large-scale":[34],"terrain":[35,74,91],"reconstructions.":[36],"Our":[37],"method":[38],"seeks":[39],"integrate":[41],"all":[42],"of":[43,67,72,99],"the":[44,68,73,85],"using":[47],"statistically":[49],"optimal":[50],"non-linear":[51],"least":[52],"squares":[53],"smoothing":[54],"algorithm":[55],"estimate":[57],"poses":[59],"simultaneously":[60],"dense":[63],"point":[64,87],"feature":[65],"map":[66],"terrain.":[69],"A":[70],"visualisation":[71],"structure":[75],"is":[76],"then":[77],"created":[78],"by":[79],"textured":[82],"mesh-surface":[83],"estimated":[86],"features.":[88],"The":[89],"resulting":[90],"reconstruction":[92],"can":[93],"be":[94],"used":[95],"range":[98],"environmental":[100],"monitoring":[101],"missions":[102],"such":[103],"as":[104],"invasive":[105],"plant":[106],"detection":[107],"biomass":[109],"mapping.":[110]},"counts_by_year":[{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":8},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":7},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":7},{"year":2012,"cited_by_count":5}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}