{"id":"https://openalex.org/W2127501266","doi":"https://doi.org/10.1109/robot.2010.5509203","title":"Vision-based pose estimation for autonomous indoor navigation of micro-scale Unmanned Aircraft Systems","display_name":"Vision-based pose estimation for autonomous indoor navigation of micro-scale Unmanned Aircraft Systems","publication_year":2010,"publication_date":"2010-05-01","ids":{"openalex":"https://openalex.org/W2127501266","doi":"https://doi.org/10.1109/robot.2010.5509203","mag":"2127501266"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2010.5509203","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509203","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"article","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/A5054917035","display_name":"Piotr Rudol","orcid":"https://orcid.org/0000-0003-3392-6742"},"institutions":[{"id":"https://openalex.org/I102134673","display_name":"Link\u00f6ping University","ror":"https://ror.org/05ynxx418","country_code":"SE","type":"education","lineage":["https://openalex.org/I102134673"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Piotr Rudol","raw_affiliation_strings":["Department of Computer and Information Science, Link\u00f6ping University, Linkoping, Sweden","Dept. of Computer and Information Science, Link\u00f6ping University, SE-58183, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer and Information Science, Link\u00f6ping University, Linkoping, Sweden","institution_ids":["https://openalex.org/I102134673"]},{"raw_affiliation_string":"Dept. of Computer and Information Science, Link\u00f6ping University, SE-58183, Sweden","institution_ids":["https://openalex.org/I102134673"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017973088","display_name":"Mariusz Wzorek","orcid":"https://orcid.org/0000-0003-2147-2114"},"institutions":[{"id":"https://openalex.org/I102134673","display_name":"Link\u00f6ping University","ror":"https://ror.org/05ynxx418","country_code":"SE","type":"education","lineage":["https://openalex.org/I102134673"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Mariusz Wzorek","raw_affiliation_strings":["Department of Computer and Information Science, Link\u00f6ping University, Linkoping, Sweden","Dept. of Computer and Information Science, Link\u00f6ping University, SE-58183, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer and Information Science, Link\u00f6ping University, Linkoping, Sweden","institution_ids":["https://openalex.org/I102134673"]},{"raw_affiliation_string":"Dept. of Computer and Information Science, Link\u00f6ping University, SE-58183, Sweden","institution_ids":["https://openalex.org/I102134673"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043644928","display_name":"Patrick Doherty","orcid":"https://orcid.org/0000-0003-2308-7412"},"institutions":[{"id":"https://openalex.org/I102134673","display_name":"Link\u00f6ping University","ror":"https://ror.org/05ynxx418","country_code":"SE","type":"education","lineage":["https://openalex.org/I102134673"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Patrick Doherty","raw_affiliation_strings":["Department of Computer and Information Science, Link\u00f6ping University, Linkoping, Sweden","Dept. of Computer and Information Science, Link\u00f6ping University, SE-58183, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer and Information Science, Link\u00f6ping University, Linkoping, Sweden","institution_ids":["https://openalex.org/I102134673"]},{"raw_affiliation_string":"Dept. of Computer and Information Science, Link\u00f6ping University, SE-58183, Sweden","institution_ids":["https://openalex.org/I102134673"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":129.1135,"has_fulltext":false,"cited_by_count":34,"citation_normalized_percentile":{"value":0.99865347,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1913","last_page":"1920"},"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":0.9995999932289124,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9937999844551086,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.6976640224456787},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6709136962890625},{"id":"https://openalex.org/keywords/monocular-vision","display_name":"Monocular vision","score":0.5772989392280579},{"id":"https://openalex.org/keywords/profiling","display_name":"Profiling (computer programming)","score":0.5719975233078003},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5652642846107483},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.5325626134872437},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5211901068687439},{"id":"https://openalex.org/keywords/navigation-system","display_name":"Navigation system","score":0.5076364278793335},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.46528521180152893},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.39021825790405273}],"concepts":[{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.6976640224456787},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6709136962890625},{"id":"https://openalex.org/C158829959","wikidata":"https://www.wikidata.org/wiki/Q1640606","display_name":"Monocular vision","level":2,"score":0.5772989392280579},{"id":"https://openalex.org/C187191949","wikidata":"https://www.wikidata.org/wiki/Q1138496","display_name":"Profiling (computer programming)","level":2,"score":0.5719975233078003},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5652642846107483},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.5325626134872437},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5211901068687439},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.5076364278793335},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.46528521180152893},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.39021825790405273},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2010.5509203","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509203","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Automation","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":18,"referenced_works":["https://openalex.org/W28678555","https://openalex.org/W1656165940","https://openalex.org/W1994143699","https://openalex.org/W2009151941","https://openalex.org/W2078304098","https://openalex.org/W2099107932","https://openalex.org/W2102303010","https://openalex.org/W2118668708","https://openalex.org/W2137670671","https://openalex.org/W2138158112","https://openalex.org/W2161723234","https://openalex.org/W2164114436","https://openalex.org/W2237193969","https://openalex.org/W2329434359","https://openalex.org/W2729161127","https://openalex.org/W3021409525","https://openalex.org/W6601185777","https://openalex.org/W6776667571"],"related_works":["https://openalex.org/W3213997683","https://openalex.org/W2995270189","https://openalex.org/W4307623796","https://openalex.org/W2084124712","https://openalex.org/W4381188157","https://openalex.org/W2435467664","https://openalex.org/W2011626633","https://openalex.org/W2037866696","https://openalex.org/W4251947321","https://openalex.org/W2027891072"],"abstract_inverted_index":{"We":[0,56],"present":[1],"a":[2,19,51,58,71,121],"navigation":[3,119],"system":[4,63,85,105],"for":[5,21,42,75,113],"autonomous":[6,44,98],"indoor":[7,126],"flight":[8,45,99],"of":[9,31,61,96,108,120],"micro-scale":[10,91,122],"Unmanned":[11],"Aircraft":[12],"Systems":[13],"(UAS)":[14],"which":[15],"is":[16,86,106],"based":[17],"on":[18,53],"method":[20,28],"accurate":[22],"monocular":[23],"vision":[24],"pose":[25,77],"estimation.":[26],"The":[27],"makes":[29],"use":[30],"low":[32],"cost":[33],"artificial":[34],"landmarks":[35],"placed":[36],"in":[37,124],"the":[38,76,84,109],"environment":[39],"and":[40,70,93,117],"allows":[41],"fully":[43],"with":[46,66,88],"all":[47,62],"computation":[48],"done":[49],"on-board":[50],"UAS":[52,92,123],"COTS":[54],"hardware.":[55],"provide":[57,94],"detailed":[59],"description":[60],"components":[64],"along":[65],"an":[67,89,125],"accuracy":[68],"evaluation":[69],"time":[72],"profiling":[73],"result":[74],"estimation":[78],"method.":[79],"Additionally,":[80],"we":[81],"show":[82],"how":[83],"integrated":[87],"existing":[90],"results":[95],"experimental":[97],"tests.":[100],"To":[101],"our":[102],"knowledge,":[103],"this":[104],"one":[107],"first":[110],"to":[111,131],"allow":[112],"complete":[114],"closed-loop":[115],"control":[116],"goal-driven":[118],"setting":[127],"without":[128],"requiring":[129],"connection":[130],"any":[132],"external":[133],"entities.":[134]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":7}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
