{"id":"https://openalex.org/W2065277437","doi":"https://doi.org/10.1109/robot.2010.5509536","title":"A general optical flow based terrain-following strategy for a VTOL UAV using multiple views","display_name":"A general optical flow based terrain-following strategy for a VTOL UAV using multiple views","publication_year":2010,"publication_date":"2010-05-01","ids":{"openalex":"https://openalex.org/W2065277437","doi":"https://doi.org/10.1109/robot.2010.5509536","mag":"2065277437"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2010.5509536","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509536","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":"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/A5042478199","display_name":"Bruno H\u00e9riss\u00e9","orcid":"https://orcid.org/0000-0002-9241-0810"},"institutions":[{"id":"https://openalex.org/I2738703131","display_name":"Commissariat \u00e0 l'\u00c9nergie Atomique et aux \u00c9nergies Alternatives","ror":"https://ror.org/00jjx8s55","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131"]},{"id":"https://openalex.org/I4210085861","display_name":"Laboratoire d'Int\u00e9gration des Syst\u00e8mes et des Technologies","ror":"https://ror.org/000dbcc61","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131","https://openalex.org/I2738703131","https://openalex.org/I277688954","https://openalex.org/I4210085861","https://openalex.org/I4210117989"]},{"id":"https://openalex.org/I4210097138","display_name":"CEA Paris-Saclay - Etablissement de Fontenay-aux-roses","ror":"https://ror.org/010j2gw05","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131","https://openalex.org/I277688954","https://openalex.org/I4210097138","https://openalex.org/I4210128565"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Bruno Herisse","raw_affiliation_strings":["CEA, List, Fontenay-Aux-Roses, France","CEA/List, Fontenay-Aux-Roses, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CEA, List, Fontenay-Aux-Roses, France","institution_ids":["https://openalex.org/I2738703131","https://openalex.org/I4210085861","https://openalex.org/I4210097138"]},{"raw_affiliation_string":"CEA/List, Fontenay-Aux-Roses, France","institution_ids":["https://openalex.org/I2738703131","https://openalex.org/I4210085861","https://openalex.org/I4210097138"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014546508","display_name":"Sophie Oustrieres","orcid":null},"institutions":[{"id":"https://openalex.org/I2738703131","display_name":"Commissariat \u00e0 l'\u00c9nergie Atomique et aux \u00c9nergies Alternatives","ror":"https://ror.org/00jjx8s55","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131"]},{"id":"https://openalex.org/I4210085861","display_name":"Laboratoire d'Int\u00e9gration des Syst\u00e8mes et des Technologies","ror":"https://ror.org/000dbcc61","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131","https://openalex.org/I2738703131","https://openalex.org/I277688954","https://openalex.org/I4210085861","https://openalex.org/I4210117989"]},{"id":"https://openalex.org/I4210097138","display_name":"CEA Paris-Saclay - Etablissement de Fontenay-aux-roses","ror":"https://ror.org/010j2gw05","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131","https://openalex.org/I277688954","https://openalex.org/I4210097138","https://openalex.org/I4210128565"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Sophie Oustrieres","raw_affiliation_strings":["CEA, List, Fontenay-Aux-Roses, France","CEA/List, Fontenay-Aux-Roses, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CEA, List, Fontenay-Aux-Roses, France","institution_ids":["https://openalex.org/I2738703131","https://openalex.org/I4210085861","https://openalex.org/I4210097138"]},{"raw_affiliation_string":"CEA/List, Fontenay-Aux-Roses, France","institution_ids":["https://openalex.org/I2738703131","https://openalex.org/I4210085861","https://openalex.org/I4210097138"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052963738","display_name":"Tarek Hamel","orcid":"https://orcid.org/0000-0002-7779-1264"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210106479","display_name":"Laboratoire d'Informatique, Signaux et Syst\u00e8mes de Sophia Antipolis","ror":"https://ror.org/01215r597","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I201841394","https://openalex.org/I4210106479","https://openalex.org/I4210159245"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Tarek Hamel","raw_affiliation_strings":["I3S, UNSA - CNRS, Sophia Antipolis, France","[I3S UNSA-CNRS, Sophia Antipolis, France]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"I3S, UNSA - CNRS, Sophia Antipolis, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I4210106479"]},{"raw_affiliation_string":"[I3S UNSA-CNRS, Sophia Antipolis, France]","institution_ids":["https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011097720","display_name":"Robert Mahony","orcid":"https://orcid.org/0000-0002-7803-2868"},"institutions":[{"id":"https://openalex.org/I118347636","display_name":"Australian National University","ror":"https://ror.org/019wvm592","country_code":"AU","type":"education","lineage":["https://openalex.org/I118347636"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Robert Mahony","raw_affiliation_strings":["Dep. of Eng., Australian Nat. Univ., Fontenay-aux-Roses, Australia","Dep. of Eng., Australian Nat. Univ., ACT, 0200, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dep. of Eng., Australian Nat. Univ., Fontenay-aux-Roses, Australia","institution_ids":[]},{"raw_affiliation_string":"Dep. of Eng., Australian Nat. Univ., ACT, 0200, Australia","institution_ids":["https://openalex.org/I118347636"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069267012","display_name":"Fran\u00e7ois-Xavier Russotto","orcid":null},"institutions":[{"id":"https://openalex.org/I2738703131","display_name":"Commissariat \u00e0 l'\u00c9nergie Atomique et aux \u00c9nergies Alternatives","ror":"https://ror.org/00jjx8s55","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131"]},{"id":"https://openalex.org/I4210085861","display_name":"Laboratoire d'Int\u00e9gration des Syst\u00e8mes et des Technologies","ror":"https://ror.org/000dbcc61","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131","https://openalex.org/I2738703131","https://openalex.org/I277688954","https://openalex.org/I4210085861","https://openalex.org/I4210117989"]},{"id":"https://openalex.org/I4210097138","display_name":"CEA Paris-Saclay - Etablissement de Fontenay-aux-roses","ror":"https://ror.org/010j2gw05","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131","https://openalex.org/I277688954","https://openalex.org/I4210097138","https://openalex.org/I4210128565"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Francois-Xavier Russotto","raw_affiliation_strings":["CEA, List, Fontenay-Aux-Roses, France","CEA/List, Fontenay-Aux-Roses, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CEA, List, Fontenay-Aux-Roses, France","institution_ids":["https://openalex.org/I2738703131","https://openalex.org/I4210085861","https://openalex.org/I4210097138"]},{"raw_affiliation_string":"CEA/List, Fontenay-Aux-Roses, France","institution_ids":["https://openalex.org/I2738703131","https://openalex.org/I4210085861","https://openalex.org/I4210097138"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.4475,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.91397473,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"3341","last_page":"3348"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":1.0,"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":1.0,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9986000061035156,"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":0.9983999729156494,"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/terrain","display_name":"Terrain","score":0.7706519365310669},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6892706751823425},{"id":"https://openalex.org/keywords/optical-flow","display_name":"Optical flow","score":0.616473913192749},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5770734548568726},{"id":"https://openalex.org/keywords/concatenation","display_name":"Concatenation (mathematics)","score":0.5712196230888367},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5284775495529175},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.524337112903595},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.48874521255493164},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.47488826513290405},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.40414637327194214},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3024287223815918},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2882586717605591},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11731407046318054},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.1127060055732727},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.10333418846130371}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7706519365310669},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6892706751823425},{"id":"https://openalex.org/C155542232","wikidata":"https://www.wikidata.org/wiki/Q736111","display_name":"Optical flow","level":3,"score":0.616473913192749},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5770734548568726},{"id":"https://openalex.org/C87619178","wikidata":"https://www.wikidata.org/wiki/Q126002","display_name":"Concatenation (mathematics)","level":2,"score":0.5712196230888367},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5284775495529175},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.524337112903595},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.48874521255493164},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.47488826513290405},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.40414637327194214},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3024287223815918},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2882586717605591},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11731407046318054},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.1127060055732727},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.10333418846130371},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/robot.2010.5509536","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509536","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"},{"id":"pmh:oai:HAL:hal-03908053v1","is_oa":false,"landing_page_url":"https://hal.science/hal-03908053","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2010 IEEE International Conference on Robotics and Automation (ICRA 2010), May 2010, Anchorage, France. pp.3341-3348, ⟨10.1109/ROBOT.2010.5509536⟩","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:openresearch-repository.anu.edu.au:1885/60864","is_oa":false,"landing_page_url":"http://hdl.handle.net/1885/60864","pdf_url":null,"source":{"id":"https://openalex.org/S4306402539","display_name":"ANU Open Research (Australian National University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I118347636","host_organization_name":"Australian National University","host_organization_lineage":["https://openalex.org/I118347636"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Proceedings of IEEE International Conference on Robotics and Automation (ICRA 2010)","raw_type":"Conference paper"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4300000071525574,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G4396329298","display_name":"Sensory Control of Unmanned Aerial Vehicles","funder_award_id":"ANR-06-ROBO-0007","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"}],"funders":[{"id":"https://openalex.org/F4320320883","display_name":"Agence Nationale de la Recherche","ror":"https://ror.org/00rbzpz17"},{"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":26,"referenced_works":["https://openalex.org/W69884570","https://openalex.org/W1655873043","https://openalex.org/W1969570716","https://openalex.org/W1983222822","https://openalex.org/W1989125340","https://openalex.org/W1996186955","https://openalex.org/W2015764815","https://openalex.org/W2041689584","https://openalex.org/W2052539226","https://openalex.org/W2069698418","https://openalex.org/W2084447079","https://openalex.org/W2089619860","https://openalex.org/W2098251717","https://openalex.org/W2102804817","https://openalex.org/W2115270410","https://openalex.org/W2118877769","https://openalex.org/W2141300598","https://openalex.org/W2148480431","https://openalex.org/W2168414614","https://openalex.org/W2321939852","https://openalex.org/W3003662786","https://openalex.org/W4213129399","https://openalex.org/W4238401120","https://openalex.org/W6602814622","https://openalex.org/W6646445070","https://openalex.org/W6677548441"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W4391249562","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W3043170174","https://openalex.org/W2155948905","https://openalex.org/W2357323510"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,13,31,36,47,53,67,113,130],"general":[4],"approach":[5,74],"for":[6],"terrain":[7,50,76],"following":[8,77],"(including":[9],"obstacle":[10],"avoidance)":[11],"of":[12,52,55,137],"vertical":[14],"take-off":[15],"and":[16,42,78,126],"landing":[17],"vehicle":[18,26,81],"(VTOL)":[19],"using":[20],"multiple":[21,98,106],"observation":[22,101],"points.":[23],"The":[24,90,116],"VTOL":[25],"is":[27,63],"assumed":[28],"to":[29,66,133],"be":[30],"rigid":[32],"body,":[33],"equipped":[34],"with":[35,85],"minimum":[37],"sensor":[38],"suite":[39],"(camera,":[40],"IMU":[41],"barometric":[43],"altimeter),":[44],"manoeuvering":[45],"over":[46],"textured":[48],"rough":[49],"made":[51],"concatenation":[54],"planar":[56],"surfaces.":[57],"Assuming":[58],"that":[59],"the":[60,71,80,88,135,138],"forward":[61],"velocity":[62],"separately":[64],"regulated":[65],"desired":[68],"non-zero":[69],"value,":[70],"proposed":[72,91,117],"control":[73,92,118],"ensures":[75],"guarantees":[79],"does":[82],"not":[83],"collide":[84],"obstacles":[86],"during":[87],"task.":[89],"acquires":[93],"an":[94],"optical":[95],"flow":[96],"from":[97],"spatially":[99],"separate":[100],"points,":[102],"typically":[103],"obtained":[104],"via":[105],"cameras":[107],"or":[108],"non":[109],"collinear":[110],"directions":[111],"in":[112,124],"unique":[114],"camera.":[115],"algorithm":[119],"has":[120],"been":[121],"tested":[122],"extensively":[123],"simulation":[125],"then":[127],"implemented":[128],"on":[129],"quadrotor":[131],"UAV":[132],"demonstrate":[134],"performance":[136],"closed":[139],"loop":[140],"system.":[141]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2012,"cited_by_count":4}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}