{"id":"https://openalex.org/W3121313009","doi":"https://doi.org/10.1109/ssrr50563.2020.9292616","title":"Towards UAV-Based Absolute Hierarchical Localization in Confined Spaces","display_name":"Towards UAV-Based Absolute Hierarchical Localization in Confined Spaces","publication_year":2020,"publication_date":"2020-11-04","ids":{"openalex":"https://openalex.org/W3121313009","doi":"https://doi.org/10.1109/ssrr50563.2020.9292616","mag":"3121313009"},"language":"en","primary_location":{"id":"doi:10.1109/ssrr50563.2020.9292616","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr50563.2020.9292616","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","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/A5011457132","display_name":"Rune Y. Brogaard","orcid":"https://orcid.org/0000-0001-5533-2756"},"institutions":[{"id":"https://openalex.org/I4210087957","display_name":"FORCE Technology (Denmark)","ror":"https://ror.org/006rhxn50","country_code":"DK","type":"company","lineage":["https://openalex.org/I4210087957"]}],"countries":["DK"],"is_corresponding":true,"raw_author_name":"Rune Y. Brogaard","raw_affiliation_strings":["FORCE Technology, Br\u2298ndby, Denmark"],"affiliations":[{"raw_affiliation_string":"FORCE Technology, Br\u2298ndby, Denmark","institution_ids":["https://openalex.org/I4210087957"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081166623","display_name":"Marcin Zaj\u0105czkowski","orcid":null},"institutions":[{"id":"https://openalex.org/I96673099","display_name":"Technical University of Denmark","ror":"https://ror.org/04qtj9h94","country_code":"DK","type":"education","lineage":["https://openalex.org/I96673099"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Marcin Zajaczkowski","raw_affiliation_strings":["Section of Automation and Control, Department of Electrical Engineering, Technical University of Denmark, Kongens Lyngby, Denmark"],"affiliations":[{"raw_affiliation_string":"Section of Automation and Control, Department of Electrical Engineering, Technical University of Denmark, Kongens Lyngby, Denmark","institution_ids":["https://openalex.org/I96673099"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071571628","display_name":"Luka Kova\u010d","orcid":null},"institutions":[{"id":"https://openalex.org/I96673099","display_name":"Technical University of Denmark","ror":"https://ror.org/04qtj9h94","country_code":"DK","type":"education","lineage":["https://openalex.org/I96673099"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Luka Kovac","raw_affiliation_strings":["Section of Automation and Control, Department of Electrical Engineering, Technical University of Denmark, Kongens Lyngby, Denmark"],"affiliations":[{"raw_affiliation_string":"Section of Automation and Control, Department of Electrical Engineering, Technical University of Denmark, Kongens Lyngby, Denmark","institution_ids":["https://openalex.org/I96673099"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108337101","display_name":"Ole Ravn","orcid":"https://orcid.org/0000-0003-2265-0031"},"institutions":[{"id":"https://openalex.org/I96673099","display_name":"Technical University of Denmark","ror":"https://ror.org/04qtj9h94","country_code":"DK","type":"education","lineage":["https://openalex.org/I96673099"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Ole Ravn","raw_affiliation_strings":["Section of Automation and Control, Department of Electrical Engineering, Technical University of Denmark, Kongens Lyngby, Denmark"],"affiliations":[{"raw_affiliation_string":"Section of Automation and Control, Department of Electrical Engineering, Technical University of Denmark, Kongens Lyngby, Denmark","institution_ids":["https://openalex.org/I96673099"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5072394579","display_name":"Evangelos Boukas","orcid":"https://orcid.org/0000-0002-9919-5746"},"institutions":[{"id":"https://openalex.org/I96673099","display_name":"Technical University of Denmark","ror":"https://ror.org/04qtj9h94","country_code":"DK","type":"education","lineage":["https://openalex.org/I96673099"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Evangelos Boukas","raw_affiliation_strings":["Section of Automation and Control, Department of Electrical Engineering, Technical University of Denmark, Kongens Lyngby, Denmark"],"affiliations":[{"raw_affiliation_string":"Section of Automation and Control, Department of Electrical Engineering, Technical University of Denmark, Kongens Lyngby, Denmark","institution_ids":["https://openalex.org/I96673099"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5011457132"],"corresponding_institution_ids":["https://openalex.org/I4210087957"],"apc_list":null,"apc_paid":null,"fwci":22.7785,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.98915392,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"182","last_page":"188"},"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9968000054359436,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9951000213623047,"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/landmark","display_name":"Landmark","score":0.8036800622940063},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7067372798919678},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.676687479019165},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.6402429342269897},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6390961408615112},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.5180273652076721},{"id":"https://openalex.org/keywords/ballast","display_name":"Ballast","score":0.4905802309513092},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.45881491899490356},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1974140703678131}],"concepts":[{"id":"https://openalex.org/C2780297707","wikidata":"https://www.wikidata.org/wiki/Q4895393","display_name":"Landmark","level":2,"score":0.8036800622940063},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7067372798919678},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.676687479019165},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.6402429342269897},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6390961408615112},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5180273652076721},{"id":"https://openalex.org/C125907379","wikidata":"https://www.wikidata.org/wiki/Q4851537","display_name":"Ballast","level":2,"score":0.4905802309513092},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.45881491899490356},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1974140703678131},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ssrr50563.2020.9292616","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr50563.2020.9292616","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","raw_type":"proceedings-article"},{"id":"pmh:oai:pure.atira.dk:publications/a4633352-5f51-4f7f-ba3b-e3003970bc06","is_oa":false,"landing_page_url":"https://orbit.dtu.dk/en/publications/a4633352-5f51-4f7f-ba3b-e3003970bc06","pdf_url":null,"source":{"id":"https://openalex.org/S4306400705","display_name":"Technical University of Denmark, DTU Orbit (Technical University of Denmark, DTU)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I96673099","host_organization_name":"Technical University of Denmark","host_organization_lineage":["https://openalex.org/I96673099"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Brogaard , R Y , Zajaczkowski , M , Kovac , L , Ravn , O & Boukas , E 2020 , Towards UAV-Based Absolute Hierarchical Localization in Confined Spaces* . in Proceedings of 2020 IEEE International Symposium on Safety, Security, and Rescue Robotics . IEEE , pp. 182-188 , 2020 IEEE International Symposium on Safety, Security, and Rescue Robotics , Abu Dhabi , United Arab Emirates , 04/11/2020 . https://doi.org/10.1109/SSRR50563.2020.9292616","raw_type":"contributionToPeriodical"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","score":0.75,"id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1578294898","https://openalex.org/W2017696512","https://openalex.org/W2023620751","https://openalex.org/W2129906973","https://openalex.org/W2171792626","https://openalex.org/W2257418956","https://openalex.org/W2471147280","https://openalex.org/W2475183197","https://openalex.org/W2535547924","https://openalex.org/W2745859992","https://openalex.org/W2770176163","https://openalex.org/W2780958801","https://openalex.org/W2908865136","https://openalex.org/W3013149280","https://openalex.org/W3102327032","https://openalex.org/W3105489439","https://openalex.org/W3116218883","https://openalex.org/W3130129454","https://openalex.org/W4249592091","https://openalex.org/W6679448812","https://openalex.org/W6775383959","https://openalex.org/W6787909554"],"related_works":["https://openalex.org/W615703558","https://openalex.org/W4401899792","https://openalex.org/W1568915530","https://openalex.org/W2509236690","https://openalex.org/W324132158","https://openalex.org/W1038063934","https://openalex.org/W615792946","https://openalex.org/W2003519569","https://openalex.org/W2463838762","https://openalex.org/W2382856674"],"abstract_inverted_index":{"To":[0],"perform":[1],"safe,":[2],"autonomous,":[3],"visual":[4,23],"inspections":[5,24],"of":[6,13,36,46,73,79,103,119,130,181],"maritime":[7],"vessels,":[8],"accurate":[9],"and":[10,17,31,77,87,136],"lightweight":[11],"localization":[12,59,89,138,174,180],"UAVs":[14],"in":[15,57],"dark":[16],"confined":[18],"areas":[19],"is":[20,91,97,124,139,145],"required.":[21],"Such":[22],"are":[25],"performed":[26],"by":[27,39],"expert":[28],"surveyors,":[29],"periodically,":[30],"aim":[32],"at":[33,51],"the":[34,37,44,47,64,104,116,120,153,156,172,179,186],"classification":[35],"vessel":[38,168,187],"identifying":[40],"defect":[41],"locations":[42],"within":[43,126],"frames":[45],"ship.":[48,121],"The":[49,122],"paper":[50],"hand":[52],"presents":[53],"our":[54],"initial":[55,159],"efforts":[56],"absolute":[58,86],"as":[60,176,178],"a":[61,68,71,127,131,142],"solution":[62],"to":[63,141,185],"aforementioned":[65],"problems":[66],"using":[67,163],"UAV.":[69],"Employing":[70],"combination":[72],"Visual":[74],"Inertial":[75],"Odmetry":[76],"detection":[78],"existing":[80],"known":[81],"structural":[82,117],"3D":[83],"landmarks,":[84,165],"an":[85],"hierarchical":[88],"system":[90,123],"created.":[92],"With":[93],"this":[94],"approach":[95],"there":[96],"no":[98],"need":[99],"for":[100],"detailed":[101],"maps":[102],"environment,":[105],"but":[106],"only":[107],"high":[108],"level":[109],"information":[110],"-i.e.":[111],"few":[112],"landmark":[113],"points-":[114],"from":[115,167],"drawings":[118],"tested":[125],"mock-up":[128],"model":[129],"topside":[132],"water":[133],"ballast":[134],"tank":[135],"its":[137],"compared":[140],"groundtruth,":[143],"which":[144],"estimated":[146],"based":[147],"on":[148,152],"ArUco":[149],"markers":[150],"mounted":[151],"walls":[154],"inside":[155],"model.":[157],"Our":[158],"results":[160],"indicate":[161],"that":[162],"geometric":[164],"extracted":[166],"designs,":[169],"greatly":[170],"benefit":[171],"UAV":[173],"accuracy":[175],"well":[177],"defects":[182],"with":[183],"regards":[184],"body":[188],"frame.":[189]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}