{"id":"https://openalex.org/W4285210876","doi":"https://doi.org/10.1109/taes.2022.3184660","title":"Real-Time Crater-Based Monocular 3-D Pose Tracking for Planetary Landing and Navigation","display_name":"Real-Time Crater-Based Monocular 3-D Pose Tracking for Planetary Landing and Navigation","publication_year":2022,"publication_date":"2022-06-20","ids":{"openalex":"https://openalex.org/W4285210876","doi":"https://doi.org/10.1109/taes.2022.3184660"},"language":"en","primary_location":{"id":"doi:10.1109/taes.2022.3184660","is_oa":false,"landing_page_url":"https://doi.org/10.1109/taes.2022.3184660","pdf_url":null,"source":{"id":"https://openalex.org/S193624734","display_name":"IEEE Transactions on Aerospace and Electronic Systems","issn_l":"0018-9251","issn":["0018-9251","1557-9603","2371-9877"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Aerospace and Electronic Systems","raw_type":"journal-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/A5100353323","display_name":"Chang Liu","orcid":"https://orcid.org/0000-0002-9747-2869"},"institutions":[{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Chang Liu","raw_affiliation_strings":["Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I4210145761"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015512373","display_name":"Wulong Guo","orcid":"https://orcid.org/0000-0002-9315-1750"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wulong Guo","raw_affiliation_strings":["School of Astronautics, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Astronautics, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049751621","display_name":"Weiduo Hu","orcid":"https://orcid.org/0000-0003-0090-3675"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weiduo Hu","raw_affiliation_strings":["School of Astronautics, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Astronautics, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033090910","display_name":"Rongliang Chen","orcid":"https://orcid.org/0000-0002-5253-0412"},"institutions":[{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rongliang Chen","raw_affiliation_strings":["Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","Shenzhen Key Laboratory for Exascale Engineering and Scientific Computing, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I4210145761"]},{"raw_affiliation_string":"Shenzhen Key Laboratory for Exascale Engineering and Scientific Computing, Shenzhen, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100409747","display_name":"Jia Liu","orcid":"https://orcid.org/0000-0003-0672-3202"},"institutions":[{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jia Liu","raw_affiliation_strings":["Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","Shenzhen Key Laboratory for Exascale Engineering and Scientific Computing, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I4210145761"]},{"raw_affiliation_string":"Shenzhen Key Laboratory for Exascale Engineering and Scientific Computing, Shenzhen, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100353323"],"corresponding_institution_ids":["https://openalex.org/I4210145761"],"apc_list":null,"apc_paid":null,"fwci":3.0788,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.90834513,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"59","issue":"1","first_page":"311","last_page":"335"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.998199999332428,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.9896000027656555,"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/computer-vision","display_name":"Computer vision","score":0.713710367679596},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6647862195968628},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5767184495925903},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5646740794181824},{"id":"https://openalex.org/keywords/reprojection-error","display_name":"Reprojection error","score":0.5373861193656921},{"id":"https://openalex.org/keywords/impact-crater","display_name":"Impact crater","score":0.5213274359703064},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.4834947884082794},{"id":"https://openalex.org/keywords/covariance","display_name":"Covariance","score":0.46952691674232483},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22736039757728577},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.1449563205242157}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.713710367679596},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6647862195968628},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5767184495925903},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5646740794181824},{"id":"https://openalex.org/C23903533","wikidata":"https://www.wikidata.org/wiki/Q17122739","display_name":"Reprojection error","level":3,"score":0.5373861193656921},{"id":"https://openalex.org/C179537507","wikidata":"https://www.wikidata.org/wiki/Q55818","display_name":"Impact crater","level":2,"score":0.5213274359703064},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.4834947884082794},{"id":"https://openalex.org/C178650346","wikidata":"https://www.wikidata.org/wiki/Q201984","display_name":"Covariance","level":2,"score":0.46952691674232483},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22736039757728577},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.1449563205242157},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/taes.2022.3184660","is_oa":false,"landing_page_url":"https://doi.org/10.1109/taes.2022.3184660","pdf_url":null,"source":{"id":"https://openalex.org/S193624734","display_name":"IEEE Transactions on Aerospace and Electronic Systems","issn_l":"0018-9251","issn":["0018-9251","1557-9603","2371-9877"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Aerospace and Electronic Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1733395893","display_name":null,"funder_award_id":"61703017","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2922586944","display_name":null,"funder_award_id":"2021A1515011678","funder_id":"https://openalex.org/F4320321921","funder_display_name":"Natural Science Foundation of Guangdong Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321921","display_name":"Natural Science Foundation of Guangdong Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":68,"referenced_works":["https://openalex.org/W46356605","https://openalex.org/W106246290","https://openalex.org/W140565527","https://openalex.org/W1581087960","https://openalex.org/W1598416351","https://openalex.org/W1604136698","https://openalex.org/W1944715619","https://openalex.org/W1967382022","https://openalex.org/W1983008863","https://openalex.org/W1993267444","https://openalex.org/W1995578368","https://openalex.org/W1998275131","https://openalex.org/W2013131044","https://openalex.org/W2016003223","https://openalex.org/W2018623868","https://openalex.org/W2027504452","https://openalex.org/W2032793131","https://openalex.org/W2033819227","https://openalex.org/W2049046732","https://openalex.org/W2057453434","https://openalex.org/W2058009001","https://openalex.org/W2082136960","https://openalex.org/W2092663520","https://openalex.org/W2093378545","https://openalex.org/W2096600681","https://openalex.org/W2108134361","https://openalex.org/W2108598000","https://openalex.org/W2120199807","https://openalex.org/W2158957018","https://openalex.org/W2160337655","https://openalex.org/W2188871941","https://openalex.org/W2260974061","https://openalex.org/W2271513842","https://openalex.org/W2319114953","https://openalex.org/W2320107515","https://openalex.org/W2330502497","https://openalex.org/W2465298262","https://openalex.org/W2467622396","https://openalex.org/W2473967151","https://openalex.org/W2568139125","https://openalex.org/W2737697237","https://openalex.org/W2738937933","https://openalex.org/W2763081248","https://openalex.org/W2772865422","https://openalex.org/W2806662094","https://openalex.org/W2883362502","https://openalex.org/W2898804221","https://openalex.org/W2906627304","https://openalex.org/W2943519239","https://openalex.org/W3021849520","https://openalex.org/W3027543870","https://openalex.org/W3037094856","https://openalex.org/W3111148865","https://openalex.org/W3113261752","https://openalex.org/W3113358370","https://openalex.org/W3158621900","https://openalex.org/W3211071089","https://openalex.org/W4213251304","https://openalex.org/W4214637521","https://openalex.org/W4237438296","https://openalex.org/W4238078136","https://openalex.org/W4250589301","https://openalex.org/W4388320451","https://openalex.org/W6631182026","https://openalex.org/W6745089192","https://openalex.org/W6747886734","https://openalex.org/W6748171768","https://openalex.org/W6776864979"],"related_works":["https://openalex.org/W2625809971","https://openalex.org/W1663847441","https://openalex.org/W2768493687","https://openalex.org/W2103062922","https://openalex.org/W2162299404","https://openalex.org/W1573859018","https://openalex.org/W2900391131","https://openalex.org/W1657752397","https://openalex.org/W3185162478","https://openalex.org/W1633787648"],"abstract_inverted_index":{"This":[0],"article":[1],"proposes":[2],"a":[3],"vision-based":[4],"framework":[5],"to":[6,106],"track":[7],"the":[8,37,40,55,59,64,73,77,82,88,100,103,110,114,117,123,126],"pose":[9,66,90,107,115],"of":[10,24,72,76,87,125],"lander":[11,65],"in":[12,81],"real":[13],"time":[14],"during":[15],"planetary":[16],"exploration":[17],"with":[18,29,54],"craters":[19],"as":[20],"landmarks.":[21],"The":[22,85],"contour":[23,79],"landmark":[25],"crater":[26,78],"is":[27,43,67,91],"represented":[28],"three-dimensional":[30],"Fourier":[31],"series":[32],"offline.":[33],"During":[34],"tracking,":[35],"for":[36,113],"first":[38],"instant,":[39,53],"tracking":[41],"system":[42],"initialized":[44],"by":[45,69],"crater-based":[46],"correspondence":[47],"and":[48,108],"optimization.":[49],"For":[50],"each":[51],"subsequent":[52],"initial":[56,111],"guess":[57,112],"from":[58],"extended":[60],"Kalman":[61],"filter":[62],"(EKF),":[63],"determined":[68,89],"L1-norm":[70],"minimization":[71],"reprojection":[74],"errors":[75],"models":[80],"descent":[83],"image.":[84],"covariance":[86],"inferred":[92],"based":[93],"on":[94],"Laplace":[95],"distribution.":[96],"With":[97],"this":[98],"covariance,":[99],"EKF":[101],"generates":[102],"final":[104],"estimate":[105],"gives":[109],"at":[116],"next":[118],"instant.":[119],"Sufficient":[120],"trails":[121],"verify":[122],"efficacy":[124],"proposed":[127],"method.":[128]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
