{"id":"https://openalex.org/W2110794641","doi":"https://doi.org/10.1109/tro.2009.2012342","title":"Vision-Aided Inertial Navigation for Spacecraft Entry, Descent, and Landing","display_name":"Vision-Aided Inertial Navigation for Spacecraft Entry, Descent, and Landing","publication_year":2009,"publication_date":"2009-03-19","ids":{"openalex":"https://openalex.org/W2110794641","doi":"https://doi.org/10.1109/tro.2009.2012342","mag":"2110794641"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2009.2012342","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2009.2012342","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","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/A5089122650","display_name":"Anastasios I. Mourikis","orcid":null},"institutions":[{"id":"https://openalex.org/I103635307","display_name":"University of California, Riverside","ror":"https://ror.org/03nawhv43","country_code":"US","type":"education","lineage":["https://openalex.org/I103635307"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"A.I. Mourikis","raw_affiliation_strings":["Department of Electrical Engineering, University of California, Riverside, CA, USA","[Dept. of Electr. Eng., Univ. of California, Riverside, CA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, University of California, Riverside, CA, USA","institution_ids":["https://openalex.org/I103635307"]},{"raw_affiliation_string":"[Dept. of Electr. Eng., Univ. of California, Riverside, CA]","institution_ids":["https://openalex.org/I103635307"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086062660","display_name":"Nikolas Trawny","orcid":null},"institutions":[{"id":"https://openalex.org/I130238516","display_name":"University of Minnesota","ror":"https://ror.org/017zqws13","country_code":"US","type":"education","lineage":["https://openalex.org/I130238516"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"N. Trawny","raw_affiliation_strings":["Department of Computer Science and Engineering, University of Minnesota, Minneapolis, MN, USA","Dept of computer Science & Eng, University of Minnesota, Minneapolis, MN"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, University of Minnesota, Minneapolis, MN, USA","institution_ids":["https://openalex.org/I130238516"]},{"raw_affiliation_string":"Dept of computer Science & Eng, University of Minnesota, Minneapolis, MN","institution_ids":["https://openalex.org/I130238516"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025573831","display_name":"Stergios I. Roumeliotis","orcid":"https://orcid.org/0009-0001-3056-0426"},"institutions":[{"id":"https://openalex.org/I130238516","display_name":"University of Minnesota","ror":"https://ror.org/017zqws13","country_code":"US","type":"education","lineage":["https://openalex.org/I130238516"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"S.I. Roumeliotis","raw_affiliation_strings":["Department of Computer Science and Engineering, University of Minnesota, Minneapolis, MN, USA","Dept of computer Science & Eng, University of Minnesota, Minneapolis, MN"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, University of Minnesota, Minneapolis, MN, USA","institution_ids":["https://openalex.org/I130238516"]},{"raw_affiliation_string":"Dept of computer Science & Eng, University of Minnesota, Minneapolis, MN","institution_ids":["https://openalex.org/I130238516"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072832457","display_name":"Andrew Johnson","orcid":"https://orcid.org/0000-0001-6917-1295"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"A.E. Johnson","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","Jet Propulsion Labs, California Institute of Technology, Pasadena, CA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"Jet Propulsion Labs, California Institute of Technology, Pasadena, CA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038669812","display_name":"Adnan Ansar","orcid":"https://orcid.org/0000-0003-1101-868X"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"A. Ansar","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","Jet Propulsion Labs, California Institute of Technology, Pasadena, CA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"Jet Propulsion Labs, California Institute of Technology, Pasadena, CA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074075243","display_name":"Larry Matthies","orcid":"https://orcid.org/0000-0002-9045-0181"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"L. Matthies","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","Jet Propulsion Labs, California Institute of Technology, Pasadena, CA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"Jet Propulsion Labs, California Institute of Technology, Pasadena, CA","institution_ids":["https://openalex.org/I1334627681"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5089122650"],"corresponding_institution_ids":["https://openalex.org/I103635307"],"apc_list":null,"apc_paid":null,"fwci":416.5439,"has_fulltext":false,"cited_by_count":347,"citation_normalized_percentile":{"value":0.99988669,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"25","issue":"2","first_page":"264","last_page":"280"},"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":0.9983999729156494,"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":0.9973999857902527,"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":0.6328639984130859},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6107910871505737},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.5770897269248962},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.5618600845336914},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.55306476354599},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5482235550880432},{"id":"https://openalex.org/keywords/descent","display_name":"Descent (aeronautics)","score":0.5107207298278809},{"id":"https://openalex.org/keywords/touchdown","display_name":"Touchdown","score":0.49076899886131287},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.47875136137008667},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.4718330502510071},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.46575433015823364},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4529624283313751},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.3293527364730835},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.285087525844574},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.198125958442688},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13044598698616028},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.11648643016815186}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6328639984130859},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6107910871505737},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.5770897269248962},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5618600845336914},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.55306476354599},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5482235550880432},{"id":"https://openalex.org/C2776637919","wikidata":"https://www.wikidata.org/wiki/Q624380","display_name":"Descent (aeronautics)","level":2,"score":0.5107207298278809},{"id":"https://openalex.org/C2779860262","wikidata":"https://www.wikidata.org/wiki/Q650807","display_name":"Touchdown","level":2,"score":0.49076899886131287},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.47875136137008667},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.4718330502510071},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.46575433015823364},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4529624283313751},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.3293527364730835},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.285087525844574},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.198125958442688},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13044598698616028},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.11648643016815186},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","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},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tro.2009.2012342","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2009.2012342","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.155.1222","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.155.1222","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www-users.cs.umn.edu/~stergios/papers/TRO-2009-ST9.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.220.731","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.220.731","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www-users.cs.umn.edu/~stergios/papers/TRO_08-ST9.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":56,"referenced_works":["https://openalex.org/W46356605","https://openalex.org/W156266277","https://openalex.org/W202961389","https://openalex.org/W605763459","https://openalex.org/W1559536185","https://openalex.org/W1560892771","https://openalex.org/W1643815198","https://openalex.org/W1938310175","https://openalex.org/W1975613627","https://openalex.org/W2016732944","https://openalex.org/W2027670730","https://openalex.org/W2033819227","https://openalex.org/W2035379092","https://openalex.org/W2046298615","https://openalex.org/W2055415212","https://openalex.org/W2085078372","https://openalex.org/W2085080157","https://openalex.org/W2093378545","https://openalex.org/W2099022116","https://openalex.org/W2099901716","https://openalex.org/W2101345862","https://openalex.org/W2110794641","https://openalex.org/W2111308925","https://openalex.org/W2118223742","https://openalex.org/W2118877769","https://openalex.org/W2122612384","https://openalex.org/W2124313187","https://openalex.org/W2130103520","https://openalex.org/W2135532299","https://openalex.org/W2137729094","https://openalex.org/W2150064935","https://openalex.org/W2151103935","https://openalex.org/W2154381549","https://openalex.org/W2157993455","https://openalex.org/W2166073629","https://openalex.org/W2167415123","https://openalex.org/W2169203557","https://openalex.org/W2271017249","https://openalex.org/W2314596902","https://openalex.org/W2735768614","https://openalex.org/W2798909945","https://openalex.org/W3021282624","https://openalex.org/W3081157420","https://openalex.org/W3102472491","https://openalex.org/W4238078136","https://openalex.org/W4255444560","https://openalex.org/W4285719527","https://openalex.org/W4298563212","https://openalex.org/W6601858377","https://openalex.org/W6608153873","https://openalex.org/W6636906600","https://openalex.org/W6677548441","https://openalex.org/W6679388247","https://openalex.org/W6684642150","https://openalex.org/W6740702058","https://openalex.org/W6785587886"],"related_works":["https://openalex.org/W4365935577","https://openalex.org/W1974520045","https://openalex.org/W2332080893","https://openalex.org/W2015764815","https://openalex.org/W2049833151","https://openalex.org/W4221000742","https://openalex.org/W4206672955","https://openalex.org/W3198914576","https://openalex.org/W1557384281","https://openalex.org/W2083128730"],"abstract_inverted_index":{"In":[0,90],"this":[1],"paper,":[2],"we":[3],"present":[4],"the":[5,20,75,93,97,99,132,143],"vision-aided":[6],"inertial":[7,66],"navigation":[8,137],"(VISINAV)":[9],"algorithm":[10],"that":[11],"enables":[12],"precision":[13],"planetary":[14,147],"landing.":[15],"The":[16,69],"vision":[17],"front-end":[18],"of":[19,44,58,74,96,112,131,145],"VISINAV":[21],"system":[22],"extracts":[23],"2-D-to-3-D":[24],"correspondences":[25],"between":[26],"descent":[27,45,136],"images":[28,46],"and":[29,80,85,118,141],"a":[30,42,83,105],"surface":[31],"map":[32],"(mapped":[33],"landmarks),":[34],"as":[35,37],"well":[36],"2-D-to-2-D":[38],"feature":[39,60],"tracks":[40],"through":[41],"sequence":[43],"(opportunistic":[47],"features).":[48],"An":[49],"extended":[50],"Kalman":[51],"filter":[52,70],"(EKF)":[53],"tightly":[54],"integrates":[55],"both":[56],"types":[57],"visual":[59,139],"observations":[61],"with":[62],"measurements":[63],"from":[64,104],"an":[65],"measurement":[67],"unit.":[68],"computes":[71],"accurate":[72],"estimates":[73],"lander's":[76],"terrain-relative":[77],"position,":[78],"attitude,":[79],"velocity,":[81],"in":[82],"resource-adaptive":[84],"hence":[86],"real-time":[87],"capable":[88],"fashion.":[89],"addition":[91],"to":[92],"technical":[94],"analysis":[95],"algorithm,":[98],"paper":[100],"presents":[101],"validation":[102],"results":[103,126],"sounding-rocket":[106],"test":[107],"flight,":[108],"showing":[109],"estimation":[110],"errors":[111],"only":[113],"0.16":[114],"m/s":[115],"for":[116,121,134],"velocity":[117],"6.4":[119],"m":[120],"position":[122],"at":[123],"touchdown.":[124],"These":[125],"vastly":[127],"improve":[128],"current":[129],"state":[130],"art":[133],"terminal":[135],"without":[138],"updates,":[140],"meet":[142],"requirements":[144],"future":[146],"exploration":[148],"missions.":[149]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":14},{"year":2024,"cited_by_count":17},{"year":2023,"cited_by_count":16},{"year":2022,"cited_by_count":19},{"year":2021,"cited_by_count":14},{"year":2020,"cited_by_count":26},{"year":2019,"cited_by_count":31},{"year":2018,"cited_by_count":24},{"year":2017,"cited_by_count":30},{"year":2016,"cited_by_count":16},{"year":2015,"cited_by_count":29},{"year":2014,"cited_by_count":28},{"year":2013,"cited_by_count":31},{"year":2012,"cited_by_count":19}],"updated_date":"2026-05-03T08:25:01.440150","created_date":"2025-10-10T00:00:00"}
