{"id":"https://openalex.org/W2285806132","doi":"https://doi.org/10.1109/tro.2015.2504006","title":"Probabilistic Correspondence in Video Sequences for Efficient State Estimation and Autonomous Flight","display_name":"Probabilistic Correspondence in Video Sequences for Efficient State Estimation and Autonomous Flight","publication_year":2016,"publication_date":"2016-01-20","ids":{"openalex":"https://openalex.org/W2285806132","doi":"https://doi.org/10.1109/tro.2015.2504006","mag":"2285806132"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2015.2504006","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2015.2504006","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","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/A5052000017","display_name":"Tyler Ryan","orcid":null},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]},{"id":"https://openalex.org/I70284922","display_name":"MTS Systems (United States)","ror":"https://ror.org/00hbzbs53","country_code":"US","type":"company","lineage":["https://openalex.org/I70284922"]}],"countries":["KR","US"],"is_corresponding":false,"raw_author_name":"Tyler Ryan","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Seoul National University, Korea","MTS Systems, Eden Prairie, MN, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Seoul National University, Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"MTS Systems, Eden Prairie, MN, USA","institution_ids":["https://openalex.org/I70284922"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073996122","display_name":"H. Jin Kim","orcid":"https://orcid.org/0000-0002-6819-1136"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"H. Jin Kim","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Seoul National University, Seoul, Korea"],"raw_orcid":"https://orcid.org/0000-0002-6819-1136","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Seoul National University, Seoul, Korea","institution_ids":["https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":27.0626,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.98975436,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"32","issue":"1","first_page":"99","last_page":"112"},"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9975000023841858,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9962999820709229,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.6770260334014893},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6619632244110107},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6016029119491577},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.5645423531532288},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.5642131567001343},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5560189485549927},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5474888682365417},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.46785005927085876},{"id":"https://openalex.org/keywords/sonar","display_name":"Sonar","score":0.44526687264442444},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.41451460123062134},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3420092463493347},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.25461429357528687},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2065477967262268}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6770260334014893},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6619632244110107},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6016029119491577},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5645423531532288},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.5642131567001343},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5560189485549927},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5474888682365417},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.46785005927085876},{"id":"https://openalex.org/C555745239","wikidata":"https://www.wikidata.org/wiki/Q133220","display_name":"Sonar","level":2,"score":0.44526687264442444},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.41451460123062134},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3420092463493347},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.25461429357528687},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2065477967262268},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2015.2504006","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2015.2504006","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5719690061","display_name":null,"funder_award_id":"2014067588","funder_id":"https://openalex.org/F4320322030","funder_display_name":"Ministry of Science, ICT and Future Planning"}],"funders":[{"id":"https://openalex.org/F4320321292","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542"},{"id":"https://openalex.org/F4320322030","display_name":"Ministry of Science, ICT and Future Planning","ror":"https://ror.org/032e49973"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1532362218","https://openalex.org/W1599144705","https://openalex.org/W1966301784","https://openalex.org/W1974535681","https://openalex.org/W1975326224","https://openalex.org/W1980982306","https://openalex.org/W1998528215","https://openalex.org/W2009727770","https://openalex.org/W2015193034","https://openalex.org/W2019624342","https://openalex.org/W2028079794","https://openalex.org/W2035981208","https://openalex.org/W2040938785","https://openalex.org/W2047682254","https://openalex.org/W2048077979","https://openalex.org/W2078904991","https://openalex.org/W2084447079","https://openalex.org/W2098171705","https://openalex.org/W2109802578","https://openalex.org/W2113500802","https://openalex.org/W2116394929","https://openalex.org/W2117228865","https://openalex.org/W2126839357","https://openalex.org/W2128739770","https://openalex.org/W2143017962","https://openalex.org/W2150839555","https://openalex.org/W2154350622","https://openalex.org/W2154381549","https://openalex.org/W2159786429","https://openalex.org/W2165442662","https://openalex.org/W2171258150","https://openalex.org/W4251920642","https://openalex.org/W4291236916","https://openalex.org/W6645642916","https://openalex.org/W6677839552"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W3024737167","https://openalex.org/W2414561716","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W2312326526","https://openalex.org/W3105866016","https://openalex.org/W2412578866","https://openalex.org/W4312703710"],"abstract_inverted_index":{"In":[0],"this":[1,85],"paper,":[2],"we":[3,35],"describe":[4],"a":[5,52,63,78,120,139,172],"method":[6,86,176],"for":[7,41,131,165,181],"using":[8,138,192],"Bayesian":[9,56],"inference":[10,57],"to":[11,58,103,123,137],"create":[12],"probabilistic":[13,179],"point":[14,65,75],"correspondences":[15,180],"in":[16,30,46,67,77,109,197],"video":[17],"sequences.":[18],"Using":[19],"state":[20,183],"prior":[21],"distribution":[22],"information":[23],"from":[24,119],"the":[25,42,60,68,72,93,163,194,198],"onboard":[26,199],"Kalman":[27],"filter":[28],"found":[29,66,76],"most":[31],"unmanned":[32],"aerial":[33],"vehicles,":[34],"derive":[36],"an":[37],"accurate":[38],"normal":[39],"approximation":[40],"movement":[43],"of":[44,55,84,95],"points":[45],"image":[47,70],"space.":[48],"It":[49],"is":[50,71,87,107,129],"then":[51,161],"direct":[53],"application":[54],"find":[59],"probability":[61],"that":[62,88],"feature":[64,74,96],"current":[69],"same":[73],"previous":[79],"image.":[80],"The":[81,105,112],"biggest":[82],"advantage":[83],"it":[89],"does":[90],"not":[91],"require":[92],"use":[94],"descriptors,":[97,151],"which":[98,128],"can":[99],"be":[100],"computationally":[101],"expensive":[102],"compute.":[104],"algorithm":[106,142,153,164],"tested":[108],"two":[110],"scenarios.":[111],"first":[113],"uses":[114],"data":[115],"and":[116,148,158,201],"images":[117],"collected":[118],"sample":[121],"flight":[122],"evaluate":[124],"velocity":[125],"estimation":[126],"performance,":[127],"critical":[130],"achieving":[132],"good":[133],"control.":[134],"When":[135],"compared":[136],"standard":[140],"matching":[141],"based":[143,177],"on":[144,178],"ORB":[145],"(oriented":[146],"FAST":[147],"rotate":[149],"BRIEF)":[150],"our":[152],"provides":[154],"both":[155],"improved":[156],"efficiency":[157],"accuracy.":[159],"We":[160],"implement":[162],"online":[166],"testing":[167],"as":[168,170],"well":[169],"develop":[171],"simple":[173],"visual":[174],"odometry":[175],"full":[182],"estimation.":[184],"Flight":[185],"tests":[186],"demonstrate":[187],"fully":[188],"autonomous":[189],"indoor":[190],"hover":[191],"only":[193],"sensors":[195],"embedded":[196],"smartphone":[200],"sonar.":[202]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}