{"id":"https://openalex.org/W4385834312","doi":"https://doi.org/10.1109/tsmc.2023.3299237","title":"Vision-Based Plane Estimation and Following for Building Inspection With Autonomous UAV","display_name":"Vision-Based Plane Estimation and Following for Building Inspection With Autonomous UAV","publication_year":2023,"publication_date":"2023-08-15","ids":{"openalex":"https://openalex.org/W4385834312","doi":"https://doi.org/10.1109/tsmc.2023.3299237"},"language":"en","primary_location":{"id":"doi:10.1109/tsmc.2023.3299237","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2023.3299237","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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 Systems, Man, and Cybernetics: Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://dr.ntu.edu.sg/bitstream/10356/182129/2/Vision%20based%20Autonomous%20UAV%20Plane%20Following%20for%20Building%20Inspection-submitted.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5022413479","display_name":"Yang Lyu","orcid":"https://orcid.org/0000-0002-0702-908X"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Lyu","raw_affiliation_strings":["School of Automation, Northwestern Polytechnical University, Xi’an, China"],"raw_orcid":"https://orcid.org/0000-0002-0702-908X","affiliations":[{"raw_affiliation_string":"School of Automation, Northwestern Polytechnical University, Xi’an, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045222213","display_name":"Muqing Cao","orcid":"https://orcid.org/0000-0002-5867-5049"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Muqing Cao","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Jurong West, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-5867-5049","affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Jurong West, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026848789","display_name":"Shenghai Yuan","orcid":"https://orcid.org/0009-0003-1887-6342"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Shenghai Yuan","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Jurong West, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Jurong West, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100365448","display_name":"Lihua Xie","orcid":"https://orcid.org/0000-0002-7137-4136"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Lihua Xie","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Jurong West, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-7137-4136","affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Jurong West, Singapore","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":16.0204,"has_fulltext":true,"cited_by_count":22,"citation_normalized_percentile":{"value":0.98687145,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"53","issue":"12","first_page":"7475","last_page":"7488"},"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/T10531","display_name":"Advanced Vision and Imaging","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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9970999956130981,"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/observer","display_name":"Observer (physics)","score":0.6750861406326294},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.6381088495254517},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6310688853263855},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5536810755729675},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5381366610527039},{"id":"https://openalex.org/keywords/concatenation","display_name":"Concatenation (mathematics)","score":0.5267776250839233},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.517910897731781},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.49241673946380615},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.46587488055229187},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.411737859249115},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18100011348724365},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16516175866127014},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.12467652559280396}],"concepts":[{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.6750861406326294},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.6381088495254517},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6310688853263855},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5536810755729675},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5381366610527039},{"id":"https://openalex.org/C87619178","wikidata":"https://www.wikidata.org/wiki/Q126002","display_name":"Concatenation (mathematics)","level":2,"score":0.5267776250839233},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.517910897731781},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.49241673946380615},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.46587488055229187},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.411737859249115},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18100011348724365},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16516175866127014},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.12467652559280396},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tsmc.2023.3299237","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2023.3299237","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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 Systems, Man, and Cybernetics: Systems","raw_type":"journal-article"},{"id":"pmh:oai:dr.ntu.edu.sg:10356/182129","is_oa":true,"landing_page_url":"https://hdl.handle.net/10356/182129","pdf_url":"https://dr.ntu.edu.sg/bitstream/10356/182129/2/Vision%20based%20Autonomous%20UAV%20Plane%20Following%20for%20Building%20Inspection-submitted.pdf","source":{"id":"https://openalex.org/S4306402609","display_name":"DR-NTU (Nanyang Technological University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I172675005","host_organization_name":"Nanyang Technological University","host_organization_lineage":["https://openalex.org/I172675005"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Journal Article"}],"best_oa_location":{"id":"pmh:oai:dr.ntu.edu.sg:10356/182129","is_oa":true,"landing_page_url":"https://hdl.handle.net/10356/182129","pdf_url":"https://dr.ntu.edu.sg/bitstream/10356/182129/2/Vision%20based%20Autonomous%20UAV%20Plane%20Following%20for%20Building%20Inspection-submitted.pdf","source":{"id":"https://openalex.org/S4306402609","display_name":"DR-NTU (Nanyang Technological University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I172675005","host_organization_name":"Nanyang Technological University","host_organization_lineage":["https://openalex.org/I172675005"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Journal Article"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.7200000286102295,"id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G4630651230","display_name":null,"funder_award_id":"62203358","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6200837767","display_name":null,"funder_award_id":"61790552","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6803843111","display_name":null,"funder_award_id":"62233014","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320320709","display_name":"National Research Foundation Singapore","ror":"https://ror.org/03cpyc314"},{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4385834312.pdf","grobid_xml":"https://content.openalex.org/works/W4385834312.grobid-xml"},"referenced_works_count":37,"referenced_works":["https://openalex.org/W1491077795","https://openalex.org/W1947085731","https://openalex.org/W1983329379","https://openalex.org/W2006433700","https://openalex.org/W2019738489","https://openalex.org/W2024247800","https://openalex.org/W2033819227","https://openalex.org/W2034210354","https://openalex.org/W2035734362","https://openalex.org/W2040738413","https://openalex.org/W2058843767","https://openalex.org/W2065277437","https://openalex.org/W2070352439","https://openalex.org/W2081716160","https://openalex.org/W2100993594","https://openalex.org/W2111691855","https://openalex.org/W2115106602","https://openalex.org/W2118428504","https://openalex.org/W2168953036","https://openalex.org/W2460157116","https://openalex.org/W2570706983","https://openalex.org/W2732861165","https://openalex.org/W2745859992","https://openalex.org/W2754556155","https://openalex.org/W2789773866","https://openalex.org/W2792960364","https://openalex.org/W2793730104","https://openalex.org/W2942919589","https://openalex.org/W2963854007","https://openalex.org/W2968125992","https://openalex.org/W2980057668","https://openalex.org/W3118635606","https://openalex.org/W3164104722","https://openalex.org/W3189526488","https://openalex.org/W3207462752","https://openalex.org/W4224930291","https://openalex.org/W4238767840"],"related_works":["https://openalex.org/W2373577936","https://openalex.org/W3095575180","https://openalex.org/W2389596151","https://openalex.org/W4221148444","https://openalex.org/W4226054107","https://openalex.org/W4387678054","https://openalex.org/W4306784355","https://openalex.org/W2784004155","https://openalex.org/W4246226292","https://openalex.org/W2150768546"],"abstract_inverted_index":{"In":[0],"this":[1],"article,":[2],"we":[3,25],"focus":[4],"on":[5],"enabling":[6],"the":[7,27,38,47,101,107,110,114,121,124],"autonomous":[8,136],"perception":[9,28],"and":[10,46,70,93,109,123,140,149,159],"control":[11,48,54],"of":[12,44,106,113,120],"a":[13,20,30,42,57,81,97],"small":[14],"unmanned":[15],"aerial":[16],"vehicle":[17],"(UAV)":[18],"for":[19,63],"fa\u00e7ade":[21,152],"inspection":[22,153],"task.":[23],"Specifically,":[24],"consider":[26],"as":[29,41,49],"planar":[31],"object":[32],"pose":[33,65,138],"estimation":[34,66,139],"problem":[35],"by":[36],"simplifying":[37],"building":[39,151],"structure":[40],"concatenation":[43],"planes,":[45],"an":[50],"optimal":[51],"reference":[52],"tracking":[53,142],"problem.":[55],"First,":[56],"vision-based":[58],"adaptive":[59],"observer":[60,108,122],"is":[61,71,86,127],"proposed":[62,135],"plane":[64,91,137,141],"which":[67,155],"converges":[68],"fast":[69],"insensitive":[72],"to":[73,88,130],"noise":[74],"under":[75],"very":[76],"mild":[77],"observation":[78],"conditions.":[79],"Second,":[80],"model":[82],"predictive":[83],"controller":[84,126],"(MPC)":[85],"designed":[87],"achieve":[89],"stable":[90],"following":[92],"smooth":[94],"transition":[95],"in":[96,146],"multiple-plane":[98],"scenario,":[99],"while":[100],"persistent":[102],"excitation":[103],"(PE)":[104],"condition":[105],"maneuver":[111],"constraints":[112],"UAV":[115],"are":[116,144],"satisfied.":[117],"The":[118,134],"stability":[119],"MPC":[125],"also":[128],"investigated":[129],"ensure":[131],"theoretical":[132],"completeness.":[133],"methods":[143],"tested":[145],"both":[147],"simulation":[148],"practical":[150],"scenarios,":[154],"demonstrate":[156],"their":[157],"effectiveness":[158],"practicability.":[160]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}