{"id":"https://openalex.org/W2562127556","doi":"https://doi.org/10.1145/3009977.3009990","title":"Hierarchical structured learning for indoor autonomous navigation of Quadcopter","display_name":"Hierarchical structured learning for indoor autonomous navigation of Quadcopter","publication_year":2016,"publication_date":"2016-12-18","ids":{"openalex":"https://openalex.org/W2562127556","doi":"https://doi.org/10.1145/3009977.3009990","mag":"2562127556"},"language":"en","primary_location":{"id":"doi:10.1145/3009977.3009990","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3009977.3009990","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Tenth Indian Conference on Computer Vision, Graphics and Image Processing","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/A5091171208","display_name":"Vishakh Duggal","orcid":null},"institutions":[{"id":"https://openalex.org/I65181880","display_name":"Indian Institute of Technology Hyderabad","ror":"https://ror.org/01j4v3x97","country_code":"IN","type":"education","lineage":["https://openalex.org/I65181880"]}],"countries":["IN"],"is_corresponding":true,"raw_author_name":"Vishakh Duggal","raw_affiliation_strings":["IIIT, Hyderabad"],"affiliations":[{"raw_affiliation_string":"IIIT, Hyderabad","institution_ids":["https://openalex.org/I65181880"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017754561","display_name":"Kumar Bipin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kumar Bipin","raw_affiliation_strings":[""],"affiliations":[{"raw_affiliation_string":"","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021617679","display_name":"Utsav Shah","orcid":null},"institutions":[{"id":"https://openalex.org/I65181880","display_name":"Indian Institute of Technology Hyderabad","ror":"https://ror.org/01j4v3x97","country_code":"IN","type":"education","lineage":["https://openalex.org/I65181880"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Utsav Shah","raw_affiliation_strings":["IIIT, Hyderabad"],"affiliations":[{"raw_affiliation_string":"IIIT, Hyderabad","institution_ids":["https://openalex.org/I65181880"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075816776","display_name":"K. Madhava Krishna","orcid":"https://orcid.org/0000-0001-7846-7901"},"institutions":[{"id":"https://openalex.org/I65181880","display_name":"Indian Institute of Technology Hyderabad","ror":"https://ror.org/01j4v3x97","country_code":"IN","type":"education","lineage":["https://openalex.org/I65181880"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"K. Madhava Krishna","raw_affiliation_strings":["IIIT, Hyderabad"],"affiliations":[{"raw_affiliation_string":"IIIT, Hyderabad","institution_ids":["https://openalex.org/I65181880"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5091171208"],"corresponding_institution_ids":["https://openalex.org/I65181880"],"apc_list":null,"apc_paid":null,"fwci":1.546,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.88017595,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"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":0.9991000294685364,"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":0.9986000061035156,"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/quadcopter","display_name":"Quadcopter","score":0.9526147842407227},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6858625411987305},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.44028523564338684},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4256397485733032},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18693357706069946},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.09453779458999634}],"concepts":[{"id":"https://openalex.org/C2779199153","wikidata":"https://www.wikidata.org/wiki/Q43965","display_name":"Quadcopter","level":2,"score":0.9526147842407227},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6858625411987305},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.44028523564338684},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4256397485733032},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18693357706069946},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.09453779458999634}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3009977.3009990","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3009977.3009990","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Tenth Indian Conference on Computer Vision, Graphics and Image Processing","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.5,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W926607442","https://openalex.org/W1547236731","https://openalex.org/W1590235109","https://openalex.org/W1905829557","https://openalex.org/W1973957068","https://openalex.org/W1980969546","https://openalex.org/W1982318371","https://openalex.org/W2039037930","https://openalex.org/W2086356840","https://openalex.org/W2104154890","https://openalex.org/W2108134361","https://openalex.org/W2118585731","https://openalex.org/W2119927502","https://openalex.org/W2125416623","https://openalex.org/W2139500441","https://openalex.org/W2146071867","https://openalex.org/W2148118070","https://openalex.org/W2151290401","https://openalex.org/W2156953558","https://openalex.org/W2158211626","https://openalex.org/W2160072137","https://openalex.org/W2218761850","https://openalex.org/W2229767801","https://openalex.org/W2296673577","https://openalex.org/W2512051764","https://openalex.org/W2591127855","https://openalex.org/W3103648783","https://openalex.org/W4252907012","https://openalex.org/W4285471655","https://openalex.org/W6677656871","https://openalex.org/W6683067110"],"related_works":["https://openalex.org/W3107474891","https://openalex.org/W2045456578","https://openalex.org/W2918883224","https://openalex.org/W1993084869","https://openalex.org/W3106945349","https://openalex.org/W3204394973","https://openalex.org/W2278205256","https://openalex.org/W2883555950","https://openalex.org/W4246426965","https://openalex.org/W2051154247"],"abstract_inverted_index":{"Autonomous":[0],"navigation":[1],"of":[2,49,99,110,128,141,144,161,225,233,243],"generic":[3],"monocular":[4,31],"quadcopter":[5,27],"in":[6,152,236],"the":[7,38,43,50,81,97,111,138,145,149,162,217,223,241,244],"indoor":[8,40,238],"environment":[9,51],"requires":[10],"sophisticated":[11],"approaches":[12],"for":[13,216],"perception,":[14],"planning":[15,186,190,209],"and":[16,36,73,93,191,211],"control.":[17],"This":[18],"paper":[19],"presents":[20],"a":[21,25,29,53,115,195],"system":[22,44],"which":[23,67,183,205],"enables":[24],"miniature":[26],"with":[28,104],"frontal":[30],"camera":[32],"to":[33,124,178,199],"autonomously":[34],"navigate":[35],"explore":[37],"unknown":[39],"environment.":[41],"Initially,":[42],"estimates":[45],"dense":[46],"depth":[47,83,108,139,171,226],"map":[48,172],"from":[52,148],"single":[54],"video":[55],"frame":[56],"using":[57,132],"our":[58],"proposed":[59,77],"novel":[60],"supervised":[61],"Hierarchical":[62],"Structured":[63],"Learning":[64],"(hsl)":[65],"technique,":[66],"yields":[68],"both":[69],"high":[70],"accuracy":[71],"levels":[72],"better":[74],"generalization.":[75],"The":[76,118,169,219],"hsl":[78],"approach":[79],"discretizes":[80],"overall":[82],"range":[84,109],"into":[85,101],"multiple":[86],"sets.":[87],"It":[88],"structures":[89],"these":[90,207],"sets":[91],"hierarchically":[92],"recursively":[94],"through":[95],"partitioning":[96],"set":[98],"classes":[100],"two":[102],"subsets":[103,105],"representing":[106,165],"apportioned":[107],"parent":[112],"set,":[113],"forming":[114],"binary":[116,119,129],"tree.":[117],"classification":[120],"method":[121],"is":[122,173],"applied":[123],"each":[125,142],"internal":[126],"node":[127,151,164],"tree":[130],"separately":[131],"Support":[133],"Vector":[134],"Machine":[135],"(svm).":[136],"Whereas,":[137],"estimation":[140],"pixel":[143],"image":[146],"starts":[147],"root":[150],"top-down":[153],"approach,":[154],"classifying":[155],"repetitively":[156],"till":[157],"it":[158],"reaches":[159],"any":[160],"leaf":[163],"its":[166],"estimated":[167],"depth.":[168],"generated":[170],"provided":[174],"as":[175],"an":[176],"input":[177],"Convolutional":[179],"Neural":[180],"Network":[181],"(cnn),":[182],"generates":[184],"flight":[185,208],"commands.":[187],"Finally,":[188],"trajectory":[189,204],"control":[192,214],"module":[193],"employs":[194],"convex":[196],"programming":[197],"technique":[198],"generate":[200],"collision-free":[201],"minimum":[202],"time":[203],"follows":[206],"commands":[210],"produces":[212],"appropriate":[213],"inputs":[215],"quadcopter.":[218],"results":[220],"convey":[221],"unequivocally":[222],"advantages":[224],"perception":[227],"by":[228],"hsl,":[229],"while":[230],"repeatable":[231],"flights":[232],"successful":[234],"nature":[235],"typical":[237],"corridors":[239],"confirm":[240],"efficacy":[242],"pipeline.":[245]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
