{"id":"https://openalex.org/W4403922951","doi":"https://doi.org/10.1145/3671127.3698172","title":"ICON drone: Autonomous indoor exploration using Unmanned Aerial Vehicle for semantic 3D reconstruction","display_name":"ICON drone: Autonomous indoor exploration using Unmanned Aerial Vehicle for semantic 3D reconstruction","publication_year":2024,"publication_date":"2024-10-29","ids":{"openalex":"https://openalex.org/W4403922951","doi":"https://doi.org/10.1145/3671127.3698172"},"language":"en","primary_location":{"id":"doi:10.1145/3671127.3698172","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3671127.3698172","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 11th ACM International Conference on Systems for Energy-Efficient Buildings, Cities, and Transportation","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/A5023076121","display_name":"Hao Xuan Zhang","orcid":"https://orcid.org/0000-0002-8405-4879"},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Hao Xuan Zhang","raw_affiliation_strings":["The University of British Columbia, Vancouver, BC, Canada"],"affiliations":[{"raw_affiliation_string":"The University of British Columbia, Vancouver, BC, Canada","institution_ids":["https://openalex.org/I141945490"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5105554065","display_name":"Yilin Yang","orcid":null},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Yilin Yang","raw_affiliation_strings":["The University of British Columbia, Vancouver, BC, Canada"],"affiliations":[{"raw_affiliation_string":"The University of British Columbia, Vancouver, BC, Canada","institution_ids":["https://openalex.org/I141945490"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001924431","display_name":"Zhengbo Zou","orcid":"https://orcid.org/0000-0002-7789-655X"},"institutions":[{"id":"https://openalex.org/I78577930","display_name":"Columbia University","ror":"https://ror.org/00hj8s172","country_code":"US","type":"education","lineage":["https://openalex.org/I78577930"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhengbo Zou","raw_affiliation_strings":["Columbia University, New York, NY, U.S"],"affiliations":[{"raw_affiliation_string":"Columbia University, New York, NY, U.S","institution_ids":["https://openalex.org/I78577930"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5023076121"],"corresponding_institution_ids":["https://openalex.org/I141945490"],"apc_list":null,"apc_paid":null,"fwci":2.5992,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.92033529,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"66","last_page":"76"},"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.995199978351593,"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/drone","display_name":"Drone","score":0.9444629549980164},{"id":"https://openalex.org/keywords/icon","display_name":"Icon","score":0.7661513686180115},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7000728249549866},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4441465735435486},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.43389034271240234},{"id":"https://openalex.org/keywords/aeronautics","display_name":"Aeronautics","score":0.3727176785469055},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19153949618339539}],"concepts":[{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.9444629549980164},{"id":"https://openalex.org/C2778447006","wikidata":"https://www.wikidata.org/wiki/Q1156474","display_name":"Icon","level":2,"score":0.7661513686180115},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7000728249549866},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4441465735435486},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.43389034271240234},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.3727176785469055},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19153949618339539},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3671127.3698172","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3671127.3698172","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 11th ACM International Conference on Systems for Energy-Efficient Buildings, Cities, and Transportation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":65,"referenced_works":["https://openalex.org/W1612997784","https://openalex.org/W1901129140","https://openalex.org/W1964057156","https://openalex.org/W1991289824","https://openalex.org/W1996985406","https://openalex.org/W2007200979","https://openalex.org/W2017585657","https://openalex.org/W2030665335","https://openalex.org/W2033552406","https://openalex.org/W2037563399","https://openalex.org/W2044067315","https://openalex.org/W2057545090","https://openalex.org/W2067016646","https://openalex.org/W2088393975","https://openalex.org/W2104272210","https://openalex.org/W2105284904","https://openalex.org/W2107667896","https://openalex.org/W2149548469","https://openalex.org/W2152671441","https://openalex.org/W2161710616","https://openalex.org/W2471962767","https://openalex.org/W2519683295","https://openalex.org/W2535547924","https://openalex.org/W2580111650","https://openalex.org/W2596546056","https://openalex.org/W2737258237","https://openalex.org/W2749403791","https://openalex.org/W2759938219","https://openalex.org/W2765304996","https://openalex.org/W2772356073","https://openalex.org/W2806124225","https://openalex.org/W2892128718","https://openalex.org/W2899428682","https://openalex.org/W2949691147","https://openalex.org/W2950989657","https://openalex.org/W2956776634","https://openalex.org/W2997033846","https://openalex.org/W2998942169","https://openalex.org/W3012190739","https://openalex.org/W3026393200","https://openalex.org/W3036240322","https://openalex.org/W3043971245","https://openalex.org/W3090649643","https://openalex.org/W3091972823","https://openalex.org/W3102327032","https://openalex.org/W3102365391","https://openalex.org/W3104842437","https://openalex.org/W3125164440","https://openalex.org/W3129799165","https://openalex.org/W3138516171","https://openalex.org/W3159826886","https://openalex.org/W3180312551","https://openalex.org/W3199686092","https://openalex.org/W3216945420","https://openalex.org/W4221096992","https://openalex.org/W4226311476","https://openalex.org/W4255045719","https://openalex.org/W4292387186","https://openalex.org/W4318301868","https://openalex.org/W4319082615","https://openalex.org/W4319990764","https://openalex.org/W4378648241","https://openalex.org/W4386071798","https://openalex.org/W4396790922","https://openalex.org/W4402816534"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Keeping":[0],"an":[1,29,57,60,64,117],"up-to-date":[2],"3D":[3,89],"representation":[4],"of":[5,147,175],"buildings":[6],"is":[7,46],"a":[8,49,53,72,157],"crucial":[9],"yet":[10],"time-consuming":[11],"step":[12],"for":[13,88,106],"Building":[14],"Information":[15],"Modeling":[16],"(BIM)":[17],"and":[18,40,63,76,91,103,122,171,177],"digital":[19],"twins.":[20],"To":[21],"address":[22],"this":[23],"issue,":[24],"we":[25],"propose":[26],"ICON":[27,44,128],"drone,":[28],"unmanned":[30],"aerial":[31],"vehicle":[32],"(UAV)":[33],"designed":[34],"to":[35,152],"navigate":[36],"indoor":[37],"environments":[38],"autonomously":[39,70],"generate":[41,138],"point":[42,98,141,153,165],"clouds.":[43],"drone":[45,129],"constructed":[47],"using":[48,71,156],"250mm":[50],"quadcopter":[51],"frame,":[52],"Pixhawk":[54],"flight":[55,85],"controller,":[56],"onboard":[58],"computer,":[59],"RGB-D":[61],"camera":[62],"IMU":[65],"sensor.":[66],"The":[67,79,94],"UAV":[68,112],"navigates":[69],"visual-inertial":[73],"odometer":[74],"(VIO)":[75],"frontier-based":[77],"exploration.":[78],"collected":[80,155],"RGB":[81],"images":[82],"during":[83],"the":[84,111,127,164],"are":[86,97],"used":[87],"reconstruction":[90],"semantic":[92],"segmentation.":[93],"final":[95],"outputs":[96],"clouds":[99,142,154],"with":[100,143,167,173],"building":[101,169],"components":[102,170],"material":[104,172],"labelling":[105],"BIM":[107],"generation.":[108],"We":[109],"tested":[110],"in":[113,116],"three":[114,134],"scenes":[115,135],"educational":[118],"building:":[119],"classroom,":[120],"lobby,":[121],"lounge.":[123],"Results":[124],"show":[125],"that":[126],"could:":[130],"1)":[131],"explore":[132],"all":[133],"autonomously,":[136],"2)":[137],"absolute":[139],"scale":[140],"mean":[144],"point-to-point":[145],"distances":[146],"0.0644,":[148],"0.0518,":[149],"0.0727m":[150],"compared":[151],"high-fidelity":[158],"terrestrial":[159],"LiDAR":[160],"scanner,":[161],"3)":[162],"label":[163],"cloud":[166],"corresponding":[168],"mIoU":[174],"0.588":[176],"0.629.":[178]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}