{"id":"https://openalex.org/W2158270192","doi":"https://doi.org/10.1163/156855308x292637","title":"Image-Based Visual PID Control of a Micro Helicopter Using a Stationary Camera","display_name":"Image-Based Visual PID Control of a Micro Helicopter Using a Stationary Camera","publication_year":2008,"publication_date":"2008-01-01","ids":{"openalex":"https://openalex.org/W2158270192","doi":"https://doi.org/10.1163/156855308x292637","mag":"2158270192"},"language":"en","primary_location":{"id":"doi:10.1163/156855308x292637","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855308x292637","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547","https://openalex.org/P4310320449"],"host_organization_lineage_names":["Taylor & Francis","Informa"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced 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/A5032537907","display_name":"Kei Watanabe","orcid":"https://orcid.org/0000-0002-3790-1078"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kei Watanabe","raw_affiliation_strings":["a \r\r Department of System Information Sciences, Tohoku University, Aramaki Aza Aoba, 6-6-01 Sendai, Japan","Department of System Information Sciences, Tohoku University, Aramaki Aza Aoba, 6-6-01 Sendai, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"a \r\r Department of System Information Sciences, Tohoku University, Aramaki Aza Aoba, 6-6-01 Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"Department of System Information Sciences, Tohoku University, Aramaki Aza Aoba, 6-6-01 Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047577854","display_name":"Yuta Yoshihata","orcid":null},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuta Yoshihata","raw_affiliation_strings":["b \r\r Department of System Information Sciences, Tohoku University, Aramaki Aza Aoba, 6-6-01 Sendai, Japan","Department of System Information Sciences, Tohoku University, Aramaki Aza Aoba, 6-6-01 Sendai, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"b \r\r Department of System Information Sciences, Tohoku University, Aramaki Aza Aoba, 6-6-01 Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"Department of System Information Sciences, Tohoku University, Aramaki Aza Aoba, 6-6-01 Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036225483","display_name":"Yasushi Iwatani","orcid":"https://orcid.org/0000-0003-1446-8176"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yasushi Iwatani","raw_affiliation_strings":["c \r\r Department of System Information Sciences, Tohoku University, Aramaki Aza Aoba, 6-6-01 Sendai, Japan","Department of System Information Sciences, Tohoku University, Aramaki Aza Aoba, 6-6-01 Sendai, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"c \r\r Department of System Information Sciences, Tohoku University, Aramaki Aza Aoba, 6-6-01 Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"Department of System Information Sciences, Tohoku University, Aramaki Aza Aoba, 6-6-01 Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005043084","display_name":"Koichi Hashimoto","orcid":"https://orcid.org/0000-0002-4473-2698"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Koichi Hashimoto","raw_affiliation_strings":["d \r\r Department of System Information Sciences, Tohoku University, Aramaki Aza Aoba, 6-6-01 Sendai, Japan","Department of System Information Sciences, Tohoku University, Aramaki Aza Aoba, 6-6-01 Sendai, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"d \r\r Department of System Information Sciences, Tohoku University, Aramaki Aza Aoba, 6-6-01 Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"Department of System Information Sciences, Tohoku University, Aramaki Aza Aoba, 6-6-01 Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I201537933"],"apc_list":null,"apc_paid":null,"fwci":4.2728,"has_fulltext":false,"cited_by_count":30,"citation_normalized_percentile":{"value":0.94094393,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"22","issue":"2-3","first_page":"381","last_page":"393"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":1.0,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9995999932289124,"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/T13114","display_name":"Image Processing Techniques and Applications","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/2214","display_name":"Media Technology"},"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/pid-controller","display_name":"PID controller","score":0.6974233984947205},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6150614023208618},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5556082725524902},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.550632119178772},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5476797819137573},{"id":"https://openalex.org/keywords/servo-control","display_name":"Servo control","score":0.5288335680961609},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.522839367389679},{"id":"https://openalex.org/keywords/servo","display_name":"Servo","score":0.5030557513237},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.4888143241405487},{"id":"https://openalex.org/keywords/image-stabilization","display_name":"Image stabilization","score":0.44032707810401917},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.41085946559906006},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.4025845527648926},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3609884977340698},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.2675244212150574},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.23971784114837646}],"concepts":[{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.6974233984947205},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6150614023208618},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5556082725524902},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.550632119178772},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5476797819137573},{"id":"https://openalex.org/C32731416","wikidata":"https://www.wikidata.org/wiki/Q7455930","display_name":"Servo control","level":3,"score":0.5288335680961609},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.522839367389679},{"id":"https://openalex.org/C107354338","wikidata":"https://www.wikidata.org/wiki/Q1937153","display_name":"Servo","level":2,"score":0.5030557513237},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.4888143241405487},{"id":"https://openalex.org/C27402916","wikidata":"https://www.wikidata.org/wiki/Q31009","display_name":"Image stabilization","level":3,"score":0.44032707810401917},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.41085946559906006},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.4025845527648926},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3609884977340698},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2675244212150574},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.23971784114837646},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1163/156855308x292637","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855308x292637","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547","https://openalex.org/P4310320449"],"host_organization_lineage_names":["Taylor & Francis","Informa"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.49000000953674316,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W297039922","https://openalex.org/W1496777766","https://openalex.org/W1525673530","https://openalex.org/W1964715412","https://openalex.org/W1984190176","https://openalex.org/W1994143699","https://openalex.org/W2009684199","https://openalex.org/W2009727770","https://openalex.org/W2012685872","https://openalex.org/W2026987425","https://openalex.org/W2085080157","https://openalex.org/W2100172545","https://openalex.org/W2109821910","https://openalex.org/W2141300598","https://openalex.org/W2143597104","https://openalex.org/W2158598687","https://openalex.org/W2159721784","https://openalex.org/W2161505441","https://openalex.org/W2167501464","https://openalex.org/W2169738495","https://openalex.org/W4241563079","https://openalex.org/W4248304976"],"related_works":["https://openalex.org/W2002991661","https://openalex.org/W2360764675","https://openalex.org/W43236265","https://openalex.org/W2116120141","https://openalex.org/W2905713723","https://openalex.org/W2993674027","https://openalex.org/W3119166379","https://openalex.org/W2083640710","https://openalex.org/W2331674254","https://openalex.org/W2625777660"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"an":[3],"image-based":[4],"visual":[5],"servo":[6],"control":[7,60,65],"method":[8],"for":[9,63],"a":[10,115],"micro":[11],"helicopter.":[12,44,70],"The":[13,45,71],"helicopter":[14,64,113],"does":[15],"not":[16],"have":[17],"any":[18],"sensors":[19],"to":[20,87],"measure":[21],"its":[22],"position":[23],"or":[24,90],"posture":[25],"on":[26,34],"the":[27,35,43,69,94,99,107,112],"body.":[28],"A":[29],"stationary":[30],"camera":[31],"is":[32,96],"placed":[33],"ground":[36],"and":[37,50,66],"it":[38],"obtains":[39],"image":[40,88,100],"features":[41,49,53],"of":[42],"differences":[46],"between":[47],"current":[48],"given":[51],"reference":[52,95],"are":[54],"computed.":[55],"PID":[56],"controllers":[57],"then":[58],"make":[59],"input":[61],"voltages":[62],"they":[67],"drive":[68],"proposed":[72,108],"controller":[73,109],"can":[74,110],"avoid":[75],"some":[76],"major":[77],"difficulties":[78],"in":[79,98,114],"computer":[80],"vision":[81],"such":[82],"as":[83],"numerical":[84],"instability":[85],"due":[86],"noise":[89],"model":[91],"uncertainties,":[92],"since":[93],"defined":[97],"frames.":[101],"An":[102],"experimental":[103],"result":[104],"demonstrates":[105],"that":[106],"keep":[111],"stable":[116],"hover.":[117]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":1}],"updated_date":"2026-08-15T07:11:24.734988","created_date":"2025-10-10T00:00:00"}