{"id":"https://openalex.org/W3042636365","doi":"https://doi.org/10.15496/publikation-42526","title":"Stereo vision and mapping with aerial robots","display_name":"Stereo vision and mapping with aerial robots","publication_year":2020,"publication_date":"2020-06-03","ids":{"openalex":"https://openalex.org/W3042636365","doi":"https://doi.org/10.15496/publikation-42526","mag":"3042636365"},"language":"de","primary_location":{"id":"doi:10.15496/publikation-42526","is_oa":true,"landing_page_url":"https://doi.org/10.15496/publikation-42526","pdf_url":null,"source":{"id":"https://openalex.org/S7407053000","display_name":"Universit\u00e4tsbibliothek T\u00fcbingen","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":null},"type":"other","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.15496/publikation-42526","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5051090899","display_name":"Radouane Ait Jellal","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Ait Jellal, Radouane","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":["https://openalex.org/A5051090899"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9846000075340271,"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":0.9846000075340271,"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":0.9437999725341797,"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/computer-vision","display_name":"Computer vision","score":0.7240097522735596},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6741017699241638},{"id":"https://openalex.org/keywords/stereopsis","display_name":"Stereopsis","score":0.5577418208122253},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4987313747406006},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.428668737411499},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.35026878118515015}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7240097522735596},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6741017699241638},{"id":"https://openalex.org/C68537008","wikidata":"https://www.wikidata.org/wiki/Q247932","display_name":"Stereopsis","level":2,"score":0.5577418208122253},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4987313747406006},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.428668737411499},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.35026878118515015}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.15496/publikation-42526","is_oa":true,"landing_page_url":"https://doi.org/10.15496/publikation-42526","pdf_url":null,"source":{"id":"https://openalex.org/S7407053000","display_name":"Universit\u00e4tsbibliothek T\u00fcbingen","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":null},{"id":"mag:3042636365","is_oa":false,"landing_page_url":"https://publikationen.uni-tuebingen.de/xmlui/handle/10900/101146","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":null}],"best_oa_location":{"id":"doi:10.15496/publikation-42526","is_oa":true,"landing_page_url":"https://doi.org/10.15496/publikation-42526","pdf_url":null,"source":{"id":"https://openalex.org/S7407053000","display_name":"Universit\u00e4tsbibliothek T\u00fcbingen","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":null},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W433210921","https://openalex.org/W1965683838","https://openalex.org/W2116540374","https://openalex.org/W3003695190","https://openalex.org/W2964124027","https://openalex.org/W2463633931","https://openalex.org/W1995274592","https://openalex.org/W2113898978","https://openalex.org/W2000747543","https://openalex.org/W2745335219","https://openalex.org/W1531351479","https://openalex.org/W2093708659","https://openalex.org/W2128603873","https://openalex.org/W2080866991","https://openalex.org/W2942958011","https://openalex.org/W2942792866","https://openalex.org/W2141112830","https://openalex.org/W2126555018","https://openalex.org/W2105756586","https://openalex.org/W2219116242"],"abstract_inverted_index":{"In":[0,48,177,188,353],"den":[1,263],"letzten":[2],"Jahren":[3],"haben":[4,24,294,330,336],"Roboter":[5,37],"f\u00fcr":[6,35,262],"Mikro-Luftfahrzeuge":[7],"(MAVs)":[8],"Forscher":[9],"und":[10,23,67,83,122,152,207,274,300,346],"Industrie":[11],"angezogen.":[12],"Die":[13,242],"meisten":[14],"handels\u00fcblichen":[15],"MAVs":[16],"sind":[17,244],"jedoch":[18],"auf":[19,56],"externe":[20],"Positionierungssysteme":[21],"angewiesen":[22],"daher":[25],"eine":[26,42,53,314],"begrenzte":[27],"Nutzung.":[28],"Durch":[29],"die":[30,55,102,110,120,123,183,195,197,205,208,219,236,270,281,285],"Bereitstellung":[31],"von":[32,144,272],"mehr":[33],"Autonomie":[34],"diese":[36],"wird":[38],"das":[39,93,232],"Anwendungsspektrum":[40],"um":[41,61,203,235,340],"Reihe":[43,166],"anspruchsvoller":[44],"realer":[45],"Problemstellungen":[46],"erweitert.":[47],"dieser":[49],"Arbeit":[50],"verwenden":[51,231,251],"wir":[52,89,182,194,214,252,268,313,359],"Stereokamera,":[54],"einem":[57,113,178,321],"Quadcopter-MAV":[58],"montiert":[59],"ist,":[60],"vollst\u00e4ndige":[62],"autonome":[63],"Fl\u00fcge":[64],"in":[65,220,304,320,327],"Innen-":[66],"Au\u00dfenbereichen":[68],"durchf\u00fchren":[69],"zu":[70,117,126,133,170,210,240,344],"k\u00f6nnen.":[71,229,292,367],"Wir":[72,100,128,135,230,265,293,329,335],"untersuchen":[73,213],"Probleme":[74],"im":[75,198,253,351],"Zusammenhang":[76],"mit":[77,85,96,137,155,164,362],"binokularem":[78],"dichtem":[79],"Stereo-Matching,":[80,234],"Stereo-visuellem":[81],"SLAM":[82,95],"3D-Hindernisvermeidung":[84,326],"Stereo-Vision.":[86],"Zun\u00e4chst":[87],"schlagen":[88,129],"ein":[90,331],"Hybrid-Stereo-SLAM":[91],"vor,":[92,130],"merkmalsbasiertes":[94],"direkter":[97],"Bildausrichtung":[98],"kombiniert.":[99],"sprechen":[101],"folgende":[103],"wichtige":[104],"Frage":[105],"an:":[106],"Ist":[107],"es":[108],"besser,":[109],"Position":[111,121,184],"aus":[112],"Satz":[114],"vorberechneter":[115],"Merkmalskorrespondenzen":[116],"sch\u00e4tzen":[118],"oder":[119],"Merkmalskorrespondenz":[124],"gleichzeitig":[125,204],"sch\u00e4tzen?":[127],"beide":[131],"Methoden":[132],"kombinieren.":[134],"beginnen":[136],"der":[138,238,245,278,305,316,342],"Berechnung":[139],"einer":[140,165,260,275],"Positionssch\u00e4tzung":[141],"unter":[142],"Verwendung":[143,271],"Merkmalskorrespondenzen.":[145],"%":[146],"Dies":[147],"kann":[148,169],"effizient":[149],"durchgef\u00fchrt":[150],"werden":[151,228],"erm\u00f6glicht":[153],"es,":[154],"gro\u00dfen":[156],"Bewegungen":[157],"effektiv":[158],"umzugehen.":[159],"Diese":[160,249],"Abstraktion":[161],"des":[162,191,287],"Bildinhalts":[163],"sp\u00e4rlicher":[167],"Features":[168],"Genauigkeitsverlusten":[171],"f\u00fchren,":[172],"da":[173],"n\u00fctzliche":[174],"Details":[175],"wegfallen.":[176],"zweiten":[179],"Schritt":[180,190,200],"verfeinern":[181],"durch":[185,269],"direkte":[186],"Bildausrichtung.":[187],"diesem":[189],"Algorithmus":[192,302],"ber\u00fccksichtigen":[193],"Details,":[196],"ersten":[199],"ignoriert":[201],"wurden,":[202],"Pose":[206],"Pixelkorrespondenzen":[209],"sch\u00e4tzen.":[211,241],"Zweitens":[212],"effiziente":[215],"dichte":[216,233],"binokulare":[217],"Stereo-Matching-Algorithmen,":[218],"Echtzeit":[221],"an":[222],"Bord":[223],"unseres":[224,247,255],"experimentellen":[225],"MAV":[226],"ausgef\u00fchrt":[227],"Disparit\u00e4tskarten":[237,243],"Stereokamera":[239],"Hauptbestandteil":[246],"MAV.":[248],"Karten":[250],"Verfeinerungsschritt":[254],"Hybrid-Stereo-SLAMs":[256],"sowie":[257],"zur":[258,323,347],"Erstellung":[259],"3D-Belegungsrasterkarte":[261],"Pfadplaner.":[264],"zeigen,":[266],"dass":[267,358],"Kantenmerkmalen":[273],"speziellen":[276],"Variante":[277],"Delaunay-Triangulation":[279],"sowohl":[280],"Robustheit":[282],"als":[283],"auch":[284],"Effizienz":[286],"bekannten":[288],"lokalen":[289],"ELAS-Stereomatching-Algorithmus":[290],"verbessern":[291],"unsere":[295],"Ergebnisse":[296],"dem":[297],"Middleburry-Stereo-Benchmark":[298],"\u00fcbermittelt,":[299],"unser":[301],"ist":[303],"permanenten":[306],"Rangliste":[307],"dieses":[308],"Benchmarks":[309],"aufgef\u00fchrt.":[310],"Schlie\u00dflich":[311],"zeigen":[312,356],"Anwendung":[315],"oben":[317],"genannten":[318],"Algorithmen":[319],"System":[322,333],"autonomen":[324],"stereobasierten":[325],"Au\u00dfenbereichen.":[328],"modulares":[332],"entwickelt.":[334],"zus\u00e4tzliche":[337],"Module":[338],"hinzugef\u00fcgt,":[339],"3D-Belegungsrasterkarten":[341],"Roboterumgebung":[343],"erstellen":[345],"Planung":[348],"kollisionsfreier":[349],"Wege":[350],"3D-Raum.":[352],"unseren":[354],"Experimenten":[355],"wir,":[357],"gro\u00dfe":[360],"Umgebungen":[361],"mehreren":[363],"hundert":[364],"Keyframes":[365],"abbilden":[366]},"counts_by_year":[],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}