{"id":"https://openalex.org/W4379115956","doi":"https://doi.org/10.23919/date56975.2023.10137327","title":"Fully On-board Low-Power Localization with Multizone Time-of-Flight Sensors on Nano-UAVs","display_name":"Fully On-board Low-Power Localization with Multizone Time-of-Flight Sensors on Nano-UAVs","publication_year":2023,"publication_date":"2023-04-01","ids":{"openalex":"https://openalex.org/W4379115956","doi":"https://doi.org/10.23919/date56975.2023.10137327"},"language":"en","primary_location":{"id":"doi:10.23919/date56975.2023.10137327","is_oa":false,"landing_page_url":"https://doi.org/10.23919/date56975.2023.10137327","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 Design, Automation &amp; Test in Europe Conference &amp; Exhibition (DATE)","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/A5084685268","display_name":"Hanna M\u00fcller","orcid":"https://orcid.org/0000-0002-4942-6673"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Hanna M\u00fcller","raw_affiliation_strings":["Center for Project-Based Learning - ETH,Integrated Systems Laboratory,Z&#x00FC;rich,Switzerland"],"affiliations":[{"raw_affiliation_string":"Center for Project-Based Learning - ETH,Integrated Systems Laboratory,Z&#x00FC;rich,Switzerland","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047963642","display_name":"Nicky Zimmerman","orcid":"https://orcid.org/0000-0002-9105-0139"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]},{"id":"https://openalex.org/I4210105990","display_name":"Institute of Geodesy and Geophysics","ror":"https://ror.org/01gkn6j11","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210105990"]}],"countries":["CN","DE"],"is_corresponding":false,"raw_author_name":"Nicky Zimmerman","raw_affiliation_strings":["Institute of Geodesy and Geoinformation - University of Bonn"],"affiliations":[{"raw_affiliation_string":"Institute of Geodesy and Geoinformation - University of Bonn","institution_ids":["https://openalex.org/I4210105990","https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090142795","display_name":"Tommaso Polonelli","orcid":"https://orcid.org/0000-0003-0405-3612"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tommaso Polonelli","raw_affiliation_strings":["Center for Project-Based Learning - ETH,Integrated Systems Laboratory,Z&#x00FC;rich,Switzerland"],"affiliations":[{"raw_affiliation_string":"Center for Project-Based Learning - ETH,Integrated Systems Laboratory,Z&#x00FC;rich,Switzerland","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066423975","display_name":"Michele Magno","orcid":"https://orcid.org/0000-0003-0368-8923"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Michele Magno","raw_affiliation_strings":["Center for Project-Based Learning - ETH,Integrated Systems Laboratory,Z&#x00FC;rich,Switzerland"],"affiliations":[{"raw_affiliation_string":"Center for Project-Based Learning - ETH,Integrated Systems Laboratory,Z&#x00FC;rich,Switzerland","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068364473","display_name":"Jens Behley","orcid":null},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]},{"id":"https://openalex.org/I4210105990","display_name":"Institute of Geodesy and Geophysics","ror":"https://ror.org/01gkn6j11","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210105990"]}],"countries":["CN","DE"],"is_corresponding":false,"raw_author_name":"Jens Behley","raw_affiliation_strings":["Institute of Geodesy and Geoinformation - University of Bonn"],"affiliations":[{"raw_affiliation_string":"Institute of Geodesy and Geoinformation - University of Bonn","institution_ids":["https://openalex.org/I4210105990","https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011166267","display_name":"Cyrill Stachniss","orcid":"https://orcid.org/0000-0003-1173-6972"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]},{"id":"https://openalex.org/I4210105990","display_name":"Institute of Geodesy and Geophysics","ror":"https://ror.org/01gkn6j11","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210105990"]}],"countries":["CN","DE"],"is_corresponding":false,"raw_author_name":"Cyrill Stachniss","raw_affiliation_strings":["Institute of Geodesy and Geoinformation - University of Bonn"],"affiliations":[{"raw_affiliation_string":"Institute of Geodesy and Geoinformation - University of Bonn","institution_ids":["https://openalex.org/I4210105990","https://openalex.org/I135140700"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043408422","display_name":"Luca Benini","orcid":"https://orcid.org/0000-0001-8068-3806"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Luca Benini","raw_affiliation_strings":["Center for Project-Based Learning - ETH,Integrated Systems Laboratory,Z&#x00FC;rich,Switzerland"],"affiliations":[{"raw_affiliation_string":"Center for Project-Based Learning - ETH,Integrated Systems Laboratory,Z&#x00FC;rich,Switzerland","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5084685268"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.7769,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.95394165,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9968000054359436,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"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/computer-science","display_name":"Computer science","score":0.7268389463424683},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.5768057107925415},{"id":"https://openalex.org/keywords/speedup","display_name":"Speedup","score":0.5518761277198792},{"id":"https://openalex.org/keywords/latency","display_name":"Latency (audio)","score":0.48574501276016235},{"id":"https://openalex.org/keywords/memory-footprint","display_name":"Memory footprint","score":0.4564388692378998},{"id":"https://openalex.org/keywords/reduced-instruction-set-computing","display_name":"Reduced instruction set computing","score":0.4179793894290924},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.37612733244895935},{"id":"https://openalex.org/keywords/computer-hardware","display_name":"Computer hardware","score":0.277513325214386},{"id":"https://openalex.org/keywords/instruction-set","display_name":"Instruction set","score":0.22833526134490967},{"id":"https://openalex.org/keywords/parallel-computing","display_name":"Parallel computing","score":0.19324147701263428}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7268389463424683},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.5768057107925415},{"id":"https://openalex.org/C68339613","wikidata":"https://www.wikidata.org/wiki/Q1549489","display_name":"Speedup","level":2,"score":0.5518761277198792},{"id":"https://openalex.org/C82876162","wikidata":"https://www.wikidata.org/wiki/Q17096504","display_name":"Latency (audio)","level":2,"score":0.48574501276016235},{"id":"https://openalex.org/C74912251","wikidata":"https://www.wikidata.org/wiki/Q6815727","display_name":"Memory footprint","level":2,"score":0.4564388692378998},{"id":"https://openalex.org/C126298526","wikidata":"https://www.wikidata.org/wiki/Q189376","display_name":"Reduced instruction set computing","level":3,"score":0.4179793894290924},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.37612733244895935},{"id":"https://openalex.org/C9390403","wikidata":"https://www.wikidata.org/wiki/Q3966","display_name":"Computer hardware","level":1,"score":0.277513325214386},{"id":"https://openalex.org/C202491316","wikidata":"https://www.wikidata.org/wiki/Q272683","display_name":"Instruction set","level":2,"score":0.22833526134490967},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.19324147701263428},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.23919/date56975.2023.10137327","is_oa":false,"landing_page_url":"https://doi.org/10.23919/date56975.2023.10137327","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 Design, Automation &amp; Test in Europe Conference &amp; Exhibition (DATE)","raw_type":"proceedings-article"},{"id":"pmh:oai:cris.unibo.it:11585/957118","is_oa":false,"landing_page_url":"https://hdl.handle.net/11585/957118","pdf_url":null,"source":{"id":"https://openalex.org/S4306402579","display_name":"Archivio istituzionale della ricerca (Alma Mater Studiorum Universit\u00e0 di Bologna)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210117483","host_organization_name":"Istituto di Ematologia di Bologna","host_organization_lineage":["https://openalex.org/I4210117483"],"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":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1518641734","https://openalex.org/W1577509784","https://openalex.org/W1601378499","https://openalex.org/W1611476298","https://openalex.org/W2064972261","https://openalex.org/W2100346697","https://openalex.org/W2109749443","https://openalex.org/W2130363011","https://openalex.org/W2196524641","https://openalex.org/W2336416123","https://openalex.org/W2415769418","https://openalex.org/W2962989460","https://openalex.org/W2971417620","https://openalex.org/W2981762858","https://openalex.org/W2982095652","https://openalex.org/W3015235064","https://openalex.org/W3102552342","https://openalex.org/W3104641821","https://openalex.org/W3176058568","https://openalex.org/W3203242999","https://openalex.org/W3207677326","https://openalex.org/W3211635928","https://openalex.org/W4226424210","https://openalex.org/W4293566565","https://openalex.org/W4312449213","https://openalex.org/W4387385885"],"related_works":["https://openalex.org/W2058965144","https://openalex.org/W2164382479","https://openalex.org/W2146343568","https://openalex.org/W98480971","https://openalex.org/W2150291671","https://openalex.org/W2013643406","https://openalex.org/W2027972911","https://openalex.org/W4221139464","https://openalex.org/W4289827464","https://openalex.org/W1993387723"],"abstract_inverted_index":{"Nano-size":[0],"unmanned":[1],"aerial":[2],"vehicles":[3],"(UAVs)":[4],"hold":[5],"enormous":[6],"potential":[7],"to":[8,30,96,197],"perform":[9],"autonomous":[10,39],"operations":[11],"in":[12,56,147,154,202],"complex":[13],"environments,":[14],"such":[15],"as":[16,162,164],"inspection,":[17],"monitoring":[18],"or":[19],"data":[20],"collection.":[21],"Moreover,":[22],"their":[23],"small":[24],"size":[25],"allows":[26,195],"safe":[27],"operation":[28],"close":[29],"humans":[31],"and":[32,59,90,99,134,157,168,172,194],"agile":[33],"flight.":[34],"An":[35],"important":[36],"part":[37],"of":[38,120,207,214,232],"flight":[40],"is":[41,79,118,143],"localization,":[42],"a":[43,49,64,82,91,109,123,165,191,205],"computationally":[44],"intensive":[45],"task,":[46],"especially":[47],"on":[48,81,122,211],"nano-UAV":[50,110],"that":[51,114,182],"usually":[52],"has":[53],"strong":[54],"constraints":[55],"sensing,":[57],"processing":[58],"memory.":[60],"This":[61],"work":[62],"presents":[63],"real-time":[65,203],"localization":[66,146],"approach":[67,78],"with":[68,130,204],"low-element-count":[69],"multizone":[70],"range":[71],"sensors":[72],"for":[73,145,186],"resource-constrained":[74],"nano-UAVs.":[75],"The":[76,140],"proposed":[77,116],"based":[80],"novel":[83],"miniature":[84],"64-zone":[85],"time-of-flight":[86],"sensor":[87],"from":[88],"STMicroelectronics":[89],"RISC-V-based":[92],"parallel":[93],"ultra-low-power":[94],"processor":[95],"enable":[97],"accurate":[98],"low":[100],"latency":[101,206],"Monte":[102],"Carlo":[103],"Localization":[104],"on-board.":[105],"Experimental":[106,179],"evaluation":[107,180],"using":[108,155],"open":[111],"platform":[112],"demonstrated":[113],"the":[115,170,176,184,199,212,219],"solution":[117],"capable":[119],"localizing":[121],"31.2":[124],"m":[125,132],"<sup":[126],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[127],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">2</sup>":[128],"map":[129,167],"0.15":[131],"accuracy":[133,142,171],"an":[135,229],"above":[136],"95%":[137],"success":[138],"rate.":[139],"achieved":[141],"sufficient":[144],"common":[148],"indoor":[149],"environments.":[150],"We":[151],"analyze":[152],"trade-offs":[153],"full":[156],"half-precision":[158],"floating":[159],"point":[160],"numbers":[161],"well":[163],"quantized":[166],"evaluate":[169],"memory":[173],"footprint":[174],"across":[175],"design":[177],"space.":[178],"shows":[181],"parallelizing":[183],"execution":[185],"8":[187],"RISC-V":[188],"cores":[189],"brings":[190],"7x":[192],"speedup":[193],"us":[196],"execute":[198],"algorithm":[200],"onboard":[201],"0.2-30":[208],"ms":[209],"(depending":[210],"number":[213],"particles),":[215],"while":[216],"only":[217],"increasing":[218],"overall":[220],"drone":[221],"power":[222],"consumption":[223],"by":[224],"3\u20137%.":[225],"Finally,":[226],"we":[227],"provide":[228],"open-source":[230],"implementation":[231],"our":[233],"approach.":[234]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":4}],"updated_date":"2026-04-04T06:10:10.580331","created_date":"2025-10-10T00:00:00"}