{"id":"https://openalex.org/W4401686666","doi":"https://doi.org/10.3390/rs16163038","title":"Loop Detection Method Based on Neural Radiance Field BoW Model for Visual Inertial Navigation of UAVs","display_name":"Loop Detection Method Based on Neural Radiance Field BoW Model for Visual Inertial Navigation of UAVs","publication_year":2024,"publication_date":"2024-08-19","ids":{"openalex":"https://openalex.org/W4401686666","doi":"https://doi.org/10.3390/rs16163038"},"language":"en","primary_location":{"id":"doi:10.3390/rs16163038","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs16163038","pdf_url":"https://www.mdpi.com/2072-4292/16/16/3038/pdf?version=1724058446","source":{"id":"https://openalex.org/S43295729","display_name":"Remote Sensing","issn_l":"2072-4292","issn":["2072-4292"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Remote Sensing","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2072-4292/16/16/3038/pdf?version=1724058446","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100439409","display_name":"Xiaoyue Zhang","orcid":"https://orcid.org/0000-0002-0601-9402"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoyue Zhang","raw_affiliation_strings":["School of Instrumentation and Optoelectronic Engineering, Beihang University, Beijing 100191, China","The National Key Laboratory of Inertial Technology, Beihang University, Beijing 100083, China"],"affiliations":[{"raw_affiliation_string":"School of Instrumentation and Optoelectronic Engineering, Beihang University, Beijing 100191, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"The National Key Laboratory of Inertial Technology, Beihang University, Beijing 100083, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011627176","display_name":"Yue Cui","orcid":"https://orcid.org/0000-0003-0768-5930"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yue Cui","raw_affiliation_strings":["School of Instrumentation and Optoelectronic Engineering, Beihang University, Beijing 100191, China","The National Key Laboratory of Inertial Technology, Beihang University, Beijing 100083, China"],"affiliations":[{"raw_affiliation_string":"School of Instrumentation and Optoelectronic Engineering, Beihang University, Beijing 100191, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"The National Key Laboratory of Inertial Technology, Beihang University, Beijing 100083, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111294786","display_name":"Yanchao Ren","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Yanchao Ren","raw_affiliation_strings":["Hunan Vanguard Group Company Limited, Changsha 410137, China"],"affiliations":[{"raw_affiliation_string":"Hunan Vanguard Group Company Limited, Changsha 410137, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112941107","display_name":"Guodong Duan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Guodong Duan","raw_affiliation_strings":["Hunan Vanguard Group Company Limited, Changsha 410137, China"],"affiliations":[{"raw_affiliation_string":"Hunan Vanguard Group Company Limited, Changsha 410137, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068546317","display_name":"Huanrui Zhang","orcid":"https://orcid.org/0000-0002-9766-7607"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huanrui Zhang","raw_affiliation_strings":["School of Instrumentation and Optoelectronic Engineering, Beihang University, Beijing 100191, China","The National Key Laboratory of Inertial Technology, Beihang University, Beijing 100083, China"],"affiliations":[{"raw_affiliation_string":"School of Instrumentation and Optoelectronic Engineering, Beihang University, Beijing 100191, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"The National Key Laboratory of Inertial Technology, Beihang University, Beijing 100083, China","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5111294786"],"corresponding_institution_ids":[],"apc_list":{"value":2500,"currency":"CHF","value_usd":2707},"apc_paid":{"value":2500,"currency":"CHF","value_usd":2707},"fwci":1.5572,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.85202558,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":"16","issue":"16","first_page":"3038","last_page":"3038"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9972000122070312,"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-science","display_name":"Computer science","score":0.7961970567703247},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7465195655822754},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7166901230812073},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.41774600744247437}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7961970567703247},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7465195655822754},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7166901230812073},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.41774600744247437},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/rs16163038","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs16163038","pdf_url":"https://www.mdpi.com/2072-4292/16/16/3038/pdf?version=1724058446","source":{"id":"https://openalex.org/S43295729","display_name":"Remote Sensing","issn_l":"2072-4292","issn":["2072-4292"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Remote Sensing","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:77111bc84b164ceea329081da1c6e9c9","is_oa":true,"landing_page_url":"https://doaj.org/article/77111bc84b164ceea329081da1c6e9c9","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Remote Sensing, Vol 16, Iss 16, p 3038 (2024)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2072-4292/16/16/3038/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/rs16163038","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Remote Sensing","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/rs16163038","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs16163038","pdf_url":"https://www.mdpi.com/2072-4292/16/16/3038/pdf?version=1724058446","source":{"id":"https://openalex.org/S43295729","display_name":"Remote Sensing","issn_l":"2072-4292","issn":["2072-4292"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Remote Sensing","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4401686666.pdf"},"referenced_works_count":46,"referenced_works":["https://openalex.org/W301022506","https://openalex.org/W1703761565","https://openalex.org/W1989484209","https://openalex.org/W2115499947","https://openalex.org/W2131846894","https://openalex.org/W2144824356","https://openalex.org/W2151290401","https://openalex.org/W2170282673","https://openalex.org/W2396274919","https://openalex.org/W2471962767","https://openalex.org/W2503339013","https://openalex.org/W2535547924","https://openalex.org/W2565755350","https://openalex.org/W2745859992","https://openalex.org/W2784112303","https://openalex.org/W2785901219","https://openalex.org/W3025835483","https://openalex.org/W3038304791","https://openalex.org/W3043971245","https://openalex.org/W3102327032","https://openalex.org/W3102617634","https://openalex.org/W3109585842","https://openalex.org/W3112452663","https://openalex.org/W3131713303","https://openalex.org/W3155277185","https://openalex.org/W3158076487","https://openalex.org/W3176179930","https://openalex.org/W3177583232","https://openalex.org/W3184865019","https://openalex.org/W3203570626","https://openalex.org/W3215769467","https://openalex.org/W4206046513","https://openalex.org/W4206738554","https://openalex.org/W4210678508","https://openalex.org/W4210985923","https://openalex.org/W4214564845","https://openalex.org/W4214579621","https://openalex.org/W4214768561","https://openalex.org/W4221151978","https://openalex.org/W4283275138","https://openalex.org/W4312629830","https://openalex.org/W4312878643","https://openalex.org/W4366826249","https://openalex.org/W4383109324","https://openalex.org/W4389665446","https://openalex.org/W6787001469"],"related_works":["https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2772917594","https://openalex.org/W2775347418","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":{"The":[0],"loop":[1,114,156,190],"closure":[2,115],"detection":[3],"(LCD)":[4],"methods":[5],"in":[6,32],"Unmanned":[7],"Aerial":[8],"Vehicle":[9],"(UAV)":[10],"Visual":[11],"Inertial":[12],"Navigation":[13],"System":[14],"(VINS)":[15],"are":[16,152],"often":[17],"affected":[18],"by":[19,201],"issues":[20],"such":[21],"as":[22],"insufficient":[23,105],"image":[24,102,145],"texture":[25,106],"information":[26,107],"and":[27,37,65,80,104,122,141,147,161,163,207,213],"limited":[28,95],"observational":[29,96],"perspectives,":[30],"resulting":[31],"constrained":[33],"UAV":[34],"positioning":[35,196],"accuracy":[36,121,222],"reduced":[38,200],"capability":[39],"to":[40,76,92,118,154,159],"perform":[41],"complex":[42],"tasks.":[43],"This":[44],"study":[45],"proposes":[46],"a":[47,88,128],"Bag-of-Words":[48],"(BoW)":[49],"LCD":[50,181],"method":[51,73,132,151,182,212],"based":[52],"on":[53],"Neural":[54],"Radiance":[55],"Field":[56],"(NeRF),":[57],"which":[58],"estimates":[59],"camera":[60],"poses":[61],"from":[62],"existing":[63],"images":[64,82],"achieves":[66],"rapid":[67],"scene":[68],"reconstruction":[69],"through":[70],"NeRF.":[71],"A":[72],"is":[74,199],"designed":[75,153],"select":[77],"virtual":[78,144],"viewpoints":[79,110],"render":[81],"along":[83],"the":[84,94,99,113,120,135,166,172,178,193,205,210,220],"flight":[85],"trajectory":[86],"using":[87],"specific":[89,109],"sampling":[90],"approach":[91],"expand":[93],"angles,":[97],"mitigating":[98],"impact":[100],"of":[101,125,137,171,209,223],"blur":[103],"at":[108],"while":[111,192],"enlarging":[112],"candidate":[116],"frames":[117],"improve":[119],"success":[123],"rate":[124],"LCD.":[126],"Additionally,":[127],"BoW":[129,168,180],"vector":[130],"construction":[131],"that":[133,177],"incorporates":[134],"importance":[136,217],"similar":[138],"visual":[139],"words":[140],"an":[142],"adapted":[143],"filtering":[146],"comprehensive":[148],"scoring":[149],"calculation":[150],"determine":[155],"closures.":[157],"Applied":[158],"VINS-Mono":[160],"ORB-SLAM3,":[162],"compared":[164],"with":[165],"advanced":[167],"model":[169],"LCDs":[170],"two":[173],"systems,":[174],"results":[175],"indicate":[176],"NeRF-based":[179],"can":[183],"detect":[184],"more":[185],"than":[186],"48%":[187],"additional":[188],"accurate":[189],"closures,":[191],"system\u2019s":[194],"navigation":[195,221],"error":[197],"mean":[198],"over":[202],"46%,":[203],"validating":[204],"effectiveness":[206],"superiority":[208],"proposed":[211],"demonstrating":[214],"its":[215],"significant":[216],"for":[218],"improving":[219],"VINS.":[224]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-01-23T23:20:30.427331","created_date":"2025-10-10T00:00:00"}
