{"id":"https://openalex.org/W2560702411","doi":"https://doi.org/10.3390/s16122071","title":"A Height Estimation Approach for Terrain Following Flights from Monocular Vision","display_name":"A Height Estimation Approach for Terrain Following Flights from Monocular Vision","publication_year":2016,"publication_date":"2016-12-06","ids":{"openalex":"https://openalex.org/W2560702411","doi":"https://doi.org/10.3390/s16122071","mag":"2560702411","pmid":"https://pubmed.ncbi.nlm.nih.gov/27929424"},"language":"en","primary_location":{"id":"doi:10.3390/s16122071","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s16122071","pdf_url":"https://www.mdpi.com/1424-8220/16/12/2071/pdf?version=1481017501","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/16/12/2071/pdf?version=1481017501","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5054436686","display_name":"Igor S.G. Campos","orcid":"https://orcid.org/0000-0001-5790-3719"},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR"],"is_corresponding":true,"raw_author_name":"Igor Campos","raw_affiliation_strings":["Department of Computer Science, Federal University of Minas Gerais, Belo Horizonte 31270-901, Brazil"],"raw_orcid":"https://orcid.org/0000-0001-5790-3719","affiliations":[{"raw_affiliation_string":"Department of Computer Science, Federal University of Minas Gerais, Belo Horizonte 31270-901, Brazil","institution_ids":["https://openalex.org/I110200422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002613601","display_name":"Erickson R. Nascimento","orcid":"https://orcid.org/0000-0003-2973-2232"},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Erickson Nascimento","raw_affiliation_strings":["Department of Computer Science, Federal University of Minas Gerais, Belo Horizonte 31270-901, Brazil"],"raw_orcid":"https://orcid.org/0000-0003-2973-2232","affiliations":[{"raw_affiliation_string":"Department of Computer Science, Federal University of Minas Gerais, Belo Horizonte 31270-901, Brazil","institution_ids":["https://openalex.org/I110200422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034989154","display_name":"Gustavo Freitas","orcid":"https://orcid.org/0000-0001-5343-7028"},"institutions":[{"id":"https://openalex.org/I165476936","display_name":"Vale (Brazil)","ror":"https://ror.org/05a99n355","country_code":"BR","type":"company","lineage":["https://openalex.org/I165476936"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Gustavo Freitas","raw_affiliation_strings":["Department of Automation and Process Integration, Vale Institute of Technology, Ouro Preto 35400-000, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automation and Process Integration, Vale Institute of Technology, Ouro Preto 35400-000, Brazil","institution_ids":["https://openalex.org/I165476936"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073879771","display_name":"Luiz Chaimowicz","orcid":"https://orcid.org/0000-0001-8156-9941"},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Luiz Chaimowicz","raw_affiliation_strings":["Department of Computer Science, Federal University of Minas Gerais, Belo Horizonte 31270-901, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Federal University of Minas Gerais, Belo Horizonte 31270-901, Brazil","institution_ids":["https://openalex.org/I110200422"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5054436686"],"corresponding_institution_ids":["https://openalex.org/I110200422"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":0.6758,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.78318074,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"16","issue":"12","first_page":"2071","last_page":"2071"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9991000294685364,"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/T10331","display_name":"Video Surveillance and Tracking Methods","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/terrain","display_name":"Terrain","score":0.8055179119110107},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6986584067344666},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6698935031890869},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6518121361732483},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.6302281022071838},{"id":"https://openalex.org/keywords/optical-flow","display_name":"Optical flow","score":0.6232138872146606},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.5424249172210693},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.19464436173439026},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.1377955675125122},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.09621411561965942}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.8055179119110107},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6986584067344666},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6698935031890869},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6518121361732483},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.6302281022071838},{"id":"https://openalex.org/C155542232","wikidata":"https://www.wikidata.org/wiki/Q736111","display_name":"Optical flow","level":3,"score":0.6232138872146606},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.5424249172210693},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.19464436173439026},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.1377955675125122},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.09621411561965942},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s16122071","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s16122071","pdf_url":"https://www.mdpi.com/1424-8220/16/12/2071/pdf?version=1481017501","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},{"id":"pmid:27929424","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/27929424","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:doaj.org/article:f005773675d543e8b760e7b665326d32","is_oa":true,"landing_page_url":"https://doaj.org/article/f005773675d543e8b760e7b665326d32","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","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":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 16, Iss 12, p 2071 (2016)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/16/12/2071/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s16122071","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":"Sensors; Volume 16; Issue 12; Pages: 2071","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:5191052","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/5191052","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"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":"Sensors (Basel)","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s16122071","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s16122071","pdf_url":"https://www.mdpi.com/1424-8220/16/12/2071/pdf?version=1481017501","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1604037130","https://openalex.org/W1969570716","https://openalex.org/W1980359755","https://openalex.org/W1989728025","https://openalex.org/W1996786605","https://openalex.org/W2065277437","https://openalex.org/W2102804817","https://openalex.org/W2115270410","https://openalex.org/W2118877769","https://openalex.org/W2146569448","https://openalex.org/W2149706766","https://openalex.org/W2159149419","https://openalex.org/W2167132660","https://openalex.org/W2248167665","https://openalex.org/W4236137412","https://openalex.org/W4238401120","https://openalex.org/W6679388247","https://openalex.org/W6690837337"],"related_works":["https://openalex.org/W17155033","https://openalex.org/W3207760230","https://openalex.org/W1496222301","https://openalex.org/W4312814274","https://openalex.org/W1590307681","https://openalex.org/W2536018345","https://openalex.org/W4285370786","https://openalex.org/W2296488620","https://openalex.org/W2358353312","https://openalex.org/W3005839910"],"abstract_inverted_index":{"In":[0],"this":[1,75],"paper,":[2],"we":[3,46,71,129],"present":[4],"a":[5,68,131],"monocular":[6],"vision-based":[7],"height":[8,86,125,167],"estimation":[9,126,168],"algorithm":[10,169],"for":[11,59,158,163],"terrain":[12,51,90],"following":[13,52,91],"flights.":[14,92],"The":[15,93,151],"impressive":[16],"growth":[17],"of":[18,33,97,155],"Unmanned":[19],"Aerial":[20],"Vehicle":[21],"(UAV)":[22],"usage,":[23],"notably":[24],"in":[25,76],"mapping":[26,65],"applications,":[27],"will":[28],"soon":[29],"require":[30],"the":[31,50,85,108,118,124,136,145,166],"creation":[32],"new":[34],"technologies":[35],"to":[36,40,48,73,78,83,101,116],"enable":[37],"these":[38],"systems":[39],"better":[41],"perceive":[42],"their":[43],"surroundings.":[44],"Specifically,":[45],"chose":[47,72],"tackle":[49],"problem,":[53],"as":[54,110,112,140],"it":[55],"is":[56,127,147],"still":[57],"unresolved":[58],"consumer":[60],"available":[61,81],"systems.":[62],"Virtually":[63],"every":[64],"aircraft":[66],"carries":[67],"camera;":[69],"therefore,":[70],"exploit":[74],"order":[77],"use":[79],"presently":[80],"hardware":[82],"extract":[84],"information":[87,115,139],"toward":[88],"performing":[89],"proposed":[94],"methodology":[95],"consists":[96],"using":[98],"optical":[99,137],"flow":[100,138],"track":[102],"features":[103],"from":[104],"videos":[105],"obtained":[106],"by":[107],"UAV,":[109],"well":[111],"its":[113],"motion":[114],"estimate":[117],"flying":[119],"height.":[120],"To":[121],"determine":[122],"if":[123],"reliable,":[128],"trained":[130],"decision":[132],"tree":[133],"that":[134],"takes":[135],"input":[141],"and":[142,160],"classifies":[143],"whether":[144],"output":[146],"trustworthy":[148],"or":[149],"not.":[150],"classifier":[152],"achieved":[153],"accuracies":[154],"80":[156],"%":[157,162],"positives":[159],"90":[161],"negatives,":[164],"while":[165],"presented":[170],"good":[171],"accuracy.":[172]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
