{"id":"https://openalex.org/W2605735511","doi":"https://doi.org/10.3390/s17040802","title":"A Multi-Sensorial Simultaneous Localization and Mapping (SLAM) System for Low-Cost Micro Aerial Vehicles in GPS-Denied Environments","display_name":"A Multi-Sensorial Simultaneous Localization and Mapping (SLAM) System for Low-Cost Micro Aerial Vehicles in GPS-Denied Environments","publication_year":2017,"publication_date":"2017-04-08","ids":{"openalex":"https://openalex.org/W2605735511","doi":"https://doi.org/10.3390/s17040802","mag":"2605735511","pmid":"https://pubmed.ncbi.nlm.nih.gov/28397758"},"language":"en","primary_location":{"id":"doi:10.3390/s17040802","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s17040802","pdf_url":"https://www.mdpi.com/1424-8220/17/4/802/pdf?version=1491643733","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/1424-8220/17/4/802/pdf?version=1491643733","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101831518","display_name":"Elena L\u00f3pez","orcid":"https://orcid.org/0000-0002-8145-9045"},"institutions":[{"id":"https://openalex.org/I189268942","display_name":"Universidad de Alcal\u00e1","ror":"https://ror.org/04pmn0e78","country_code":"ES","type":"education","lineage":["https://openalex.org/I189268942"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Elena L\u00f3pez","raw_affiliation_strings":["Electronics Department, University of Alcal\u00e1, Campus Universitario, 28805 Alcal\u00e1 de Henares, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electronics Department, University of Alcal\u00e1, Campus Universitario, 28805 Alcal\u00e1 de Henares, Spain","institution_ids":["https://openalex.org/I189268942"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073399750","display_name":"Sergio de Frutos","orcid":"https://orcid.org/0000-0002-1225-5911"},"institutions":[{"id":"https://openalex.org/I189268942","display_name":"Universidad de Alcal\u00e1","ror":"https://ror.org/04pmn0e78","country_code":"ES","type":"education","lineage":["https://openalex.org/I189268942"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Sergio Garc\u00eda","raw_affiliation_strings":["Electronics Department, University of Alcal\u00e1, Campus Universitario, 28805 Alcal\u00e1 de Henares, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electronics Department, University of Alcal\u00e1, Campus Universitario, 28805 Alcal\u00e1 de Henares, Spain","institution_ids":["https://openalex.org/I189268942"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069067193","display_name":"Rafael Barea","orcid":"https://orcid.org/0000-0002-4179-6100"},"institutions":[{"id":"https://openalex.org/I189268942","display_name":"Universidad de Alcal\u00e1","ror":"https://ror.org/04pmn0e78","country_code":"ES","type":"education","lineage":["https://openalex.org/I189268942"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Rafael Barea","raw_affiliation_strings":["Electronics Department, University of Alcal\u00e1, Campus Universitario, 28805 Alcal\u00e1 de Henares, Spain"],"raw_orcid":"https://orcid.org/0000-0002-4179-6100","affiliations":[{"raw_affiliation_string":"Electronics Department, University of Alcal\u00e1, Campus Universitario, 28805 Alcal\u00e1 de Henares, Spain","institution_ids":["https://openalex.org/I189268942"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077780013","display_name":"Luis M. Bergasa","orcid":"https://orcid.org/0000-0002-0087-3077"},"institutions":[{"id":"https://openalex.org/I189268942","display_name":"Universidad de Alcal\u00e1","ror":"https://ror.org/04pmn0e78","country_code":"ES","type":"education","lineage":["https://openalex.org/I189268942"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Luis Bergasa","raw_affiliation_strings":["Electronics Department, University of Alcal\u00e1, Campus Universitario, 28805 Alcal\u00e1 de Henares, Spain"],"raw_orcid":"https://orcid.org/0000-0002-0087-3077","affiliations":[{"raw_affiliation_string":"Electronics Department, University of Alcal\u00e1, Campus Universitario, 28805 Alcal\u00e1 de Henares, Spain","institution_ids":["https://openalex.org/I189268942"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070578341","display_name":"Eduardo Molinos","orcid":null},"institutions":[{"id":"https://openalex.org/I189268942","display_name":"Universidad de Alcal\u00e1","ror":"https://ror.org/04pmn0e78","country_code":"ES","type":"education","lineage":["https://openalex.org/I189268942"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Eduardo Molinos","raw_affiliation_strings":["Electronics Department, University of Alcal\u00e1, Campus Universitario, 28805 Alcal\u00e1 de Henares, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electronics Department, University of Alcal\u00e1, Campus Universitario, 28805 Alcal\u00e1 de Henares, Spain","institution_ids":["https://openalex.org/I189268942"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023114838","display_name":"Roberto Arroyo","orcid":"https://orcid.org/0000-0003-2649-0477"},"institutions":[{"id":"https://openalex.org/I189268942","display_name":"Universidad de Alcal\u00e1","ror":"https://ror.org/04pmn0e78","country_code":"ES","type":"education","lineage":["https://openalex.org/I189268942"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Roberto Arroyo","raw_affiliation_strings":["Electronics Department, University of Alcal\u00e1, Campus Universitario, 28805 Alcal\u00e1 de Henares, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electronics Department, University of Alcal\u00e1, Campus Universitario, 28805 Alcal\u00e1 de Henares, Spain","institution_ids":["https://openalex.org/I189268942"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101838212","display_name":"Eduardo Romera","orcid":"https://orcid.org/0000-0001-6250-6160"},"institutions":[{"id":"https://openalex.org/I189268942","display_name":"Universidad de Alcal\u00e1","ror":"https://ror.org/04pmn0e78","country_code":"ES","type":"education","lineage":["https://openalex.org/I189268942"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Eduardo Romera","raw_affiliation_strings":["Electronics Department, University of Alcal\u00e1, Campus Universitario, 28805 Alcal\u00e1 de Henares, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electronics Department, University of Alcal\u00e1, Campus Universitario, 28805 Alcal\u00e1 de Henares, Spain","institution_ids":["https://openalex.org/I189268942"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020649929","display_name":"Samuel Pardo","orcid":null},"institutions":[{"id":"https://openalex.org/I189268942","display_name":"Universidad de Alcal\u00e1","ror":"https://ror.org/04pmn0e78","country_code":"ES","type":"education","lineage":["https://openalex.org/I189268942"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Samuel Pardo","raw_affiliation_strings":["Electronics Department, University of Alcal\u00e1, Campus Universitario, 28805 Alcal\u00e1 de Henares, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electronics Department, University of Alcal\u00e1, Campus Universitario, 28805 Alcal\u00e1 de Henares, Spain","institution_ids":["https://openalex.org/I189268942"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5101831518"],"corresponding_institution_ids":["https://openalex.org/I189268942"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":101.0618,"has_fulltext":true,"cited_by_count":78,"citation_normalized_percentile":{"value":0.99858452,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"17","issue":"4","first_page":"802","last_page":"802"},"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9962000250816345,"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":0.9950000047683716,"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/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.8660016059875488},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.7956641912460327},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.7724741697311401},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7287729978561401},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6970014572143555},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.6392462253570557},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5897431373596191},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.515405535697937},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.48973846435546875},{"id":"https://openalex.org/keywords/monocular-vision","display_name":"Monocular vision","score":0.430631548166275},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.4100268483161926},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2794095277786255}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.8660016059875488},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.7956641912460327},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.7724741697311401},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7287729978561401},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6970014572143555},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.6392462253570557},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5897431373596191},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.515405535697937},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.48973846435546875},{"id":"https://openalex.org/C158829959","wikidata":"https://www.wikidata.org/wiki/Q1640606","display_name":"Monocular vision","level":2,"score":0.430631548166275},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.4100268483161926},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2794095277786255},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s17040802","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s17040802","pdf_url":"https://www.mdpi.com/1424-8220/17/4/802/pdf?version=1491643733","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:28397758","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/28397758","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:ebuah.uah.es:10017/43211","is_oa":true,"landing_page_url":"http://hdl.handle.net/10017/43211","pdf_url":"https://ebuah.uah.es/dspace/bitstream/10017/43211/4/Multi_sensorial_Sensors_2017.pdf","source":{"id":"https://openalex.org/S7407055200","display_name":"e_Buah","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-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:europepmc.org:4275854","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/5422163","pdf_url":null,"source":{"id":"https://openalex.org/S4306400806","display_name":"Europe PMC (PubMed Central)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1303153112","host_organization_name":"European Bioinformatics Institute","host_organization_lineage":["https://openalex.org/I1303153112"],"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":null,"raw_type":"Text"},{"id":"pmh:oai:mdpi.com:/1424-8220/17/4/802/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s17040802","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 17; Issue 4; Pages: 802","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s17040802","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s17040802","pdf_url":"https://www.mdpi.com/1424-8220/17/4/802/pdf?version=1491643733","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":[{"id":"https://openalex.org/G3216000229","display_name":null,"funder_award_id":"S2013","funder_id":"https://openalex.org/F4320313831","funder_display_name":"Comunidad de Madrid"},{"id":"https://openalex.org/G5615206813","display_name":null,"funder_award_id":"S2013/MIT-2748","funder_id":"https://openalex.org/F4320313831","funder_display_name":"Comunidad de Madrid"}],"funders":[{"id":"https://openalex.org/F4320313831","display_name":"Comunidad de Madrid","ror":null},{"id":"https://openalex.org/F4320323755","display_name":"Universidad de Alcal\u00e1","ror":"https://ror.org/04pmn0e78"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2605735511.pdf","grobid_xml":"https://content.openalex.org/works/W2605735511.grobid-xml"},"referenced_works_count":51,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W765118411","https://openalex.org/W1612997784","https://openalex.org/W1617689420","https://openalex.org/W1859392641","https://openalex.org/W1942635339","https://openalex.org/W1967653388","https://openalex.org/W1967740178","https://openalex.org/W1970480246","https://openalex.org/W1970504153","https://openalex.org/W2003392405","https://openalex.org/W2006501475","https://openalex.org/W2012421030","https://openalex.org/W2015144449","https://openalex.org/W2031672365","https://openalex.org/W2052636060","https://openalex.org/W2080861014","https://openalex.org/W2081741527","https://openalex.org/W2102303010","https://openalex.org/W2105934661","https://openalex.org/W2108770514","https://openalex.org/W2118104180","https://openalex.org/W2129950897","https://openalex.org/W2130422193","https://openalex.org/W2137670671","https://openalex.org/W2151290401","https://openalex.org/W2156715992","https://openalex.org/W2162991084","https://openalex.org/W2166721300","https://openalex.org/W2210972093","https://openalex.org/W2243794092","https://openalex.org/W2244938811","https://openalex.org/W2288477559","https://openalex.org/W2295977886","https://openalex.org/W2329207804","https://openalex.org/W2341206387","https://openalex.org/W2461937780","https://openalex.org/W2467423358","https://openalex.org/W2502039689","https://openalex.org/W2509493982","https://openalex.org/W2519559998","https://openalex.org/W2537007072","https://openalex.org/W2544041682","https://openalex.org/W2561845008","https://openalex.org/W2585637135","https://openalex.org/W3103648783","https://openalex.org/W3124420883","https://openalex.org/W4210678508","https://openalex.org/W4244284111","https://openalex.org/W6688809243","https://openalex.org/W7070970630"],"related_works":["https://openalex.org/W2125308530","https://openalex.org/W2034836143","https://openalex.org/W1541079531","https://openalex.org/W2980755614","https://openalex.org/W2122489470","https://openalex.org/W1981991040","https://openalex.org/W2467646110","https://openalex.org/W2583542422","https://openalex.org/W3001939774","https://openalex.org/W2164471481"],"abstract_inverted_index":{"One":[0],"of":[1,5,41,62,97,115,169],"the":[2,19,36,59,63,113,140,157,170,175,180,194],"main":[3],"challenges":[4],"aerial":[6,45,64],"robots":[7],"navigation":[8],"in":[9,128],"indoor":[10],"or":[11],"GPS-denied":[12],"environments":[13],"is":[14,51,94],"position":[15,172,201],"estimation":[16,168,178],"using":[17,80],"only":[18],"available":[20],"onboard":[21,48,91],"sensors.":[22],"This":[23],"paper":[24],"presents":[25],"a":[26,89,98,148,161,166],"Simultaneous":[27],"Localization":[28],"and":[29,38,106,122,126,135,144,165,192],"Mapping":[30],"(SLAM)":[31],"system":[32,56,195],"that":[33,173],"remotely":[34],"calculates":[35],"pose":[37,177],"environment":[39],"map":[40,164],"different":[42,68,189],"low-cost":[43],"commercial":[44,190],"platforms,":[46,191],"whose":[47],"computing":[49],"capacity":[50],"usually":[52],"limited.":[53],"The":[54],"proposed":[55],"adapts":[57],"to":[58,111,139,156,199],"sensory":[60,92],"configuration":[61,93],"robot,":[65],"by":[66,131,196],"integrating":[67],"state-of-the":[69],"art":[70],"SLAM":[71,119,158],"methods":[72,120],"based":[73],"on":[74],"vision,":[75],"laser":[76,150],"and/or":[77],"inertial":[78],"measurements":[79],"an":[81,101,107],"Extended":[82],"Kalman":[83],"Filter":[84],"(EKF).":[85],"To":[86],"do":[87],"this,":[88],"minimum":[90],"supposed,":[95],"consisting":[96],"monocular":[99,117],"camera,":[100],"Inertial":[102],"Measurement":[103],"Unit":[104],"(IMU)":[105],"altimeter.":[108],"It":[109],"allows":[110],"improve":[112],"results":[114,186],"well-known":[116],"visual":[118],"(LSD-SLAM":[121],"ORB-SLAM":[123],"are":[124],"tested":[125],"compared":[127],"this":[129],"work)":[130],"solving":[132],"scale":[133],"ambiguity":[134],"providing":[136],"additional":[137],"information":[138],"EKF.":[141,181],"When":[142],"payload":[143],"computational":[145],"capabilities":[146],"permit,":[147],"2D":[149],"sensor":[151],"can":[152],"be":[153],"easily":[154],"incorporated":[155],"system,":[159],"obtaining":[160],"local":[162],"2.5D":[163],"footprint":[167],"robot":[171],"improves":[174],"6D":[176],"through":[179],"We":[182],"present":[183],"some":[184],"experimental":[185],"with":[187],"two":[188],"validate":[193],"applying":[197],"it":[198],"their":[200],"control.":[202]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":12},{"year":2021,"cited_by_count":11},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":9},{"year":2018,"cited_by_count":11},{"year":2017,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}