{"id":"https://openalex.org/W2966053879","doi":"https://doi.org/10.3390/s19153410","title":"Autonomous Vision-Based Aerial Grasping for Rotorcraft Unmanned Aerial Vehicles","display_name":"Autonomous Vision-Based Aerial Grasping for Rotorcraft Unmanned Aerial Vehicles","publication_year":2019,"publication_date":"2019-08-03","ids":{"openalex":"https://openalex.org/W2966053879","doi":"https://doi.org/10.3390/s19153410","mag":"2966053879","pmid":"https://pubmed.ncbi.nlm.nih.gov/31382629"},"language":"en","primary_location":{"id":"doi:10.3390/s19153410","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19153410","pdf_url":"https://www.mdpi.com/1424-8220/19/15/3410/pdf?version=1565083744","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/1424-8220/19/15/3410/pdf?version=1565083744","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5038094922","display_name":"Lishan Lin","orcid":"https://orcid.org/0000-0001-5962-0712"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lishan Lin","raw_affiliation_strings":["School of Data and Computer Science, Sun Yat-sen University, Guangzhou 510006, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Data and Computer Science, Sun Yat-sen University, Guangzhou 510006, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046111298","display_name":"Yuji Yang","orcid":"https://orcid.org/0000-0003-2510-6365"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuji Yang","raw_affiliation_strings":["School of Data and Computer Science, Sun Yat-sen University, Guangzhou 510006, China"],"raw_orcid":"https://orcid.org/0000-0003-2510-6365","affiliations":[{"raw_affiliation_string":"School of Data and Computer Science, Sun Yat-sen University, Guangzhou 510006, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101409148","display_name":"Hui Cheng","orcid":"https://orcid.org/0000-0003-2579-7004"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Hui Cheng","raw_affiliation_strings":["School of Data and Computer Science, Sun Yat-sen University, Guangzhou 510006, China"],"raw_orcid":"https://orcid.org/0000-0003-2579-7004","affiliations":[{"raw_affiliation_string":"School of Data and Computer Science, Sun Yat-sen University, Guangzhou 510006, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008951098","display_name":"Xuechen Chen","orcid":"https://orcid.org/0000-0002-7683-2933"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuechen Chen","raw_affiliation_strings":["School of Data and Computer Science, Sun Yat-sen University, Guangzhou 510006, China"],"raw_orcid":"https://orcid.org/0000-0002-7683-2933","affiliations":[{"raw_affiliation_string":"School of Data and Computer Science, Sun Yat-sen University, Guangzhou 510006, China","institution_ids":["https://openalex.org/I157773358"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5101409148"],"corresponding_institution_ids":["https://openalex.org/I157773358"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":29.4076,"has_fulltext":true,"cited_by_count":37,"citation_normalized_percentile":{"value":0.99197294,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"19","issue":"15","first_page":"3410","last_page":"3410"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994999766349792,"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":0.9994999766349792,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9965000152587891,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.7569891214370728},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7460715770721436},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.7343761920928955},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5118550658226013},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.44313323497772217},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4311380982398987},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4016566276550293}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7569891214370728},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7460715770721436},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.7343761920928955},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5118550658226013},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.44313323497772217},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4311380982398987},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4016566276550293},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s19153410","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19153410","pdf_url":"https://www.mdpi.com/1424-8220/19/15/3410/pdf?version=1565083744","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:31382629","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/31382629","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:9352283d02a945879e25056d5457ce15","is_oa":true,"landing_page_url":"https://doaj.org/article/9352283d02a945879e25056d5457ce15","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 19, Iss 15, p 3410 (2019)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/19/15/3410/","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3390/s19153410","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","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:6696393","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/6696393","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/s19153410","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19153410","pdf_url":"https://www.mdpi.com/1424-8220/19/15/3410/pdf?version=1565083744","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/G2262559099","display_name":null,"funder_award_id":"2017B010116003","funder_id":"https://openalex.org/F4320335795","funder_display_name":"Science and Technology Planning Project of Guangdong Province"},{"id":"https://openalex.org/G2721473281","display_name":null,"funder_award_id":"2017A030310050","funder_id":"https://openalex.org/F4320321921","funder_display_name":"Natural Science Foundation of Guangdong Province"},{"id":"https://openalex.org/G573022218","display_name":null,"funder_award_id":"U1613211","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6098546482","display_name":null,"funder_award_id":"1614050001452","funder_id":"https://openalex.org/F4320321921","funder_display_name":"Natural Science Foundation of Guangdong Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321921","display_name":"Natural Science Foundation of Guangdong Province","ror":null},{"id":"https://openalex.org/F4320335795","display_name":"Science and Technology Planning Project of Guangdong Province","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2966053879.pdf","grobid_xml":"https://content.openalex.org/works/W2966053879.grobid-xml"},"referenced_works_count":36,"referenced_works":["https://openalex.org/W1548040463","https://openalex.org/W1560724230","https://openalex.org/W1859257994","https://openalex.org/W1999156278","https://openalex.org/W1999941908","https://openalex.org/W2012252652","https://openalex.org/W2015367954","https://openalex.org/W2065576483","https://openalex.org/W2089801374","https://openalex.org/W2100470808","https://openalex.org/W2110985829","https://openalex.org/W2111451384","https://openalex.org/W2121385616","https://openalex.org/W2138396958","https://openalex.org/W2154889144","https://openalex.org/W2161567010","https://openalex.org/W2201912979","https://openalex.org/W2295977886","https://openalex.org/W2523506879","https://openalex.org/W2568917080","https://openalex.org/W2613718673","https://openalex.org/W2772133881","https://openalex.org/W2785893832","https://openalex.org/W2792083172","https://openalex.org/W2794308024","https://openalex.org/W2796347433","https://openalex.org/W2809971797","https://openalex.org/W2889829150","https://openalex.org/W2890016919","https://openalex.org/W2911177228","https://openalex.org/W2911899333","https://openalex.org/W2953106684","https://openalex.org/W2963037989","https://openalex.org/W2963227409","https://openalex.org/W4230504900","https://openalex.org/W6683411478"],"related_works":["https://openalex.org/W2657478029","https://openalex.org/W4248427955","https://openalex.org/W2963326767","https://openalex.org/W2106333554","https://openalex.org/W2626503888","https://openalex.org/W2037306763","https://openalex.org/W2080808138","https://openalex.org/W2129483190","https://openalex.org/W2772917594","https://openalex.org/W2036807459"],"abstract_inverted_index":{"Autonomous":[0],"vision-based":[1,20,176],"aerial":[2,11,21,69,158,177],"grasping":[3,22,70,120,138,178],"is":[4,39,92,107,123],"an":[5,88],"essential":[6],"and":[7,52,58,62,75,80,140,150,162,182],"challenging":[8],"task":[9],"for":[10,24,67],"manipulation":[12],"missions.":[13],"In":[14],"this":[15],"paper,":[16],"we":[17],"propose":[18],"a":[19,25,33,42,45,50,53,103,115],"system":[23,38,179],"Rotorcraft":[26],"Unmanned":[27],"Aerial":[28],"Vehicle":[29],"(UAV)":[30],"to":[31,94,109,125,156],"grasp":[32,128,184],"target":[34,83,186],"object.":[35,113],"The":[36,169],"UAV":[37,149],"equipped":[40],"with":[41,49,131],"monocular":[43],"camera,":[44],"3-DOF":[46],"robotic":[47,152],"arm":[48,153],"gripper":[51],"Jetson":[54],"TK1":[55],"computer.":[56],"Efficient":[57],"reliable":[59],"visual":[60],"detectors":[61],"control":[63,145],"laws":[64,146],"are":[65,154],"crucial":[66],"autonomous":[68],"using":[71],"limited":[72],"onboard":[73],"sensing":[74],"computational":[76,133],"capabilities.":[77],"To":[78],"detect":[79],"track":[81,110],"the":[82,97,111,127,136,141,148,151,174,185],"object":[84,187],"in":[85],"real":[86],"time,":[87],"efficient":[89],"proposal":[90],"algorithm":[91],"presented":[93],"reliably":[95,183],"estimate":[96],"region":[98],"of":[99,147],"interest":[100],"(ROI),":[101],"then":[102],"correlation":[104],"filter-based":[105],"classifier":[106],"developed":[108],"detected":[112],"Moreover,":[114],"support":[116],"vector":[117],"regression":[118],"(SVR)-based":[119],"position":[121,139],"detector":[122],"proposed":[124,155,175],"improve":[126],"success":[129],"rate":[130],"high":[132],"efficiency.":[134],"Using":[135],"estimated":[137],"UAV?\u00c4\u00f4s":[142],"states,":[143],"novel":[144],"perform":[157],"grasping.":[159],"Extensive":[160],"simulations":[161],"outdoor":[163],"flight":[164],"experiments":[165],"have":[166],"been":[167],"implemented.":[168],"experimental":[170],"results":[171],"illustrate":[172],"that":[173],"can":[180],"autonomously":[181],"while":[188],"working":[189],"entirely":[190],"onboard.":[191]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":2}],"updated_date":"2026-05-28T09:10:13.091523","created_date":"2025-10-10T00:00:00"}