{"id":"https://openalex.org/W4392560165","doi":"https://doi.org/10.3390/s24051709","title":"Omni-OTPE: Omnidirectional Optimal Real-Time Ground Target Position Estimation System for Moving Lightweight Unmanned Aerial Vehicle","display_name":"Omni-OTPE: Omnidirectional Optimal Real-Time Ground Target Position Estimation System for Moving Lightweight Unmanned Aerial Vehicle","publication_year":2024,"publication_date":"2024-03-06","ids":{"openalex":"https://openalex.org/W4392560165","doi":"https://doi.org/10.3390/s24051709","pmid":"https://pubmed.ncbi.nlm.nih.gov/38475245"},"language":"en","primary_location":{"id":"doi:10.3390/s24051709","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24051709","pdf_url":"https://www.mdpi.com/1424-8220/24/5/1709/pdf?version=1709781360","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/1424-8220/24/5/1709/pdf?version=1709781360","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101726095","display_name":"Yi Ding","orcid":"https://orcid.org/0000-0001-5741-1765"},"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":"Yi Ding","raw_affiliation_strings":["The School of Automation Science and Electrical Engineering, Beihang University, Beijing 100083, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The School of Automation Science and Electrical Engineering, Beihang University, Beijing 100083, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103029635","display_name":"Jiaxing Che","orcid":"https://orcid.org/0000-0003-4970-5645"},"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":true,"raw_author_name":"Jiaxing Che","raw_affiliation_strings":["The School of Automation Science and Electrical Engineering, Beihang University, Beijing 100083, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The School of Automation Science and Electrical Engineering, Beihang University, Beijing 100083, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100599388","display_name":"Zhiming Zhou","orcid":"https://orcid.org/0000-0001-8990-6578"},"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":"Zhiming Zhou","raw_affiliation_strings":["The School of Automation Science and Electrical Engineering, Beihang University, Beijing 100083, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The School of Automation Science and Electrical Engineering, Beihang University, Beijing 100083, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5114133595","display_name":"Jingyuan Bian","orcid":null},"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":"Jingyuan Bian","raw_affiliation_strings":["The School of Automation Science and Electrical Engineering, Beihang University, Beijing 100083, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The School of Automation Science and Electrical Engineering, Beihang University, Beijing 100083, China","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5103029635"],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.03025377,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"24","issue":"5","first_page":"1709","last_page":"1709"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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/T12389","display_name":"Infrared Target Detection Methodologies","score":0.998199999332428,"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/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9965999722480774,"subfield":{"id":"https://openalex.org/subfields/3105","display_name":"Instrumentation"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7302173376083374},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6856385469436646},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6189007759094238},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5593125820159912},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.5462808012962341},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5385985970497131},{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.4629479646682739},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.33874183893203735},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.3008771538734436},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.12076601386070251}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7302173376083374},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6856385469436646},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6189007759094238},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5593125820159912},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.5462808012962341},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5385985970497131},{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.4629479646682739},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.33874183893203735},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.3008771538734436},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.12076601386070251},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/s24051709","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24051709","pdf_url":"https://www.mdpi.com/1424-8220/24/5/1709/pdf?version=1709781360","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:38475245","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/38475245","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:pubmedcentral.nih.gov:10934988","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/10934988","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC10934988/pdf/sensors-24-01709.pdf","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"},{"id":"pmh:oai:doaj.org/article:8aa1118d124e487791aa614bd92a8865","is_oa":true,"landing_page_url":"https://doaj.org/article/8aa1118d124e487791aa614bd92a8865","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 24, Iss 5, p 1709 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/s24051709","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24051709","pdf_url":"https://www.mdpi.com/1424-8220/24/5/1709/pdf?version=1709781360","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":[{"id":"https://metadata.un.org/sdg/14","score":0.47999998927116394,"display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4392560165.pdf"},"referenced_works_count":50,"referenced_works":["https://openalex.org/W1965305830","https://openalex.org/W1989085630","https://openalex.org/W2022506481","https://openalex.org/W2100893637","https://openalex.org/W2125556102","https://openalex.org/W2161969291","https://openalex.org/W2282789552","https://openalex.org/W2538243011","https://openalex.org/W2592723677","https://openalex.org/W2600447016","https://openalex.org/W2626710510","https://openalex.org/W2897757554","https://openalex.org/W2897806143","https://openalex.org/W2907589170","https://openalex.org/W2920961587","https://openalex.org/W2924078280","https://openalex.org/W2963037989","https://openalex.org/W2991236864","https://openalex.org/W3005230523","https://openalex.org/W3016627481","https://openalex.org/W3025711542","https://openalex.org/W3035782943","https://openalex.org/W3039448353","https://openalex.org/W3081605498","https://openalex.org/W3090198514","https://openalex.org/W3102636071","https://openalex.org/W3119954594","https://openalex.org/W3127084271","https://openalex.org/W3134210971","https://openalex.org/W3153464776","https://openalex.org/W3153564771","https://openalex.org/W3188445554","https://openalex.org/W3198395114","https://openalex.org/W4206511844","https://openalex.org/W4210760290","https://openalex.org/W4225879973","https://openalex.org/W4225988094","https://openalex.org/W4226227081","https://openalex.org/W4247899865","https://openalex.org/W4281561814","https://openalex.org/W4285235494","https://openalex.org/W4306147872","https://openalex.org/W4312529857","https://openalex.org/W4383113433","https://openalex.org/W4389459424","https://openalex.org/W4389666028","https://openalex.org/W4389666463","https://openalex.org/W4391328476","https://openalex.org/W6761108903","https://openalex.org/W6773834988"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4281783339","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W3188333020","https://openalex.org/W1964041166","https://openalex.org/W4293094720","https://openalex.org/W2739701376"],"abstract_inverted_index":{"Ground":[0,62],"target":[1,91,104,130,156,174,222],"detection":[2],"and":[3,20,73,87,102,188,196,216],"positioning":[4,182],"systems":[5],"based":[6,108,123],"on":[7,109,124,192],"lightweight":[8,194],"unmanned":[9],"aerial":[10,18],"vehicles":[11],"(UAVs)":[12],"are":[13,121,144,163],"increasing":[14],"in":[15,83,199],"value":[16],"for":[17,26,136],"reconnaissance":[19,50],"surveillance.":[21],"However,":[22],"the":[23,28,34,44,84,89,98,103,110,115,128,137,147,150,155,160,172,181],"current":[24],"method":[25,209],"estimating":[27],"target's":[29,151],"position":[30,92,131,152,175,223],"is":[31,80,93],"limited":[32],"by":[33,95],"field":[35],"of":[36,46,78,139,149],"view":[37],"angle,":[38],"rendering":[39],"it":[40,198],"challenging":[41],"to":[42,146,170,179],"fulfill":[43],"demands":[45],"a":[47,70,186,193,200,218],"real-time":[48,117,219],"omnidirectional":[49],"operation.":[51],"To":[52],"address":[53],"this":[54],"issue,":[55],"we":[56,184],"propose":[57],"an":[58,166],"Omnidirectional":[59],"Optimal":[60],"Real-Time":[61],"Target":[63],"Position":[64],"Estimation":[65],"System":[66],"(Omni-OTPE)":[67],"that":[68,143,207],"utilizes":[69],"fisheye":[71,85,99],"camera":[72],"LiDAR":[74],"sensors.":[75],"The":[76,203],"object":[77],"interest":[79],"first":[81],"identified":[82],"image,":[86],"then,":[88],"image-based":[90,129],"obtained":[94,158],"solving":[96],"using":[97,127,165],"projection":[100],"model":[101],"center":[105],"extraction":[106],"algorithm":[107],"detected":[111],"edge":[112],"information.":[113,132,153,176],"Next,":[114],"LiDAR's":[116],"point":[118,140],"cloud":[119,141],"data":[120],"filtered":[122],"position-direction":[125],"constraints":[126],"This":[133],"step":[134],"allows":[135],"determination":[138],"clusters":[142],"relevant":[145],"characterization":[148],"Finally,":[154],"positions":[157],"from":[159],"two":[161],"methods":[162,215],"fused":[164],"optimal":[167,173],"Kalman":[168],"fuser":[169],"obtain":[171],"In":[177],"order":[178],"evaluate":[180],"accuracy,":[183],"designed":[185],"hardware":[187],"software":[189],"setup,":[190],"mounted":[191],"UAV,":[195],"tested":[197],"real":[201],"scenario.":[202],"experimental":[204],"results":[205],"validate":[206],"our":[208],"exhibits":[210],"significant":[211],"advantages":[212],"over":[213],"traditional":[214],"achieves":[217],"high-performance":[220],"ground":[221],"estimation":[224],"function.":[225]},"counts_by_year":[],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}