{"id":"https://openalex.org/W7106114179","doi":"https://doi.org/10.48550/arxiv.2511.14335","title":"Simultaneous Localization and 3D-Semi Dense Mapping for Micro Drones Using Monocular Camera and Inertial Sensors","display_name":"Simultaneous Localization and 3D-Semi Dense Mapping for Micro Drones Using Monocular Camera and Inertial Sensors","publication_year":2025,"publication_date":"2025-11-18","ids":{"openalex":"https://openalex.org/W7106114179","doi":"https://doi.org/10.48550/arxiv.2511.14335"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2511.14335","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2511.14335","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2511.14335","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Danial, Jeryes","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Danial, Jeryes","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Asher, Yosi Ben","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Asher, Yosi Ben","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":null,"display_name":"Klein, Itzik","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Klein, Itzik","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9843000173568726,"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":0.9843000173568726,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.00279999990016222,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.0027000000700354576,"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/monocular","display_name":"Monocular","score":0.6941999793052673},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6771000027656555},{"id":"https://openalex.org/keywords/fuse","display_name":"Fuse (electrical)","score":0.6371999979019165},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5468999743461609},{"id":"https://openalex.org/keywords/monocular-vision","display_name":"Monocular vision","score":0.48669999837875366},{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.48429998755455017},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.4602000117301941},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.4546999931335449},{"id":"https://openalex.org/keywords/ambiguity","display_name":"Ambiguity","score":0.41749998927116394}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.8205000162124634},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8192999958992004},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.6941999793052673},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6771000027656555},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.661300003528595},{"id":"https://openalex.org/C141353440","wikidata":"https://www.wikidata.org/wiki/Q182221","display_name":"Fuse (electrical)","level":2,"score":0.6371999979019165},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5468999743461609},{"id":"https://openalex.org/C158829959","wikidata":"https://www.wikidata.org/wiki/Q1640606","display_name":"Monocular vision","level":2,"score":0.48669999837875366},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.48429998755455017},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.4602000117301941},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.4546999931335449},{"id":"https://openalex.org/C2780522230","wikidata":"https://www.wikidata.org/wiki/Q1140419","display_name":"Ambiguity","level":2,"score":0.41749998927116394},{"id":"https://openalex.org/C162307627","wikidata":"https://www.wikidata.org/wiki/Q204833","display_name":"Enhanced Data Rates for GSM Evolution","level":2,"score":0.38609999418258667},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.3714999854564667},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.366100013256073},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.3540000021457672},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.34049999713897705},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.3239000141620636},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.28139999508857727},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.27379998564720154},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.27129998803138733},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.26499998569488525},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.25690001249313354},{"id":"https://openalex.org/C68537008","wikidata":"https://www.wikidata.org/wiki/Q247932","display_name":"Stereopsis","level":2,"score":0.2547000050544739},{"id":"https://openalex.org/C179458375","wikidata":"https://www.wikidata.org/wiki/Q1020763","display_name":"Bundle adjustment","level":3,"score":0.2542000114917755},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.2538999915122986}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2511.14335","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2511.14335","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2511.14335","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2511.14335","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[{"score":0.4686072766780853,"display_name":"Decent work and economic growth","id":"https://metadata.un.org/sdg/8"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Monocular":[0,38],"simultaneous":[1],"localization":[2],"and":[3,10,76,85,116,139,149,155,171],"mapping":[4,170],"(SLAM)":[5],"algorithms":[6,20],"estimate":[7],"drone":[8,134],"poses":[9],"build":[11],"a":[12,16,131,136],"3D":[13],"map":[14],"using":[15,107],"single":[17],"camera.":[18],"Current":[19],"include":[21],"sparse":[22,61],"methods":[23],"that":[24],"lack":[25],"detailed":[26],"geometry,":[27],"while":[28],"learning-driven":[29],"approaches":[30],"produce":[31],"dense":[32,66],"maps":[33],"but":[34],"are":[35],"computationally":[36],"intensive.":[37],"SLAM":[39,58],"also":[40],"faces":[41],"scale":[42,114],"ambiguities,":[43],"which":[44],"affect":[45],"its":[46],"accuracy.":[47,118],"To":[48],"address":[49],"these":[50],"challenges,":[51],"we":[52,144],"propose":[53],"an":[54,108,164],"edge-aware":[55],"lightweight":[56],"monocular":[57,137],"system":[59,120],"combining":[60],"keypoint-based":[62],"pose":[63],"estimation":[64],"with":[65,104,135],"edge":[67,77],"reconstruction.":[68],"Our":[69,161],"method":[70],"employs":[71],"deep":[72],"learning-based":[73],"depth":[74],"prediction":[75],"detection,":[78],"followed":[79],"by":[80,106],"optimization":[81],"to":[82,112,168],"refine":[83],"keypoints":[84],"edges":[86],"for":[87],"geometric":[88],"consistency,":[89],"without":[90],"relying":[91],"on":[92,125,130,156],"global":[93],"loop":[94],"closure":[95],"or":[96],"heavy":[97],"neural":[98],"computations.":[99],"We":[100],"fuse":[101],"inertial":[102,140],"data":[103],"vision":[105],"extended":[109],"Kalman":[110],"filter":[111],"resolve":[113],"ambiguity":[115],"improve":[117],"The":[119],"operates":[121],"in":[122,152,173],"real":[123],"time":[124],"low-power":[126],"platforms,":[127],"as":[128],"demonstrated":[129],"DJI":[132],"Tello":[133],"camera":[138],"sensors.":[141],"In":[142],"addition,":[143],"demonstrate":[145],"robust":[146],"autonomous":[147],"navigation":[148,172],"obstacle":[150],"avoidance":[151],"indoor":[153],"corridors":[154],"the":[157],"TUM":[158],"RGBD":[159],"dataset.":[160],"approach":[162],"offers":[163],"effective,":[165],"practical":[166],"solution":[167],"real-time":[169],"resource-constrained":[174],"environments.":[175]},"counts_by_year":[],"updated_date":"2025-11-20T23:17:41.989164","created_date":"2025-11-20T00:00:00"}
