{"id":"https://openalex.org/W4393682071","doi":"https://doi.org/10.5281/zenodo.10546408","title":"Stargate: Multimodal Sensor Fusion for Autonomous Navigation on Miniaturized UAVs","display_name":"Stargate: Multimodal Sensor Fusion for Autonomous Navigation on Miniaturized UAVs","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4393682071","doi":"https://doi.org/10.5281/zenodo.10546408"},"language":"en","primary_location":{"id":"doi:10.5281/zenodo.10546408","is_oa":true,"landing_page_url":"https://doi.org/10.5281/zenodo.10546408","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"dataset"},"type":"dataset","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.5281/zenodo.10546408","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5093869044","display_name":"Konstantin Kalenberg","orcid":"https://orcid.org/0009-0000-1906-3675"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Kalenberg, Konstantin","raw_affiliation_strings":["ETH Zurich"],"affiliations":[{"raw_affiliation_string":"ETH Zurich","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084685268","display_name":"Hanna M\u00fcller","orcid":"https://orcid.org/0000-0002-4942-6673"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"M\u00fcller, Hanna","raw_affiliation_strings":["ETH Zurich"],"affiliations":[{"raw_affiliation_string":"ETH Zurich","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090142795","display_name":"Tommaso Polonelli","orcid":"https://orcid.org/0000-0003-0405-3612"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Polonelli, Tommaso","raw_affiliation_strings":["ETH Zurich"],"affiliations":[{"raw_affiliation_string":"ETH Zurich","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025995049","display_name":"Alberto Schiaffino","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Schiaffino, Alberto","raw_affiliation_strings":["ETH Zurich"],"affiliations":[{"raw_affiliation_string":"ETH Zurich","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034659525","display_name":"Vlad Niculescu","orcid":"https://orcid.org/0000-0003-4214-1410"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Niculescu, Vlad","raw_affiliation_strings":["ETH Zurich"],"affiliations":[{"raw_affiliation_string":"ETH Zurich","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017878657","display_name":"Cristian Cioflan","orcid":"https://orcid.org/0000-0003-3243-4551"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Cioflan, Cristian","raw_affiliation_strings":["ETH Zurich"],"affiliations":[{"raw_affiliation_string":"ETH Zurich","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066423975","display_name":"Michele Magno","orcid":"https://orcid.org/0000-0003-0368-8923"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Magno, Michele","raw_affiliation_strings":["ETH Zurich"],"affiliations":[{"raw_affiliation_string":"ETH Zurich","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043408422","display_name":"Luca Benini","orcid":"https://orcid.org/0000-0001-8068-3806"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Benini, Luca","raw_affiliation_strings":["ETH Zurich"],"affiliations":[{"raw_affiliation_string":"ETH Zurich","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5093869044"],"corresponding_institution_ids":["https://openalex.org/I35440088"],"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":0.9785000085830688,"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":0.9785000085830688,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.972000002861023,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.9550999999046326,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.5517513155937195},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5323033332824707},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.4952448904514313},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38822272419929504},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.36979037523269653}],"concepts":[{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.5517513155937195},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5323033332824707},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.4952448904514313},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38822272419929504},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.36979037523269653},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.5281/zenodo.10546408","is_oa":true,"landing_page_url":"https://doi.org/10.5281/zenodo.10546408","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"dataset"}],"best_oa_location":{"id":"doi:10.5281/zenodo.10546408","is_oa":true,"landing_page_url":"https://doi.org/10.5281/zenodo.10546408","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"dataset"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2772917594","https://openalex.org/W2775347418","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Autonomously":[0],"navigating":[1],"robots":[2],"need":[3],"to":[4,19,67,85,106,176,197],"perceive":[5],"and":[6,23,31,57,95,108,136,161,200,212,229],"interpret":[7],"their":[8,20],"surroundings.":[9],"Currently,":[10],"cameras":[11,64,75],"are":[12,61,65,144,232],"among":[13],"the":[14,147,159,198,201,219,223,226],"most":[15],"used":[16],"sensors":[17],"due":[18],"high":[21],"resolution":[22],"frame":[24],"rates":[25],"at":[26],"relatively":[27],"low":[28,52,58],"energy":[29],"consumption":[30],"cost.":[32],"In":[33,100,243],"recent":[34],"years,":[35],"cutting-edge":[36],"sensors,":[37],"such":[38],"as":[39],"miniaturized":[40],"depth":[41,74,93],"cameras,":[42],"have":[43,76],"demonstrated":[44],"strong":[45],"potential,":[46],"specifically":[47,195],"for":[48],"nano-size":[49],"UAVs,":[50],"where":[51],"power":[53],"consumption,":[54],"lightweight":[55,115],"hardware,":[56],"computational":[59],"demand":[60],"essential.":[62],"However,":[63],"limited":[66,78],"working":[68],"under":[69],"good":[70],"lighting":[71],"conditions,":[72],"while":[73],"a":[77,87,96,103,111,114,151,172,186,215,246,255],"range.":[79],"To":[80],"maximize":[81],"robustness,":[82],"we":[83],"propose":[84],"fuse":[86],"millimeter":[88],"form":[89],"factor":[90],"64":[91],"pixel":[92],"sensor":[94],"low-resolution":[97],"grayscale":[98],"camera.":[99],"this":[101],"work,":[102],"nano-UAV":[104],"learns":[105],"detect":[107],"fly":[109],"through":[110],"gate":[112],"with":[113,137,171],"autonomous":[116],"navigation":[117,165,220],"system":[118],"based":[119,145],"on":[120,146,185],"two":[121,183],"tinyML":[122],"convolutional":[123],"neural":[124],"network":[125],"models":[126],"trained":[127],"in":[128,133,167,205,210,222,254],"simulation,":[129],"running":[130],"entirely":[131],"onboard":[132],"7.6":[134],"ms":[135],"an":[138],"accuracy":[139],"above":[140],"91%.":[141],"Field":[142],"tests":[143],"Crazyflie":[148],"2.1,":[149],"featuring":[150],"total":[152],"mass":[153],"of":[154,163,190,249],"39":[155],"g.":[156],"We":[157],"demonstrate":[158],"robustness":[160],"potential":[162],"our":[164],"policy":[166],"multiple":[168],"application":[169],"scenarios,":[170],"failure":[173],"probability":[174],"down":[175],"1.2":[177],"*":[178],"10^-3":[179],"crash/meter,":[180],"experiencing":[181],"only":[182],"crashes":[184],"cumulative":[187],"flight":[188],"distance":[189],"1.7":[191],"km.":[192],"This":[193],"dataset":[194],"refers":[196],"code":[199],"scientific":[202],"publication":[203],"released":[204],"https://github.com/ETH-PBL/Stargate":[206],"For":[207],"each":[208,244,250],"experiment":[209],"validation":[211],"train":[213],"datasets,":[214],"setup_img.png":[216],"file":[217],"describes":[218],"setup":[221],"simulator.":[224],"Concurrently,":[225],"following":[227],"global":[228],"local":[230],"data":[231],"recorded:":[233],"angular_velocities":[234],"camera_images":[235],"label_forward_velocity_desired":[236],"label_yaw_rate_desired":[237],"linear_accelerations":[238],"linear_velocities":[239],"roll_pitch_yaw":[240],"tof_distance_array":[241],"tof_validity_array":[242],"subfolder,":[245],"single":[247],"sample":[248],"input":[251],"is":[252],"stored":[253],"standalone":[256],".npy":[257],"(numpy)":[258],"format":[259]},"counts_by_year":[],"updated_date":"2025-11-06T06:51:31.235846","created_date":"2025-10-10T00:00:00"}
