Publication Information

{'id': 'https://openalex.org/W2050145531', 'doi': 'https://doi.org/10.1109/iros.2013.6696922', 'title': 'Stereo vision based indoor/outdoor navigation for flying robots', 'display_name': 'Stereo vision based indoor/outdoor navigation for flying robots', 'publication_year': 2013, 'publication_date': '2013-11-01', 'ids': {'openalex': 'https://openalex.org/W2050145531', 'doi': 'https://doi.org/10.1109/iros.2013.6696922', 'mag': '2050145531'}, 'language': 'en', 'primary_location': {'is_oa': False, 'landing_page_url': 'https://doi.org/10.1109/iros.2013.6696922', 'pdf_url': None, 'source': {'id': 'https://openalex.org/S4363608614', 'display_name': '2011 IEEE/RSJ International Conference on Intelligent Robots and Systems', 'issn_l': None, 'issn': None, 'is_oa': False, 'is_in_doaj': False, 'is_core': False, 'host_organization': None, 'host_organization_name': None, 'host_organization_lineage': [], 'host_organization_lineage_names': [], 'type': 'conference'}, 'license': None, 'license_id': None, 'version': None, 'is_accepted': False, 'is_published': False}, 'type': 'article', 'type_crossref': 'proceedings-article', 'indexed_in': ['crossref'], 'open_access': {'is_oa': False, 'oa_status': 'closed', 'oa_url': None, 'any_repository_has_fulltext': False}, 'authorships': [{'author_position': 'first', 'author': {'id': 'https://openalex.org/A5088890460', 'display_name': 'Korbinian Schmid', 'orcid': None}, 'institutions': [{'id': 'https://openalex.org/I2898391981', 'display_name': 'Deutsches Zentrum für Luft- und Raumfahrt e. V. (DLR)', 'ror': 'https://ror.org/04bwf3e34', 'country_code': 'DE', 'type': 'facility', 'lineage': ['https://openalex.org/I1305996414', 'https://openalex.org/I2898391981']}], 'countries': ['DE'], 'is_corresponding': False, 'raw_author_name': 'Korbinian Schmid', 'raw_affiliation_strings': ['Dept. of Perception & Cognition, German Aerosp. Center (DLR), Wessling, Germany'], 'affiliations': [{'raw_affiliation_string': 'Dept. of Perception & Cognition, German Aerosp. Center (DLR), Wessling, Germany', 'institution_ids': ['https://openalex.org/I2898391981']}]}, {'author_position': 'middle', 'author': {'id': 'https://openalex.org/A5042468316', 'display_name': 'Teodor Tomić', 'orcid': 'https://orcid.org/0000-0002-8460-7568'}, 'institutions': [{'id': 'https://openalex.org/I2898391981', 'display_name': 'Deutsches Zentrum für Luft- und Raumfahrt e. V. (DLR)', 'ror': 'https://ror.org/04bwf3e34', 'country_code': 'DE', 'type': 'facility', 'lineage': ['https://openalex.org/I1305996414', 'https://openalex.org/I2898391981']}], 'countries': ['DE'], 'is_corresponding': False, 'raw_author_name': 'Teodor Tomic', 'raw_affiliation_strings': ['Dept. of Mechatron. Components & Syst., German Aerosp. Center (DLR), Wessling, Germany'], 'affiliations': [{'raw_affiliation_string': 'Dept. of Mechatron. Components & Syst., German Aerosp. Center (DLR), Wessling, Germany', 'institution_ids': ['https://openalex.org/I2898391981']}]}, {'author_position': 'middle', 'author': {'id': 'https://openalex.org/A5045988327', 'display_name': 'Felix Ruess', 'orcid': None}, 'institutions': [{'id': 'https://openalex.org/I2898391981', 'display_name': 'Deutsches Zentrum für Luft- und Raumfahrt e. V. (DLR)', 'ror': 'https://ror.org/04bwf3e34', 'country_code': 'DE', 'type': 'facility', 'lineage': ['https://openalex.org/I1305996414', 'https://openalex.org/I2898391981']}], 'countries': ['DE'], 'is_corresponding': False, 'raw_author_name': 'Felix Ruess', 'raw_affiliation_strings': ['Dept. of Perception & Cognition, German Aerosp. Center (DLR), Wessling, Germany'], 'affiliations': [{'raw_affiliation_string': 'Dept. of Perception & Cognition, German Aerosp. Center (DLR), Wessling, Germany', 'institution_ids': ['https://openalex.org/I2898391981']}]}, {'author_position': 'middle', 'author': {'id': 'https://openalex.org/A5070742471', 'display_name': 'Heiko Hirschmüller', 'orcid': None}, 'institutions': [{'id': 'https://openalex.org/I2898391981', 'display_name': 'Deutsches Zentrum für Luft- und Raumfahrt e. V. (DLR)', 'ror': 'https://ror.org/04bwf3e34', 'country_code': 'DE', 'type': 'facility', 'lineage': ['https://openalex.org/I1305996414', 'https://openalex.org/I2898391981']}], 'countries': ['DE'], 'is_corresponding': False, 'raw_author_name': 'Heiko Hirschmuller', 'raw_affiliation_strings': ['Dept. of Perception & Cognition, German Aerosp. Center (DLR), Wessling, Germany'], 'affiliations': [{'raw_affiliation_string': 'Dept. of Perception & Cognition, German Aerosp. Center (DLR), Wessling, Germany', 'institution_ids': ['https://openalex.org/I2898391981']}]}, {'author_position': 'last', 'author': {'id': 'https://openalex.org/A5010885481', 'display_name': 'Michael Suppa', 'orcid': 'https://orcid.org/0000-0002-7362-9534'}, 'institutions': [{'id': 'https://openalex.org/I2898391981', 'display_name': 'Deutsches Zentrum für Luft- und Raumfahrt e. V. (DLR)', 'ror': 'https://ror.org/04bwf3e34', 'country_code': 'DE', 'type': 'facility', 'lineage': ['https://openalex.org/I1305996414', 'https://openalex.org/I2898391981']}], 'countries': ['DE'], 'is_corresponding': False, 'raw_author_name': 'Michael Suppa', 'raw_affiliation_strings': ['Dept. of Perception & Cognition, German Aerosp. Center (DLR), Wessling, Germany'], 'affiliations': [{'raw_affiliation_string': 'Dept. of Perception & Cognition, German Aerosp. Center (DLR), Wessling, Germany', 'institution_ids': ['https://openalex.org/I2898391981']}]}], 'institution_assertions': [], 'countries_distinct_count': 1, 'institutions_distinct_count': 1, 'corresponding_author_ids': [], 'corresponding_institution_ids': [], 'apc_list': None, 'apc_paid': None, 'fwci': 17.319, 'has_fulltext': True, 'fulltext_origin': 'ngrams', 'cited_by_count': 152, 'citation_normalized_percentile': {'value': 0.981304, 'is_in_top_1_percent': False, 'is_in_top_10_percent': True}, 'cited_by_percentile_year': {'min': 98, 'max': 99}, 'biblio': {'volume': None, 'issue': None, 'first_page': None, 'last_page': None}, 'is_retracted': False, 'is_paratext': 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/T10531', 'display_name': 'Advanced Vision and Imaging', 'score': 0.9999, '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/T10627', 'display_name': 'Advanced Image and Video Retrieval Techniques', 'score': 0.9985, '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/waypoint', 'display_name': 'Waypoint', 'score': 0.8016441}, {'id': 'https://openalex.org/keywords/obstacle-avoidance', 'display_name': 'Obstacle avoidance', 'score': 0.6249547}, {'id': 'https://openalex.org/keywords/odometry', 'display_name': 'Odometry', 'score': 0.56689376}, {'id': 'https://openalex.org/keywords/visual-odometry', 'display_name': 'Visual Odometry', 'score': 0.48477763}, {'id': 'https://openalex.org/keywords/stereo-cameras', 'display_name': 'Stereo cameras', 'score': 0.41660658}, {'id': 'https://openalex.org/keywords/navigation-system', 'display_name': 'Navigation System', 'score': 0.41176558}], 'concepts': [{'id': 'https://openalex.org/C2781271823', 'wikidata': 'https://www.wikidata.org/wiki/Q138081', 'display_name': 'Waypoint', 'level': 2, 'score': 0.8016441}, {'id': 'https://openalex.org/C79061980', 'wikidata': 'https://www.wikidata.org/wiki/Q941680', 'display_name': 'Inertial measurement unit', 'level': 2, 'score': 0.7672802}, {'id': 'https://openalex.org/C31972630', 'wikidata': 'https://www.wikidata.org/wiki/Q844240', 'display_name': 'Computer vision', 'level': 1, 'score': 0.75482094}, {'id': 'https://openalex.org/C154945302', 'wikidata': 'https://www.wikidata.org/wiki/Q11660', 'display_name': 'Artificial intelligence', 'level': 1, 'score': 0.68411624}, {'id': 'https://openalex.org/C41008148', 'wikidata': 'https://www.wikidata.org/wiki/Q21198', 'display_name': 'Computer science', 'level': 0, 'score': 0.65656304}, {'id': 'https://openalex.org/C6683253', 'wikidata': 'https://www.wikidata.org/wiki/Q7075535', 'display_name': 'Obstacle avoidance', 'level': 4, 'score': 0.6249547}, {'id': 'https://openalex.org/C49441653', 'wikidata': 'https://www.wikidata.org/wiki/Q2014717', 'display_name': 'Odometry', 'level': 4, 'score': 0.56689376}, {'id': 'https://openalex.org/C68537008', 'wikidata': 'https://www.wikidata.org/wiki/Q247932', 'display_name': 'Stereopsis', 'level': 2, 'score': 0.48569188}, {'id': 'https://openalex.org/C5799516', 'wikidata': 'https://www.wikidata.org/wiki/Q4110915', 'display_name': 'Visual odometry', 'level': 3, 'score': 0.48477763}, {'id': 'https://openalex.org/C90509273', 'wikidata': 'https://www.wikidata.org/wiki/Q11012', 'display_name': 'Robot', 'level': 2, 'score': 0.4456822}, {'id': 'https://openalex.org/C79403827', 'wikidata': 'https://www.wikidata.org/wiki/Q3988', 'display_name': 'Real-time computing', 'level': 1, 'score': 0.421114}, {'id': 'https://openalex.org/C35861506', 'wikidata': 'https://www.wikidata.org/wiki/Q17141434', 'display_name': 'Stereo cameras', 'level': 3, 'score': 0.41660658}, {'id': 'https://openalex.org/C81074085', 'wikidata': 'https://www.wikidata.org/wiki/Q366872', 'display_name': 'Motion planning', 'level': 3, 'score': 0.41274628}, {'id': 'https://openalex.org/C2777891301', 'wikidata': 'https://www.wikidata.org/wiki/Q3475123', 'display_name': 'Navigation system', 'level': 2, 'score': 0.41176558}, {'id': 'https://openalex.org/C19966478', 'wikidata': 'https://www.wikidata.org/wiki/Q4810574', 'display_name': 'Mobile robot', 'level': 3, 'score': 0.37703297}], 'mesh': [], 'locations_count': 1, 'locations': [{'is_oa': False, 'landing_page_url': 'https://doi.org/10.1109/iros.2013.6696922', 'pdf_url': None, 'source': {'id': 'https://openalex.org/S4363608614', 'display_name': '2011 IEEE/RSJ International Conference on Intelligent Robots and Systems', 'issn_l': None, 'issn': None, 'is_oa': False, 'is_in_doaj': False, 'is_core': False, 'host_organization': None, 'host_organization_name': None, 'host_organization_lineage': [], 'host_organization_lineage_names': [], 'type': 'conference'}, 'license': None, 'license_id': None, 'version': None, 'is_accepted': False, 'is_published': False}], 'best_oa_location': None, 'sustainable_development_goals': [], 'grants': [], 'datasets': [], 'versions': [], 'referenced_works_count': 19, 'referenced_works': ['https://openalex.org/W1557515246', 'https://openalex.org/W1674866864', 'https://openalex.org/W2013482892', 'https://openalex.org/W2039175521', 'https://openalex.org/W2054110422', 'https://openalex.org/W2060794637', 'https://openalex.org/W2084928969', 'https://openalex.org/W2087387266', 'https://openalex.org/W2112510830', 'https://openalex.org/W2117248802', 'https://openalex.org/W2119927502', 'https://openalex.org/W2128357735', 'https://openalex.org/W2133844819', 'https://openalex.org/W2143838684', 'https://openalex.org/W2157608279', 'https://openalex.org/W2167562394', 'https://openalex.org/W2167896722', 'https://openalex.org/W2509493982', 'https://openalex.org/W768451765'], 'related_works': ['https://openalex.org/W87609089', 'https://openalex.org/W4312703710', 'https://openalex.org/W3161199934', 'https://openalex.org/W3105866016', 'https://openalex.org/W3024737167', 'https://openalex.org/W2981103992', 'https://openalex.org/W2979950214', 'https://openalex.org/W2414561716', 'https://openalex.org/W2312326526', 'https://openalex.org/W2303855011'], 'abstract_inverted_index': {'We': [0, 40, 126], 'introduce': [1], 'our': [2, 164], 'new': [3], 'quadrotor': [4, 119, 131], 'platform': [5], 'for': [6, 87, 103], 'realizing': [7], 'autonomous': [8], 'navigation': [9, 180], 'in': [10, 114, 184], 'unknown': [11], 'indoor/outdoor': [12, 188], 'environments.': [13, 189], 'Autonomous': [14], 'waypoint': [15, 179], 'navigation,': [16], 'obstacle': [17, 182], 'avoidance': [18, 183], 'and': [19, 105, 140, 146], 'flight': [20], 'control': [21, 104], 'is': [22, 49, 81, 101, 155, 167], 'implemented': [23], 'on-board.': [24], 'The': [25, 97], 'system': [26, 98, 172], 'does': [27], 'not': [28], 'require': [29], 'a': [30, 42, 52, 135, 144, 147], 'special': [31], 'environment,': [32], 'artificial': [33], 'markers': [34], 'or': [35], 'an': [36, 56, 63], 'external': [37], 'reference': [38], 'system.': [39], 'developed': [41], 'monolithic,': [43], 'mechanically': [44], 'damped': [45], 'perception': [46], 'unit': [47], 'which': [48], 'equipped': [50], 'with': [51, 83, 129, 173, 181], 'stereo': [53, 79], 'camera': [54], 'pair,': [55], 'Inertial': [57], 'Measurement': [58], 'Unit': [59], '(IMU),': [60], 'two': [61], 'processor-and': [62], 'FPGA': [64, 72], 'board.': [65], 'Stereo': [66], 'images': [67], 'are': [68, 91], 'processed': [69], 'on': [70], 'the': [71, 74, 94, 115, 118, 130, 138, 153, 161, 168], 'by': [73, 93], 'Semi-Global': [75], 'Matching': [76], 'algorithm.': [77], 'Keyframe-based': [78], 'odometry': [80], 'fused': [82], 'IMU': [84], 'data': [85], 'compensating': [86], 'time': [88], 'delays': [89], 'that': [90, 177], 'induced': [92], 'vision': [95], 'pipeline.': [96], 'state': [99], 'estimate': [100], 'used': [102], 'on-board': [106, 175], '3D': [107], 'mapping.': [108], 'An': [109], 'operator': [110], 'can': [111], 'set': [112], 'waypoints': [113], 'map,': [116], 'while': [117], 'autonomously': [120, 170], 'plans': [121], 'its': [122], 'path': [123], 'avoiding': [124], 'obstacles.': [125], 'show': [127], 'experiments': [128, 154], 'flying': [132, 171], 'from': [133], 'inside': [134], 'building': [136], 'to': [137], 'outside': [139], 'vice': [141], 'versa,': [142], 'traversing': [143], 'window': [145], 'door': [148], 'respectively.': [149], 'A': [150], 'video': [151], 'of': [152, 157, 163], 'part': [156], 'this': [158, 166], 'work.': [159], 'To': [160], 'best': [162], 'knowledge,': [165], 'first': [169], 'complete': [174], 'processing': [176], 'performs': [178], 'geometrically': [185], 'unconstrained,': [186], 'complex': [187]}, 'cited_by_api_url': 'https://api.openalex.org/works?filter=cites:W2050145531', 'counts_by_year': [{'year': 2024, 'cited_by_count': 5}, {'year': 2023, 'cited_by_count': 11}, {'year': 2022, 'cited_by_count': 13}, {'year': 2021, 'cited_by_count': 17}, {'year': 2020, 'cited_by_count': 12}, {'year': 2019, 'cited_by_count': 15}, {'year': 2018, 'cited_by_count': 20}, {'year': 2017, 'cited_by_count': 19}, {'year': 2016, 'cited_by_count': 10}, {'year': 2015, 'cited_by_count': 17}, {'year': 2014, 'cited_by_count': 12}], 'updated_date': '2025-01-06T09:11:09.095573', 'created_date': '2016-06-24'}