{"id":"https://openalex.org/W1498041548","doi":"https://doi.org/10.1109/icra.2015.7139939","title":"Tightly-coupled monocular visual-inertial fusion for autonomous flight of rotorcraft MAVs","display_name":"Tightly-coupled monocular visual-inertial fusion for autonomous flight of rotorcraft MAVs","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1498041548","doi":"https://doi.org/10.1109/icra.2015.7139939","mag":"1498041548"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7139939","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139939","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5001947944","display_name":"Shaojie Shen","orcid":"https://orcid.org/0000-0002-5573-2909"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]},{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":true,"raw_author_name":"Shaojie Shen","raw_affiliation_strings":["Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong, China","Department of Electronic & Computer Engineering, Hong Kong University of Science & Technology, China"],"affiliations":[{"raw_affiliation_string":"Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong, China","institution_ids":["https://openalex.org/I200769079"]},{"raw_affiliation_string":"Department of Electronic & Computer Engineering, Hong Kong University of Science & Technology, China","institution_ids":["https://openalex.org/I200769079","https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017643429","display_name":"Nathan Michael","orcid":"https://orcid.org/0000-0002-3585-9195"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nathan Michael","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, USA,"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, USA,","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087021192","display_name":"Vijay Kumar","orcid":"https://orcid.org/0000-0002-3902-9391"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vijay Kumar","raw_affiliation_strings":["GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA","[GRASP Laboratory, University of Pennsylvania, Philadelphia, 19104, USA]"],"affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"[GRASP Laboratory, University of Pennsylvania, Philadelphia, 19104, USA]","institution_ids":["https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5001947944"],"corresponding_institution_ids":["https://openalex.org/I200769079","https://openalex.org/I889458895"],"apc_list":null,"apc_paid":null,"fwci":455.5517,"has_fulltext":false,"cited_by_count":223,"citation_normalized_percentile":{"value":0.99993238,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"5303","last_page":"5310"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9994999766349792,"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/T10638","display_name":"Optical measurement and interference techniques","score":0.9959999918937683,"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/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.7723636627197266},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.6525145769119263},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6470432281494141},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.590721070766449},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5366138219833374},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.4828389286994934},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.4707922041416168},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.435200959444046},{"id":"https://openalex.org/keywords/monocular-vision","display_name":"Monocular vision","score":0.426675021648407},{"id":"https://openalex.org/keywords/suite","display_name":"Suite","score":0.4167519211769104},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.27789995074272156},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11738359928131104},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06821447610855103}],"concepts":[{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.7723636627197266},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.6525145769119263},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6470432281494141},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.590721070766449},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5366138219833374},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.4828389286994934},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.4707922041416168},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.435200959444046},{"id":"https://openalex.org/C158829959","wikidata":"https://www.wikidata.org/wiki/Q1640606","display_name":"Monocular vision","level":2,"score":0.426675021648407},{"id":"https://openalex.org/C79581498","wikidata":"https://www.wikidata.org/wiki/Q1367530","display_name":"Suite","level":2,"score":0.4167519211769104},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.27789995074272156},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11738359928131104},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06821447610855103},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2015.7139939","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139939","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:repository.ust.hk:1783.1-65384","is_oa":false,"landing_page_url":"http://lbdiscover.ust.hk/uresolver?url_ver=Z39.88-2004&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rfr_id=info:sid/HKUST:SPI&rft.genre=article&rft.issn=1050-4729&rft.volume=2015&rft.issue=June&rft.date=2015&rft.spage=5303&rft.aulast=Shen&rft.aufirst=S.&rft.atitle=Tightly-coupled%20monocular%20visual-inertial%20fusion%20for%20autonomous%20flight%20of%20rotorcraft%20MAVs&rft.title=IEEE%20International%20Conference%20on%20Robotics%20%26%20Automation%20(ICRA)","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference paper"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.41999998688697815}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W956540729","https://openalex.org/W1521470386","https://openalex.org/W1981699551","https://openalex.org/W1990987766","https://openalex.org/W2000146415","https://openalex.org/W2006368361","https://openalex.org/W2032144264","https://openalex.org/W2046033161","https://openalex.org/W2049750053","https://openalex.org/W2054289217","https://openalex.org/W2055904838","https://openalex.org/W2056358962","https://openalex.org/W2108134361","https://openalex.org/W2118223742","https://openalex.org/W2118877769","https://openalex.org/W2130103520","https://openalex.org/W2147536420","https://openalex.org/W2151290401","https://openalex.org/W2294713796","https://openalex.org/W4246483956","https://openalex.org/W6625110384","https://openalex.org/W6631059785","https://openalex.org/W6677548441","https://openalex.org/W6679388247","https://openalex.org/W6696887840"],"related_works":["https://openalex.org/W3213997683","https://openalex.org/W2995270189","https://openalex.org/W2382856674","https://openalex.org/W2084124712","https://openalex.org/W4381188157","https://openalex.org/W2435467664","https://openalex.org/W2011626633","https://openalex.org/W2037866696","https://openalex.org/W4251947321","https://openalex.org/W2027891072"],"abstract_inverted_index":{"There":[0],"have":[1],"been":[2],"increasing":[3],"interests":[4],"in":[5,9,103],"the":[6,22,74,98],"robotics":[7],"community":[8],"building":[10],"smaller":[11],"and":[12,33,51,84],"more":[13],"agile":[14],"autonomous":[15,68],"micro":[16],"aerial":[17],"vehicles":[18],"(MAVs).":[19],"In":[20,55],"particular,":[21],"monocular":[23,64],"visual-inertial":[24],"system":[25],"(VINS)":[26],"that":[27],"consists":[28],"of":[29,100],"only":[30],"a":[31,40,60],"camera":[32],"an":[34],"inertial":[35],"measurement":[36],"unit":[37],"(IMU)":[38],"forms":[39],"great":[41],"minimum":[42],"sensor":[43],"suite":[44],"due":[45],"to":[46,76,88,96],"its":[47],"superior":[48],"size,":[49],"weight,":[50],"power":[52],"(SWaP)":[53],"characteristics.":[54],"this":[56],"paper,":[57],"we":[58],"present":[59,92],"tightly-coupled":[61],"nonlinear":[62],"optimization-based":[63],"VINS":[65],"estimator":[66,72],"for":[67],"rotorcraft":[69],"MAVs.":[70],"Our":[71],"allows":[73],"MAV":[75],"execute":[77],"trajectories":[78],"at":[79],"2":[80],"m/s":[81],"with":[82,106],"roll":[83],"pitch":[85],"angles":[86],"up":[87],"30":[89],"degrees.":[90],"We":[91],"extensive":[93],"statistical":[94],"analysis":[95],"verify":[97],"performance":[99],"our":[101],"approach":[102],"different":[104],"environments":[105],"varying":[107],"flight":[108],"speeds.":[109]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":19},{"year":2023,"cited_by_count":12},{"year":2022,"cited_by_count":16},{"year":2021,"cited_by_count":34},{"year":2020,"cited_by_count":25},{"year":2019,"cited_by_count":32},{"year":2018,"cited_by_count":30},{"year":2017,"cited_by_count":20},{"year":2016,"cited_by_count":16},{"year":2015,"cited_by_count":5}],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2025-10-10T00:00:00"}
