{"id":"https://openalex.org/W3101917063","doi":"https://doi.org/10.1109/mra.2017.2771326","title":"Build Your Own Visual-Inertial Drone: A Cost-Effective and Open-Source Autonomous Drone","display_name":"Build Your Own Visual-Inertial Drone: A Cost-Effective and Open-Source Autonomous Drone","publication_year":2017,"publication_date":"2017-12-21","ids":{"openalex":"https://openalex.org/W3101917063","doi":"https://doi.org/10.1109/mra.2017.2771326","mag":"3101917063"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/mra.2017.2771326","pdf_url":null,"source":{"id":"https://openalex.org/S132261465","display_name":"IEEE Robotics & Automation Magazine","issn_l":"1070-9932","issn":["1070-9932","1558-223X"],"is_oa":false,"is_in_doaj":false,"is_indexed_in_scopus":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"journal-article","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://arxiv.org/pdf/1708.06652","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5065532121","display_name":"Inkyu Sa","orcid":"https://orcid.org/0000-0001-5429-0515"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"funder","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Inkyu Sa","raw_affiliation_strings":["Autonomous Systems Lab, Swiss Federal Institute of Technology, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, Swiss Federal Institute of Technology, Zurich, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084290807","display_name":"Mina Kamel","orcid":"https://orcid.org/0000-0002-0764-236X"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"funder","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Mina Kamel","raw_affiliation_strings":["Autonomous Systems Lab, Swiss Federal Institute of Technology, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, Swiss Federal Institute of Technology, Zurich, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012356005","display_name":"Michael Burri","orcid":"https://orcid.org/0000-0002-4540-2519"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"funder","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Michael Burri","raw_affiliation_strings":["Autonomous Systems Lab, Swiss Federal Institute of Technology, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, Swiss Federal Institute of Technology, Zurich, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004482443","display_name":"Michael Bloesch","orcid":"https://orcid.org/0000-0002-2171-696X"},"institutions":[{"id":"https://openalex.org/I4210106410","display_name":"Vysok\u00e1 \u0160kola Realitn\u00ed Institut Franka Dysona","ror":"https://ror.org/01mpgt112","country_code":"CZ","type":"education","lineage":["https://openalex.org/I4210106410"]},{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"funder","lineage":["https://openalex.org/I47508984"]}],"countries":["CZ","GB"],"is_corresponding":false,"raw_author_name":"Michael Bloesch","raw_affiliation_strings":["Dyson Research Fellow, Imperial College, London"],"affiliations":[{"raw_affiliation_string":"Dyson Research Fellow, Imperial College, London","institution_ids":["https://openalex.org/I4210106410","https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004221958","display_name":"Raghav Khanna","orcid":"https://orcid.org/0000-0001-7217-2141"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"funder","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Raghav Khanna","raw_affiliation_strings":["Autonomous Systems Lab, Swiss Federal Institute of Technology, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, Swiss Federal Institute of Technology, Zurich, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072802898","display_name":"Marija Popovi\u0107","orcid":"https://orcid.org/0000-0002-8830-6033"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"funder","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Marija Popovic","raw_affiliation_strings":["Autonomous Systems Lab, Swiss Federal Institute of Technology, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, Swiss Federal Institute of Technology, Zurich, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059792297","display_name":"Juan Nieto","orcid":"https://orcid.org/0000-0003-4808-0831"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"funder","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Juan Nieto","raw_affiliation_strings":["Autonomous Systems Lab, Swiss Federal Institute of Technology, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, Swiss Federal Institute of Technology, Zurich, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083003222","display_name":"Roland Siegwart","orcid":"https://orcid.org/0000-0002-2760-7983"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"funder","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Roland Siegwart","raw_affiliation_strings":["Autonomous Systems Lab, Swiss Federal Institute of Technology, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, Swiss Federal Institute of Technology, Zurich, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]}],"institution_assertions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.34,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.924944,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":92},"biblio":{"volume":"25","issue":"1","first_page":"89","last_page":"103"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9999,"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":0.9999,"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":0.9983,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9974,"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/odometry","display_name":"Odometry","score":0.71774256},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor Fusion","score":0.5232731},{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.48557967},{"id":"https://openalex.org/keywords/motion-capture","display_name":"Motion Capture","score":0.42111725}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.71774256},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.68396246},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.61927366},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6171738},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5350436},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.5232731},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5039095},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.49874616},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.48557967},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.46044457},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.42111725},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.39202312},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.33252078},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.20661256},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1686571},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.16243881},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/mra.2017.2771326","pdf_url":null,"source":{"id":"https://openalex.org/S132261465","display_name":"IEEE Robotics & Automation Magazine","issn_l":"1070-9932","issn":["1070-9932","1558-223X"],"is_oa":false,"is_in_doaj":false,"is_indexed_in_scopus":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},{"is_oa":true,"landing_page_url":"http://arxiv.org/abs/1708.06652","pdf_url":"http://arxiv.org/pdf/1708.06652","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_indexed_in_scopus":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":["Cornell University"],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false},{"is_oa":true,"landing_page_url":"https://arxiv.org/abs/1708.06652","pdf_url":"https://arxiv.org/pdf/1708.06652","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_indexed_in_scopus":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":["Cornell University"],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false},{"is_oa":false,"landing_page_url":"https://api.datacite.org/dois/10.48550/arxiv.1708.06652","pdf_url":null,"source":{"id":"https://openalex.org/S4393179698","display_name":"DataCite API","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":"https://openalex.org/I4210145204","host_organization_name":"DataCite","host_organization_lineage":["https://openalex.org/I4210145204"],"host_organization_lineage_names":["DataCite"],"type":"metadata"},"license":null,"license_id":null,"version":null}],"best_oa_location":{"is_oa":true,"landing_page_url":"http://arxiv.org/abs/1708.06652","pdf_url":"http://arxiv.org/pdf/1708.06652","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_indexed_in_scopus":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":["Cornell University"],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false},"sustainable_development_goals":[{"score":0.44,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"grants":[],"datasets":[],"versions":["https://openalex.org/W2781015180","https://openalex.org/W3101917063"],"referenced_works_count":35,"referenced_works":["https://openalex.org/W1482844618","https://openalex.org/W1484387568","https://openalex.org/W1973734421","https://openalex.org/W1977976974","https://openalex.org/W1995067233","https://openalex.org/W1998058414","https://openalex.org/W2015996585","https://openalex.org/W2024676408","https://openalex.org/W204815387","https://openalex.org/W2074464158","https://openalex.org/W2091790851","https://openalex.org/W2121385616","https://openalex.org/W2122100154","https://openalex.org/W2128798012","https://openalex.org/W2131200679","https://openalex.org/W2132453268","https://openalex.org/W2159786429","https://openalex.org/W2214613866","https://openalex.org/W2276677361","https://openalex.org/W2278591674","https://openalex.org/W2285626259","https://openalex.org/W2396274919","https://openalex.org/W2411740835","https://openalex.org/W2418849765","https://openalex.org/W2538522345","https://openalex.org/W2585083365","https://openalex.org/W2618092744","https://openalex.org/W2733312032","https://openalex.org/W2766034966","https://openalex.org/W2901136733","https://openalex.org/W2949088561","https://openalex.org/W4246162479","https://openalex.org/W4246614213","https://openalex.org/W4252031641","https://openalex.org/W4255045719"],"related_works":["https://openalex.org/W4391249506","https://openalex.org/W4313886815","https://openalex.org/W4312092966","https://openalex.org/W3125052734","https://openalex.org/W3123982513","https://openalex.org/W2998370018","https://openalex.org/W2951795132","https://openalex.org/W2773722138","https://openalex.org/W2755286209","https://openalex.org/W2038183074"],"abstract_inverted_index":{"This":[0,90,176],"article":[1,177],"describes":[2],"an":[3,22,26],"approach":[4,91],"to":[5,99,149,196],"building":[6],"a":[7,30,101,113,119,163,167],"cost-effective":[8],"and":[9,16,29,39,46,53,61,69,81,116,125,128,186,189],"research-grade":[10],"visual-inertial":[11],"(VI)":[12],"odometry-aided":[13],"vertical":[14],"takeoff":[15],"landing":[17],"(VTOL)":[18],"platform.":[19],"We":[20,64,138,153],"utilize":[21],"off-the-shelf":[23,88],"VI":[24,76],"sensor,":[25],"onboard":[27],"computer,":[28],"quadrotor":[31],"platform,":[32],"all":[33],"of":[34,55,74,134,144,171],"which":[35],"are":[36],"factory":[37],"calibrated":[38],"mass":[40],"produced,":[41],"thereby":[42],"sharing":[43],"similar":[44],"hardware":[45],"sensor":[47,187],"specifications":[48],"[e.g.,":[49],"mass,":[50],"dimensions,":[51],"intrinsic":[52],"extrinsic":[54],"camera-inertial":[56],"measurement":[57],"unit":[58],"(IMU)":[59],"systems,":[60],"signal-to-noise":[62],"ratio].":[63],"then":[65],"perform":[66],"system":[67,106,115],"calibration":[68],"identification,":[70],"enabling":[71],"the":[72,94,132,172,179,184,197],"use":[73],"our":[75],"odometry,":[77],"multisensor":[78],"fusion":[79],"(MSF),":[80],"model":[82],"predictive":[83],"control":[84],"(MPC)":[85],"frameworks":[86],"with":[87,147,193],"products.":[89],"partially":[92],"circumvents":[93],"tedious":[95],"parameter-tuning":[96],"procedures":[97],"required":[98],"build":[100],"full":[102],"system.":[103],"The":[104],"complete":[105],"is":[107],"extensively":[108],"evaluated":[109],"both":[110],"indoors":[111],"using":[112,118],"motioncapture":[114],"outdoors":[117],"laser":[120],"tracker":[121],"while":[122],"performing":[123],"hover":[124,151],"step":[126],"responses":[127],"trajectory-following":[129],"tasks":[130],"in":[131],"presence":[133],"external":[135],"wind":[136],"disturbances.":[137],"achieve":[139],"root-mean-square":[140],"(rms)":[141],"pose":[142],"errors":[143],"0.036":[145],"m":[146],"respect":[148],"reference":[150],"trajectories.":[152],"also":[154],"conduct":[155],"relatively":[156],"long":[157],"distance":[158],"(.180":[159],"m)":[160],"experiments":[161],"on":[162],"farm":[164],"site,":[165],"demonstrating":[166],"0.82%":[168],"drift":[169],"error":[170],"total":[173],"flight":[174],"distance.":[175],"conveys":[178],"insights":[180],"we":[181],"acquired":[182],"about":[183],"platform":[185],"module":[188],"offers":[190],"open-source":[191],"code":[192],"tutorial":[194],"documentation":[195],"community.":[198]},"abstract_inverted_index_v3":null,"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W3101917063","counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":9},{"year":2018,"cited_by_count":6}],"updated_date":"2025-04-18T06:21:33.713269","created_date":"2020-11-23"}