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Analysis of institutional authors

Campoy, PascualAuthor

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August 14, 2025
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Visual Active SLAM Method Considering Measurement and State Uncertainty for Space Exploration

Publicated to: AEROSPACE. 12 (7): 642- - 2025-07-20 12(7), DOI: 10.3390/aerospace12070642

Authors:

Zhao, Y; Xiong, Z; Wang, JQ; Zhang, L; Campoy, P
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Affiliations

Jiangsu Univ Technol, Sch Elect Informat Engn, Changzhou 213001, Peoples R China - Author
Nanjing Univ Aeronaut & Astronaut, Coll Automation Engn, Nanjing 211106, Peoples R China - Author
Univ Politecn Madrid, Comp Vis & Aerial Robot Grp, Madrid, Spain - Author
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Abstract

This paper presents a visual active SLAM method considering measurement and state uncertainty for space exploration in urban search and rescue environments. An uncertainty evaluation method based on the Fisher Information Matrix (FIM) is studied from the perspective of evaluating the localization uncertainty of SLAM systems. With the aid of the Fisher Information Matrix, the Cram & eacute;r-Rao Lower Bound (CRLB) of the pose uncertainty in the stereo visual SLAM system is derived to describe the boundary of the pose uncertainty. Optimality criteria are introduced to quantitatively evaluate the localization uncertainty. The odometry information selection method and the local bundle adjustment information selection method based on Fisher Information are proposed to find out the measurements with low uncertainty for localization and mapping in the search and rescue process. By adopting the method above, the computing efficiency of the system is improved while the localization accuracy is equivalent to the classical ORB-SLAM2. Moreover, by the quantified uncertainty of local poses and map points, the generalized unary node and generalized unary edge are defined to improve the computational efficiency in computing local state uncertainty. In addition, an active loop closing planner considering local state uncertainty is proposed to make use of uncertainty in assisting the space exploration and decision-making of MAV, which is beneficial to the improvement of MAV localization performance in search and rescue environments. Simulations and field tests in different challenging scenarios are conducted to verify the effectiveness of the proposed method.
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Keywords

Active loop closingComputational efficiencyComputer visionDecision makingFisher information matricesFisher information matrixInformation selectionLocalisationLoop-closingMatrix algebraMeasurement and state uncertaintyNatural resources explorationSelection methodsSlam roboticsSpace exploratioSpace explorationSpace explorationsSpace researchStereo image processingUncertaintyUncertainty analysisVisual active slam

Quality index

Bibliometric impact. Analysis of the contribution and dissemination channel

The work has been published in the journal AEROSPACE due to its progression and the good impact it has achieved in recent years, according to the agency WoS (JCR), it has become a reference in its field. In the year of publication of the work, 2025, it was in position 16/55, thus managing to position itself as a Q2 (Segundo Cuartil), in the category Engineering, Aerospace. Notably, the journal is positioned en el Cuartil Q2 para la agencia Scopus (SJR) en la categoría Aerospace Engineering.

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Impact and social visibility

From the perspective of influence or social adoption, and based on metrics associated with mentions and interactions provided by agencies specializing in calculating the so-called "Alternative or Social Metrics," we can highlight as of 2026-04-24:

With a more dissemination-oriented intent and targeting more general audiences, we can observe other more global scores such as:

    It is essential to present evidence supporting full alignment with institutional principles and guidelines on Open Science and the Conservation and Dissemination of Intellectual Heritage. A clear example of this is:

    • The work has been submitted to a journal whose editorial policy allows open Open Access publication.
    • Assignment of a Handle/URN as an identifier within the deposit in the Institutional Repository: https://oa.upm.es/95519/

    As a result of the publication of the work in the institutional repository, statistical usage data has been obtained that reflects its impact. In terms of dissemination, we can state that, as of

    • Views: 11
    • Downloads: 4
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    Leadership analysis of institutional authors

    This work has been carried out with international collaboration, specifically with researchers from: China.

    There is a significant leadership presence as some of the institution’s authors appear as the first or last signer, detailed as follows: Last Author (CAMPOY CERVERA, PASCUAL).

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    Awards linked to the item

    This work was partially supported by Changzhou Sci & Tech Program (Grant No. CJ20241081) and the National Natural Science Foundation of China (Grant No. 62341119).
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