JointLoc: A Real-time Visual Localization Framework for Planetary UAVs Based on Joint Relative and Absolute Pose Estimation Article Swipe
Xubo Luo
,
Xue Wan
,
Yixing Gao
,
Yaolin Tian
,
Wei Zhang
,
Leizheng Shu
·
YOU?
·
· 2024
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.2405.07429
YOU?
·
· 2024
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.2405.07429
Unmanned aerial vehicles (UAVs) visual localization in planetary aims to estimate the absolute pose of the UAV in the world coordinate system through satellite maps and images captured by on-board cameras. However, since planetary scenes often lack significant landmarks and there are modal differences between satellite maps and UAV images, the accuracy and real-time performance of UAV positioning will be reduced. In order to accurately determine the position of the UAV in a planetary scene in the absence of the global navigation satellite system (GNSS), this paper proposes JointLoc, which estimates the real-time UAV position in the world coordinate system by adaptively fusing the absolute 2-degree-of-freedom (2-DoF) pose and the relative 6-degree-of-freedom (6-DoF) pose. Extensive comparative experiments were conducted on a proposed planetary UAV image cross-modal localization dataset, which contains three types of typical Martian topography generated via a simulation engine as well as real Martian UAV images from the Ingenuity helicopter. JointLoc achieved a root-mean-square error of 0.237m in the trajectories of up to 1,000m, compared to 0.594m and 0.557m for ORB-SLAM2 and ORB-SLAM3 respectively. The source code will be available at https://github.com/LuoXubo/JointLoc.
Related Topics
Concepts
Metadata
- Type
- preprint
- Language
- en
- Landing Page
- http://arxiv.org/abs/2405.07429
- https://arxiv.org/pdf/2405.07429
- OA Status
- green
- Cited By
- 1
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W4396913623
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
-
https://openalex.org/W4396913623Canonical identifier for this work in OpenAlex
- DOI
-
https://doi.org/10.48550/arxiv.2405.07429Digital Object Identifier
- Title
-
JointLoc: A Real-time Visual Localization Framework for Planetary UAVs Based on Joint Relative and Absolute Pose EstimationWork title
- Type
-
preprintOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2024Year of publication
- Publication date
-
2024-05-13Full publication date if available
- Authors
-
Xubo Luo, Xue Wan, Yixing Gao, Yaolin Tian, Wei Zhang, Leizheng ShuList of authors in order
- Landing page
-
https://arxiv.org/abs/2405.07429Publisher landing page
- PDF URL
-
https://arxiv.org/pdf/2405.07429Direct link to full text PDF
- Open access
-
YesWhether a free full text is available
- OA status
-
greenOpen access status per OpenAlex
- OA URL
-
https://arxiv.org/pdf/2405.07429Direct OA link when available
- Concepts
-
Absolute (philosophy), Joint (building), Estimation, Pose, Artificial intelligence, Computer science, Computer vision, Engineering, Philosophy, Epistemology, Systems engineering, Architectural engineeringTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
1Total citation count in OpenAlex
- Citations by year (recent)
-
2024: 1Per-year citation counts (last 5 years)
- Related works (count)
-
10Other works algorithmically related by OpenAlex
Full payload
| id | https://openalex.org/W4396913623 |
|---|---|
| doi | https://doi.org/10.48550/arxiv.2405.07429 |
| ids.doi | https://doi.org/10.48550/arxiv.2405.07429 |
| ids.openalex | https://openalex.org/W4396913623 |
| fwci | |
| type | preprint |
| title | JointLoc: A Real-time Visual Localization Framework for Planetary UAVs Based on Joint Relative and Absolute Pose Estimation |
| biblio.issue | |
| biblio.volume | |
| biblio.last_page | |
| biblio.first_page | |
| topics[0].id | https://openalex.org/T10191 |
| topics[0].field.id | https://openalex.org/fields/22 |
| topics[0].field.display_name | Engineering |
| topics[0].score | 0.9993000030517578 |
| topics[0].domain.id | https://openalex.org/domains/3 |
| topics[0].domain.display_name | Physical Sciences |
| topics[0].subfield.id | https://openalex.org/subfields/2202 |
| topics[0].subfield.display_name | Aerospace Engineering |
| topics[0].display_name | Robotics and Sensor-Based Localization |
| topics[1].id | https://openalex.org/T11701 |
| topics[1].field.id | https://openalex.org/fields/22 |
| topics[1].field.display_name | Engineering |
| topics[1].score | 0.9987000226974487 |
| topics[1].domain.id | https://openalex.org/domains/3 |
| topics[1].domain.display_name | Physical Sciences |
| topics[1].subfield.id | https://openalex.org/subfields/2202 |
| topics[1].subfield.display_name | Aerospace Engineering |
| topics[1].display_name | Space Satellite Systems and Control |
| topics[2].id | https://openalex.org/T10406 |
| topics[2].field.id | https://openalex.org/fields/31 |
| topics[2].field.display_name | Physics and Astronomy |
| topics[2].score | 0.9952999949455261 |
| topics[2].domain.id | https://openalex.org/domains/3 |
| topics[2].domain.display_name | Physical Sciences |
| topics[2].subfield.id | https://openalex.org/subfields/3103 |
| topics[2].subfield.display_name | Astronomy and Astrophysics |
| topics[2].display_name | Planetary Science and Exploration |
| is_xpac | False |
| apc_list | |
| apc_paid | |
| concepts[0].id | https://openalex.org/C2777487392 |
| concepts[0].level | 2 |
| concepts[0].score | 0.8002545833587646 |
| concepts[0].wikidata | https://www.wikidata.org/wiki/Q481201 |
| concepts[0].display_name | Absolute (philosophy) |
| concepts[1].id | https://openalex.org/C18555067 |
| concepts[1].level | 2 |
| concepts[1].score | 0.6258200407028198 |
| concepts[1].wikidata | https://www.wikidata.org/wiki/Q8375051 |
| concepts[1].display_name | Joint (building) |
| concepts[2].id | https://openalex.org/C96250715 |
| concepts[2].level | 2 |
| concepts[2].score | 0.5453630089759827 |
| concepts[2].wikidata | https://www.wikidata.org/wiki/Q965330 |
| concepts[2].display_name | Estimation |
| concepts[3].id | https://openalex.org/C52102323 |
| concepts[3].level | 2 |
| concepts[3].score | 0.5283599495887756 |
| concepts[3].wikidata | https://www.wikidata.org/wiki/Q1671968 |
| concepts[3].display_name | Pose |
| concepts[4].id | https://openalex.org/C154945302 |
| concepts[4].level | 1 |
| concepts[4].score | 0.527750551700592 |
| concepts[4].wikidata | https://www.wikidata.org/wiki/Q11660 |
| concepts[4].display_name | Artificial intelligence |
| concepts[5].id | https://openalex.org/C41008148 |
| concepts[5].level | 0 |
| concepts[5].score | 0.5016927719116211 |
| concepts[5].wikidata | https://www.wikidata.org/wiki/Q21198 |
| concepts[5].display_name | Computer science |
| concepts[6].id | https://openalex.org/C31972630 |
| concepts[6].level | 1 |
| concepts[6].score | 0.4305541515350342 |
| concepts[6].wikidata | https://www.wikidata.org/wiki/Q844240 |
| concepts[6].display_name | Computer vision |
| concepts[7].id | https://openalex.org/C127413603 |
| concepts[7].level | 0 |
| concepts[7].score | 0.1627686321735382 |
| concepts[7].wikidata | https://www.wikidata.org/wiki/Q11023 |
| concepts[7].display_name | Engineering |
| concepts[8].id | https://openalex.org/C138885662 |
| concepts[8].level | 0 |
| concepts[8].score | 0.06770244240760803 |
| concepts[8].wikidata | https://www.wikidata.org/wiki/Q5891 |
| concepts[8].display_name | Philosophy |
| concepts[9].id | https://openalex.org/C111472728 |
| concepts[9].level | 1 |
| concepts[9].score | 0.0 |
| concepts[9].wikidata | https://www.wikidata.org/wiki/Q9471 |
| concepts[9].display_name | Epistemology |
| concepts[10].id | https://openalex.org/C201995342 |
| concepts[10].level | 1 |
| concepts[10].score | 0.0 |
| concepts[10].wikidata | https://www.wikidata.org/wiki/Q682496 |
| concepts[10].display_name | Systems engineering |
| concepts[11].id | https://openalex.org/C170154142 |
| concepts[11].level | 1 |
| concepts[11].score | 0.0 |
| concepts[11].wikidata | https://www.wikidata.org/wiki/Q150737 |
| concepts[11].display_name | Architectural engineering |
| keywords[0].id | https://openalex.org/keywords/absolute |
| keywords[0].score | 0.8002545833587646 |
| keywords[0].display_name | Absolute (philosophy) |
| keywords[1].id | https://openalex.org/keywords/joint |
| keywords[1].score | 0.6258200407028198 |
| keywords[1].display_name | Joint (building) |
| keywords[2].id | https://openalex.org/keywords/estimation |
| keywords[2].score | 0.5453630089759827 |
| keywords[2].display_name | Estimation |
| keywords[3].id | https://openalex.org/keywords/pose |
| keywords[3].score | 0.5283599495887756 |
| keywords[3].display_name | Pose |
| keywords[4].id | https://openalex.org/keywords/artificial-intelligence |
| keywords[4].score | 0.527750551700592 |
| keywords[4].display_name | Artificial intelligence |
| keywords[5].id | https://openalex.org/keywords/computer-science |
| keywords[5].score | 0.5016927719116211 |
| keywords[5].display_name | Computer science |
| keywords[6].id | https://openalex.org/keywords/computer-vision |
| keywords[6].score | 0.4305541515350342 |
| keywords[6].display_name | Computer vision |
| keywords[7].id | https://openalex.org/keywords/engineering |
| keywords[7].score | 0.1627686321735382 |
| keywords[7].display_name | Engineering |
| keywords[8].id | https://openalex.org/keywords/philosophy |
| keywords[8].score | 0.06770244240760803 |
| keywords[8].display_name | Philosophy |
| language | en |
| locations[0].id | pmh:oai:arXiv.org:2405.07429 |
| locations[0].is_oa | True |
| locations[0].source.id | https://openalex.org/S4306400194 |
| locations[0].source.issn | |
| locations[0].source.type | repository |
| locations[0].source.is_oa | True |
| locations[0].source.issn_l | |
| locations[0].source.is_core | False |
| locations[0].source.is_in_doaj | False |
| locations[0].source.display_name | arXiv (Cornell University) |
| locations[0].source.host_organization | https://openalex.org/I205783295 |
| locations[0].source.host_organization_name | Cornell University |
| locations[0].source.host_organization_lineage | https://openalex.org/I205783295 |
| locations[0].license | cc-by |
| locations[0].pdf_url | https://arxiv.org/pdf/2405.07429 |
| locations[0].version | submittedVersion |
| locations[0].raw_type | text |
| locations[0].license_id | https://openalex.org/licenses/cc-by |
| locations[0].is_accepted | False |
| locations[0].is_published | False |
| locations[0].raw_source_name | |
| locations[0].landing_page_url | http://arxiv.org/abs/2405.07429 |
| locations[1].id | doi:10.48550/arxiv.2405.07429 |
| locations[1].is_oa | True |
| locations[1].source.id | https://openalex.org/S4306400194 |
| locations[1].source.issn | |
| locations[1].source.type | repository |
| locations[1].source.is_oa | True |
| locations[1].source.issn_l | |
| locations[1].source.is_core | False |
| locations[1].source.is_in_doaj | False |
| locations[1].source.display_name | arXiv (Cornell University) |
| locations[1].source.host_organization | https://openalex.org/I205783295 |
| locations[1].source.host_organization_name | Cornell University |
| locations[1].source.host_organization_lineage | https://openalex.org/I205783295 |
| locations[1].license | cc-by |
| locations[1].pdf_url | |
| locations[1].version | |
| locations[1].raw_type | article |
| locations[1].license_id | https://openalex.org/licenses/cc-by |
| locations[1].is_accepted | False |
| locations[1].is_published | |
| locations[1].raw_source_name | |
| locations[1].landing_page_url | https://doi.org/10.48550/arxiv.2405.07429 |
| indexed_in | arxiv, datacite |
| authorships[0].author.id | https://openalex.org/A5102891326 |
| authorships[0].author.orcid | https://orcid.org/0000-0002-7388-5749 |
| authorships[0].author.display_name | Xubo Luo |
| authorships[0].author_position | first |
| authorships[0].raw_author_name | Luo, Xubo |
| authorships[0].is_corresponding | False |
| authorships[1].author.id | https://openalex.org/A5102796596 |
| authorships[1].author.orcid | https://orcid.org/0000-0002-0659-2559 |
| authorships[1].author.display_name | Xue Wan |
| authorships[1].author_position | middle |
| authorships[1].raw_author_name | Wan, Xue |
| authorships[1].is_corresponding | False |
| authorships[2].author.id | https://openalex.org/A5072415508 |
| authorships[2].author.orcid | https://orcid.org/0000-0003-4475-2792 |
| authorships[2].author.display_name | Yixing Gao |
| authorships[2].author_position | middle |
| authorships[2].raw_author_name | Gao, Yixing |
| authorships[2].is_corresponding | False |
| authorships[3].author.id | https://openalex.org/A5080583438 |
| authorships[3].author.orcid | https://orcid.org/0000-0003-4681-2314 |
| authorships[3].author.display_name | Yaolin Tian |
| authorships[3].author_position | middle |
| authorships[3].raw_author_name | Tian, Yaolin |
| authorships[3].is_corresponding | False |
| authorships[4].author.id | https://openalex.org/A5100756628 |
| authorships[4].author.orcid | https://orcid.org/0000-0001-5556-3896 |
| authorships[4].author.display_name | Wei Zhang |
| authorships[4].author_position | middle |
| authorships[4].raw_author_name | Zhang, Wei |
| authorships[4].is_corresponding | False |
| authorships[5].author.id | https://openalex.org/A5016188646 |
| authorships[5].author.orcid | https://orcid.org/0000-0002-7287-1142 |
| authorships[5].author.display_name | Leizheng Shu |
| authorships[5].author_position | last |
| authorships[5].raw_author_name | Shu, Leizheng |
| authorships[5].is_corresponding | False |
| has_content.pdf | True |
| has_content.grobid_xml | True |
| is_paratext | False |
| open_access.is_oa | True |
| open_access.oa_url | https://arxiv.org/pdf/2405.07429 |
| open_access.oa_status | green |
| open_access.any_repository_has_fulltext | False |
| created_date | 2025-10-10T00:00:00 |
| display_name | JointLoc: A Real-time Visual Localization Framework for Planetary UAVs Based on Joint Relative and Absolute Pose Estimation |
| has_fulltext | False |
| is_retracted | False |
| updated_date | 2025-11-06T06:51:31.235846 |
| primary_topic.id | https://openalex.org/T10191 |
| primary_topic.field.id | https://openalex.org/fields/22 |
| primary_topic.field.display_name | Engineering |
| primary_topic.score | 0.9993000030517578 |
| primary_topic.domain.id | https://openalex.org/domains/3 |
| primary_topic.domain.display_name | Physical Sciences |
| primary_topic.subfield.id | https://openalex.org/subfields/2202 |
| primary_topic.subfield.display_name | Aerospace Engineering |
| primary_topic.display_name | Robotics and Sensor-Based Localization |
| related_works | https://openalex.org/W2498348907, https://openalex.org/W2985905814, https://openalex.org/W2262959435, https://openalex.org/W4229515626, https://openalex.org/W3202488475, https://openalex.org/W4246922841, https://openalex.org/W2536135945, https://openalex.org/W2736638679, https://openalex.org/W4313046826, https://openalex.org/W1968716783 |
| cited_by_count | 1 |
| counts_by_year[0].year | 2024 |
| counts_by_year[0].cited_by_count | 1 |
| locations_count | 2 |
| best_oa_location.id | pmh:oai:arXiv.org:2405.07429 |
| best_oa_location.is_oa | True |
| best_oa_location.source.id | https://openalex.org/S4306400194 |
| best_oa_location.source.issn | |
| best_oa_location.source.type | repository |
| best_oa_location.source.is_oa | True |
| best_oa_location.source.issn_l | |
| best_oa_location.source.is_core | False |
| best_oa_location.source.is_in_doaj | False |
| best_oa_location.source.display_name | arXiv (Cornell University) |
| best_oa_location.source.host_organization | https://openalex.org/I205783295 |
| best_oa_location.source.host_organization_name | Cornell University |
| best_oa_location.source.host_organization_lineage | https://openalex.org/I205783295 |
| best_oa_location.license | cc-by |
| best_oa_location.pdf_url | https://arxiv.org/pdf/2405.07429 |
| best_oa_location.version | submittedVersion |
| best_oa_location.raw_type | text |
| best_oa_location.license_id | https://openalex.org/licenses/cc-by |
| best_oa_location.is_accepted | False |
| best_oa_location.is_published | False |
| best_oa_location.raw_source_name | |
| best_oa_location.landing_page_url | http://arxiv.org/abs/2405.07429 |
| primary_location.id | pmh:oai:arXiv.org:2405.07429 |
| primary_location.is_oa | True |
| primary_location.source.id | https://openalex.org/S4306400194 |
| primary_location.source.issn | |
| primary_location.source.type | repository |
| primary_location.source.is_oa | True |
| primary_location.source.issn_l | |
| primary_location.source.is_core | False |
| primary_location.source.is_in_doaj | False |
| primary_location.source.display_name | arXiv (Cornell University) |
| primary_location.source.host_organization | https://openalex.org/I205783295 |
| primary_location.source.host_organization_name | Cornell University |
| primary_location.source.host_organization_lineage | https://openalex.org/I205783295 |
| primary_location.license | cc-by |
| primary_location.pdf_url | https://arxiv.org/pdf/2405.07429 |
| primary_location.version | submittedVersion |
| primary_location.raw_type | text |
| primary_location.license_id | https://openalex.org/licenses/cc-by |
| primary_location.is_accepted | False |
| primary_location.is_published | False |
| primary_location.raw_source_name | |
| primary_location.landing_page_url | http://arxiv.org/abs/2405.07429 |
| publication_date | 2024-05-13 |
| publication_year | 2024 |
| referenced_works_count | 0 |
| abstract_inverted_index.a | 72, 120, 138, 154 |
| abstract_inverted_index.In | 61 |
| abstract_inverted_index.as | 141, 143 |
| abstract_inverted_index.at | 182 |
| abstract_inverted_index.be | 59, 180 |
| abstract_inverted_index.by | 28, 100 |
| abstract_inverted_index.in | 6, 17, 71, 75, 95, 159 |
| abstract_inverted_index.of | 14, 55, 68, 78, 132, 157, 162 |
| abstract_inverted_index.on | 119 |
| abstract_inverted_index.to | 9, 63, 164, 167 |
| abstract_inverted_index.up | 163 |
| abstract_inverted_index.The | 176 |
| abstract_inverted_index.UAV | 16, 48, 56, 70, 93, 123, 146 |
| abstract_inverted_index.and | 25, 39, 47, 52, 108, 169, 173 |
| abstract_inverted_index.are | 41 |
| abstract_inverted_index.for | 171 |
| abstract_inverted_index.the | 11, 15, 18, 50, 66, 69, 76, 79, 91, 96, 103, 109, 149, 160 |
| abstract_inverted_index.via | 137 |
| abstract_inverted_index.aims | 8 |
| abstract_inverted_index.code | 178 |
| abstract_inverted_index.from | 148 |
| abstract_inverted_index.lack | 36 |
| abstract_inverted_index.maps | 24, 46 |
| abstract_inverted_index.pose | 13, 107 |
| abstract_inverted_index.real | 144 |
| abstract_inverted_index.this | 85 |
| abstract_inverted_index.well | 142 |
| abstract_inverted_index.were | 117 |
| abstract_inverted_index.will | 58, 179 |
| abstract_inverted_index.error | 156 |
| abstract_inverted_index.image | 124 |
| abstract_inverted_index.modal | 42 |
| abstract_inverted_index.often | 35 |
| abstract_inverted_index.order | 62 |
| abstract_inverted_index.paper | 86 |
| abstract_inverted_index.pose. | 113 |
| abstract_inverted_index.scene | 74 |
| abstract_inverted_index.since | 32 |
| abstract_inverted_index.there | 40 |
| abstract_inverted_index.three | 130 |
| abstract_inverted_index.types | 131 |
| abstract_inverted_index.which | 89, 128 |
| abstract_inverted_index.world | 19, 97 |
| abstract_inverted_index.(UAVs) | 3 |
| abstract_inverted_index.0.237m | 158 |
| abstract_inverted_index.0.557m | 170 |
| abstract_inverted_index.0.594m | 168 |
| abstract_inverted_index.aerial | 1 |
| abstract_inverted_index.engine | 140 |
| abstract_inverted_index.fusing | 102 |
| abstract_inverted_index.global | 80 |
| abstract_inverted_index.images | 26, 147 |
| abstract_inverted_index.scenes | 34 |
| abstract_inverted_index.source | 177 |
| abstract_inverted_index.system | 21, 83, 99 |
| abstract_inverted_index.visual | 4 |
| abstract_inverted_index.(2-DoF) | 106 |
| abstract_inverted_index.(6-DoF) | 112 |
| abstract_inverted_index.(GNSS), | 84 |
| abstract_inverted_index.1,000m, | 165 |
| abstract_inverted_index.Martian | 134, 145 |
| abstract_inverted_index.absence | 77 |
| abstract_inverted_index.between | 44 |
| abstract_inverted_index.images, | 49 |
| abstract_inverted_index.through | 22 |
| abstract_inverted_index.typical | 133 |
| abstract_inverted_index.However, | 31 |
| abstract_inverted_index.JointLoc | 152 |
| abstract_inverted_index.Unmanned | 0 |
| abstract_inverted_index.absolute | 12, 104 |
| abstract_inverted_index.accuracy | 51 |
| abstract_inverted_index.achieved | 153 |
| abstract_inverted_index.cameras. | 30 |
| abstract_inverted_index.captured | 27 |
| abstract_inverted_index.compared | 166 |
| abstract_inverted_index.contains | 129 |
| abstract_inverted_index.dataset, | 127 |
| abstract_inverted_index.estimate | 10 |
| abstract_inverted_index.on-board | 29 |
| abstract_inverted_index.position | 67, 94 |
| abstract_inverted_index.proposed | 121 |
| abstract_inverted_index.proposes | 87 |
| abstract_inverted_index.reduced. | 60 |
| abstract_inverted_index.relative | 110 |
| abstract_inverted_index.vehicles | 2 |
| abstract_inverted_index.Extensive | 114 |
| abstract_inverted_index.Ingenuity | 150 |
| abstract_inverted_index.JointLoc, | 88 |
| abstract_inverted_index.ORB-SLAM2 | 172 |
| abstract_inverted_index.ORB-SLAM3 | 174 |
| abstract_inverted_index.available | 181 |
| abstract_inverted_index.conducted | 118 |
| abstract_inverted_index.determine | 65 |
| abstract_inverted_index.estimates | 90 |
| abstract_inverted_index.generated | 136 |
| abstract_inverted_index.landmarks | 38 |
| abstract_inverted_index.planetary | 7, 33, 73, 122 |
| abstract_inverted_index.real-time | 53, 92 |
| abstract_inverted_index.satellite | 23, 45, 82 |
| abstract_inverted_index.accurately | 64 |
| abstract_inverted_index.adaptively | 101 |
| abstract_inverted_index.coordinate | 20, 98 |
| abstract_inverted_index.navigation | 81 |
| abstract_inverted_index.simulation | 139 |
| abstract_inverted_index.topography | 135 |
| abstract_inverted_index.comparative | 115 |
| abstract_inverted_index.cross-modal | 125 |
| abstract_inverted_index.differences | 43 |
| abstract_inverted_index.experiments | 116 |
| abstract_inverted_index.helicopter. | 151 |
| abstract_inverted_index.performance | 54 |
| abstract_inverted_index.positioning | 57 |
| abstract_inverted_index.significant | 37 |
| abstract_inverted_index.localization | 5, 126 |
| abstract_inverted_index.trajectories | 161 |
| abstract_inverted_index.respectively. | 175 |
| abstract_inverted_index.root-mean-square | 155 |
| abstract_inverted_index.2-degree-of-freedom | 105 |
| abstract_inverted_index.6-degree-of-freedom | 111 |
| abstract_inverted_index.https://github.com/LuoXubo/JointLoc. | 183 |
| cited_by_percentile_year | |
| countries_distinct_count | 0 |
| institutions_distinct_count | 6 |
| citation_normalized_percentile |