{"id":"https://openalex.org/W4415745010","doi":"https://doi.org/10.1109/hpcc67675.2025.00166","title":"An Embedded Visual-Inertial Navigation System for Mobile Platforms Using an Event-Based Camera","display_name":"An Embedded Visual-Inertial Navigation System for Mobile Platforms Using an Event-Based Camera","publication_year":2025,"publication_date":"2025-08-13","ids":{"openalex":"https://openalex.org/W4415745010","doi":"https://doi.org/10.1109/hpcc67675.2025.00166"},"language":null,"primary_location":{"id":"doi:10.1109/hpcc67675.2025.00166","is_oa":false,"landing_page_url":"https://doi.org/10.1109/hpcc67675.2025.00166","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on High Performance Computing and Communications (HPCC)","raw_type":"proceedings-article"},"type":"conference-paper","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":null,"display_name":"James Evans","orcid":null},"institutions":[{"id":"https://openalex.org/I181647926","display_name":"University of Strathclyde","ror":"https://ror.org/00n3w3b69","country_code":"GB","type":"education","lineage":["https://openalex.org/I181647926"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"James Evans","raw_affiliation_strings":["University of Strathclyde,Department of Electronic and Electrical Engineering,Glasgow,UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Strathclyde,Department of Electronic and Electrical Engineering,Glasgow,UK","institution_ids":["https://openalex.org/I181647926"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102498677","display_name":"Andrew Ferguson","orcid":null},"institutions":[{"id":"https://openalex.org/I181647926","display_name":"University of Strathclyde","ror":"https://ror.org/00n3w3b69","country_code":"GB","type":"education","lineage":["https://openalex.org/I181647926"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Andrew Ferguson","raw_affiliation_strings":["University of Strathclyde,Department of Electronic and Electrical Engineering,Glasgow,UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Strathclyde,Department of Electronic and Electrical Engineering,Glasgow,UK","institution_ids":["https://openalex.org/I181647926"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113488075","display_name":"SJ Forman","orcid":null},"institutions":[{"id":"https://openalex.org/I181647926","display_name":"University of Strathclyde","ror":"https://ror.org/00n3w3b69","country_code":"GB","type":"education","lineage":["https://openalex.org/I181647926"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Shaun Forman","raw_affiliation_strings":["University of Strathclyde,Department of Electronic and Electrical Engineering,Glasgow,UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Strathclyde,Department of Electronic and Electrical Engineering,Glasgow,UK","institution_ids":["https://openalex.org/I181647926"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016771048","display_name":"Douglas Fraser","orcid":"https://orcid.org/0009-0008-5291-6519"},"institutions":[{"id":"https://openalex.org/I181647926","display_name":"University of Strathclyde","ror":"https://ror.org/00n3w3b69","country_code":"GB","type":"education","lineage":["https://openalex.org/I181647926"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Douglas Fraser","raw_affiliation_strings":["University of Strathclyde,Department of Electronic and Electrical Engineering,Glasgow,UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Strathclyde,Department of Electronic and Electrical Engineering,Glasgow,UK","institution_ids":["https://openalex.org/I181647926"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5120207306","display_name":"Samuel Kliskey","orcid":null},"institutions":[{"id":"https://openalex.org/I181647926","display_name":"University of Strathclyde","ror":"https://ror.org/00n3w3b69","country_code":"GB","type":"education","lineage":["https://openalex.org/I181647926"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Samuel Kliskey","raw_affiliation_strings":["University of Strathclyde,Department of Electronic and Electrical Engineering,Glasgow,UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Strathclyde,Department of Electronic and Electrical Engineering,Glasgow,UK","institution_ids":["https://openalex.org/I181647926"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009371598","display_name":"Gaetano Di Caterina","orcid":"https://orcid.org/0000-0002-7256-0897"},"institutions":[{"id":"https://openalex.org/I181647926","display_name":"University of Strathclyde","ror":"https://ror.org/00n3w3b69","country_code":"GB","type":"education","lineage":["https://openalex.org/I181647926"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Gaetano Di Caterina","raw_affiliation_strings":["University of Strathclyde,Department of Electronic and Electrical Engineering,Glasgow,UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Strathclyde,Department of Electronic and Electrical Engineering,Glasgow,UK","institution_ids":["https://openalex.org/I181647926"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071738695","display_name":"Ehsan Mohseni","orcid":"https://orcid.org/0000-0002-0819-6592"},"institutions":[{"id":"https://openalex.org/I181647926","display_name":"University of Strathclyde","ror":"https://ror.org/00n3w3b69","country_code":"GB","type":"education","lineage":["https://openalex.org/I181647926"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ehsan Mohseni","raw_affiliation_strings":["University of Strathclyde,Department of Electronic and Electrical Engineering,Glasgow,UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Strathclyde,Department of Electronic and Electrical Engineering,Glasgow,UK","institution_ids":["https://openalex.org/I181647926"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I181647926"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.34783871,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1162","last_page":"1169"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.1851000040769577,"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":0.1851000040769577,"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/T10502","display_name":"Advanced Memory and Neural Computing","score":0.15950000286102295,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.09529999643564224,"subfield":{"id":"https://openalex.org/subfields/3105","display_name":"Instrumentation"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.6590999960899353},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.5443999767303467},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.4255000054836273},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.4041999876499176},{"id":"https://openalex.org/keywords/microcontroller","display_name":"Microcontroller","score":0.4000000059604645},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.38760000467300415},{"id":"https://openalex.org/keywords/pixel","display_name":"Pixel","score":0.37299999594688416},{"id":"https://openalex.org/keywords/mobile-device","display_name":"Mobile device","score":0.3587000072002411},{"id":"https://openalex.org/keywords/geolocation","display_name":"Geolocation","score":0.352400004863739}],"concepts":[{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.6590999960899353},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6531000137329102},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6004999876022339},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.5443999767303467},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.5375999808311462},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5281000137329102},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.4255000054836273},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.4041999876499176},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.4032000005245209},{"id":"https://openalex.org/C173018170","wikidata":"https://www.wikidata.org/wiki/Q165678","display_name":"Microcontroller","level":2,"score":0.4000000059604645},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.38760000467300415},{"id":"https://openalex.org/C160633673","wikidata":"https://www.wikidata.org/wiki/Q355198","display_name":"Pixel","level":2,"score":0.37299999594688416},{"id":"https://openalex.org/C186967261","wikidata":"https://www.wikidata.org/wiki/Q5082128","display_name":"Mobile device","level":2,"score":0.3587000072002411},{"id":"https://openalex.org/C22041718","wikidata":"https://www.wikidata.org/wiki/Q638949","display_name":"Geolocation","level":2,"score":0.352400004863739},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.34869998693466187},{"id":"https://openalex.org/C2779096738","wikidata":"https://www.wikidata.org/wiki/Q7394773","display_name":"STM32","level":3,"score":0.33899998664855957},{"id":"https://openalex.org/C2779662365","wikidata":"https://www.wikidata.org/wiki/Q5416694","display_name":"Event (particle physics)","level":2,"score":0.3280999958515167},{"id":"https://openalex.org/C198613851","wikidata":"https://www.wikidata.org/wiki/Q432394","display_name":"Assisted GPS","level":3,"score":0.3133000135421753},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3125},{"id":"https://openalex.org/C9390403","wikidata":"https://www.wikidata.org/wiki/Q3966","display_name":"Computer hardware","level":1,"score":0.30820000171661377},{"id":"https://openalex.org/C9417928","wikidata":"https://www.wikidata.org/wiki/Q1070689","display_name":"Image processing","level":3,"score":0.3019999861717224},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.299699991941452},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.28209999203681946},{"id":"https://openalex.org/C2778603505","wikidata":"https://www.wikidata.org/wiki/Q17141406","display_name":"Positioning system","level":3,"score":0.2768999934196472},{"id":"https://openalex.org/C153715457","wikidata":"https://www.wikidata.org/wiki/Q254183","display_name":"Augmented reality","level":2,"score":0.27300000190734863},{"id":"https://openalex.org/C68649174","wikidata":"https://www.wikidata.org/wiki/Q1379116","display_name":"Base station","level":2,"score":0.2703000009059906},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.25949999690055847},{"id":"https://openalex.org/C3261483","wikidata":"https://www.wikidata.org/wiki/Q119565","display_name":"Frame rate","level":2,"score":0.25769999623298645},{"id":"https://openalex.org/C557433098","wikidata":"https://www.wikidata.org/wiki/Q94","display_name":"Android (operating system)","level":2,"score":0.25369998812675476},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.2524999976158142}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/hpcc67675.2025.00166","is_oa":false,"landing_page_url":"https://doi.org/10.1109/hpcc67675.2025.00166","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on High Performance Computing and Communications (HPCC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1532362218","https://openalex.org/W2010172797","https://openalex.org/W2015996585","https://openalex.org/W2055904838","https://openalex.org/W2091790851","https://openalex.org/W2111308925","https://openalex.org/W2593977769","https://openalex.org/W2700270514","https://openalex.org/W2783185291","https://openalex.org/W2884195444","https://openalex.org/W3040838455","https://openalex.org/W3043288583","https://openalex.org/W3091667825","https://openalex.org/W4246614213","https://openalex.org/W4253803843"],"related_works":[],"abstract_inverted_index":{"GPS":[0],"has":[1],"long":[2],"been":[3],"the":[4,41,131,134,163,177,200,207,216],"standard":[5],"for":[6,47,195],"determining":[7],"position":[8,132],"and":[9,66,84,111,121,136],"navigation":[10,101],"across":[11],"a":[12,50,94,100,105,126,190,211,223],"wide":[13,81],"range":[14,83],"of":[15,43,133,138,165,179,202,210,218,227],"applications.":[16],"However,":[17],"as":[18,32,70,155],"this":[19,172,205,228],"technology":[20],"cannot":[21],"be":[22,184],"relied":[23],"on":[24,104,115,175],"in":[25,63,186,222],"many":[26],"scenarios,":[27],"alternative":[28],"sensing":[29],"modalities,":[30],"such":[31],"vision,":[33],"could":[34,183],"provide":[35,76],"viable":[36],"alternatives.":[37],"This":[38],"work":[39,173],"investigated":[40],"use":[42],"an":[44,180,219],"event-based":[45,96,142,169,181,220],"camera":[46,182,221],"navigation,":[48],"within":[49],"mobile":[51],"embedded":[52],"system.":[53],"Event-based":[54],"cameras":[55],"generate":[56],"events":[57],"when":[58,148],"pixels":[59],"asynchronously":[60],"detect":[61],"changes":[62,69],"light":[64],"intensity,":[65],"report":[67],"these":[68],"binary":[71],"spikes.":[72],"Such":[73],"sensors":[74],"can":[75,214],"very":[77],"high":[78],"temporal":[79],"resolution,":[80],"dynamic":[82],"low":[85],"power":[86],"consumption.":[87],"A":[88],"ground-based":[89],"rover":[90,135],"was":[91],"developed,":[92],"hosting":[93],"DAVIS346":[95],"camera,":[97],"to":[98,157,162],"test":[99],"system":[102,193,226],"based":[103],"visual-inertial":[106],"odometry":[107],"(VIO)":[108],"approach.":[109],"Processing":[110],"communications":[112],"were":[113],"implemented":[114],"two":[116],"microcontrollers":[117],"(Raspberry":[118],"Pi":[119],"5":[120],"ESP32),":[122],"both":[123],"communicating":[124],"with":[125,152],"base":[127],"station,":[128],"which":[129,188],"tracked":[130],"status":[137],"onboard":[139],"sensors.":[140],"The":[141],"processing":[143],"pipeline":[144],"showed":[145],"improved":[146],"accuracy":[147],"using":[149],"frames":[150,159],"augmented":[151],"event":[153],"data,":[154],"compared":[156],"regular":[158],"only.":[160],"Due":[161],"scarcity":[164],"modular,":[166],"open":[167],"source,":[168],"VIO":[170,192,225],"systems,":[171],"focused":[174],"how":[176],"benefits":[178,217],"leveraged":[185],"OpenVINS,":[187],"is":[189,206],"traditional":[191,224],"designed":[194],"conventional":[196],"frame-based":[197],"cameras.":[198],"To":[199],"best":[201],"our":[203],"knowledge":[204],"first":[208],"demonstration":[209],"framework":[212],"that":[213],"leverage":[215],"style.":[229]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-31T00:00:00"}