{"id":"https://openalex.org/W2013482892","doi":"https://doi.org/10.1109/iros.2012.6385530","title":"Real-time velocity estimation based on optical flow and disparity matching","display_name":"Real-time velocity estimation based on optical flow and disparity matching","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W2013482892","doi":"https://doi.org/10.1109/iros.2012.6385530","mag":"2013482892"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2012.6385530","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385530","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5007298146","display_name":"Dominik Honegger","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Dominik Honegger","raw_affiliation_strings":["ETH Z\u00fcrich, Switzerland","Eth Z\u00fcrich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Eth Z\u00fcrich, Switzerland","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024602684","display_name":"Pierre Greisen","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Pierre Greisen","raw_affiliation_strings":["ETH Z\u00fcrich, Switzerland","Eth Z\u00fcrich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Eth Z\u00fcrich, Switzerland","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082013198","display_name":"Lorenz Meier","orcid":"https://orcid.org/0000-0001-6247-0102"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Lorenz Meier","raw_affiliation_strings":["ETH Z\u00fcrich, Switzerland","Eth Z\u00fcrich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Eth Z\u00fcrich, Switzerland","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003006766","display_name":"Petri Tanskanen","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Petri Tanskanen","raw_affiliation_strings":["ETH Z\u00fcrich, Switzerland","Eth Z\u00fcrich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Eth Z\u00fcrich, Switzerland","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021908609","display_name":"Marc Pollefeys","orcid":"https://orcid.org/0000-0003-2448-2318"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Marc Pollefeys","raw_affiliation_strings":["ETH Z\u00fcrich, Switzerland","Eth Z\u00fcrich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Eth Z\u00fcrich, Switzerland","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.2752,"has_fulltext":false,"cited_by_count":53,"citation_normalized_percentile":{"value":0.96148048,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"5177","last_page":"5182"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":1.0,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9980000257492065,"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/T13114","display_name":"Image Processing Techniques and Applications","score":0.9973000288009644,"subfield":{"id":"https://openalex.org/subfields/2214","display_name":"Media Technology"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/optical-flow","display_name":"Optical flow","score":0.8651354312896729},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.7027876973152161},{"id":"https://openalex.org/keywords/frame-rate","display_name":"Frame rate","score":0.6791818141937256},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6538186073303223},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6316783428192139},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5433536171913147},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5415334105491638},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.4760141968727112},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.46075281500816345},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4190794825553894},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3654745817184448},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.2698814868927002},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15867173671722412},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1536083221435547},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.07618391513824463}],"concepts":[{"id":"https://openalex.org/C155542232","wikidata":"https://www.wikidata.org/wiki/Q736111","display_name":"Optical flow","level":3,"score":0.8651354312896729},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.7027876973152161},{"id":"https://openalex.org/C3261483","wikidata":"https://www.wikidata.org/wiki/Q119565","display_name":"Frame rate","level":2,"score":0.6791818141937256},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6538186073303223},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6316783428192139},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5433536171913147},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5415334105491638},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.4760141968727112},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.46075281500816345},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4190794825553894},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3654745817184448},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.2698814868927002},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15867173671722412},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1536083221435547},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.07618391513824463},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2012.6385530","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385530","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.713.1513","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.713.1513","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://people.inf.ethz.ch/pomarc/pubs/HoneggerIROS12.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.8500000238418579}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1509048328","https://openalex.org/W1601541057","https://openalex.org/W1674866864","https://openalex.org/W2025864680","https://openalex.org/W2099609996","https://openalex.org/W2120507162","https://openalex.org/W2128369195","https://openalex.org/W2159473215","https://openalex.org/W6635922369","https://openalex.org/W6679224724"],"related_works":["https://openalex.org/W4386083130","https://openalex.org/W3111737715","https://openalex.org/W2117442182","https://openalex.org/W2069571255","https://openalex.org/W1975907365","https://openalex.org/W2977517636","https://openalex.org/W2204864382","https://openalex.org/W1909182616","https://openalex.org/W1969179582","https://openalex.org/W2810129309"],"abstract_inverted_index":{"A":[0],"high":[1],"update":[2],"rate":[3],"of":[4,14,18,34,92],"metric":[5,32,65,95],"velocity":[6,33],"values":[7],"is":[8,131],"crucial":[9],"for":[10,30,126,134],"a":[11,120],"robust":[12],"operation":[13],"navigation":[15],"control":[16],"loops":[17],"mobile":[19,135],"robots":[20,35,136],"such":[21],"as":[22],"micro":[23],"aerial":[24],"vehicles":[25],"(MAVs).":[26],"An":[27],"efficient":[28],"way":[29],"obtaining":[31],"without":[36,123],"external":[37,127],"reference":[38],"are":[39,61,72,117],"image-based":[40],"optical":[41,56,66,96,113],"flow":[42,57,67,97,114],"measurements,":[43],"scaled":[44],"with":[45,89],"the":[46,51,90,124],"distance":[47],"between":[48],"camera":[49],"and":[50,58,103,112,144],"observed":[52],"scene.":[53],"However,":[54],"since":[55],"stereo":[59],"vision":[60],"computationally":[62],"intensive":[63],"tasks,":[64],"calculations":[68],"on":[69,119],"embedded":[70],"systems":[71],"typically":[73],"only":[74],"possible":[75],"at":[76,98],"limited":[77],"frame":[78],"rate.":[79],"In":[80],"this":[81],"work,":[82],"we":[83],"therefore":[84],"present":[85],"an":[86],"FPGA-based":[87],"platform":[88,130],"capability":[91],"calculating":[93],"real-time":[94],"127":[99],"frames":[100],"per":[101],"second":[102],"376\u00d7240":[104],"resolution.":[105],"Radial":[106],"undistortion,":[107],"image":[108],"rectification,":[109],"disparity":[110],"estimation":[111],"calculation":[115],"tasks":[116],"performed":[118],"single":[121],"FPGA":[122],"need":[125],"memory.":[128],"The":[129],"perfectly":[132],"suited":[133],"or":[137],"MAVs":[138],"due":[139],"to":[140],"its":[141],"low":[142,145],"weight":[143],"power":[146],"consumption.":[147]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":9},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":8},{"year":2013,"cited_by_count":6}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
