{"id":"https://openalex.org/W2014673260","doi":"https://doi.org/10.1109/iros.2014.6942940","title":"Event-based, 6-DOF pose tracking for high-speed maneuvers","display_name":"Event-based, 6-DOF pose tracking for high-speed maneuvers","publication_year":2014,"publication_date":"2014-09-01","ids":{"openalex":"https://openalex.org/W2014673260","doi":"https://doi.org/10.1109/iros.2014.6942940","mag":"2014673260"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2014.6942940","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6942940","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5083488340","display_name":"Elias Mueggler","orcid":"https://orcid.org/0000-0002-8008-443X"},"institutions":[{"id":"https://openalex.org/I202697423","display_name":"University of Zurich","ror":"https://ror.org/02crff812","country_code":"CH","type":"education","lineage":["https://openalex.org/I202697423"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Elias Mueggler","raw_affiliation_strings":["Robotics and Perception Group, University of Zurich, Switzerland","[Robotics and Perception Group, University of Zurich, Switzerland]"],"affiliations":[{"raw_affiliation_string":"Robotics and Perception Group, University of Zurich, Switzerland","institution_ids":["https://openalex.org/I202697423"]},{"raw_affiliation_string":"[Robotics and Perception Group, University of Zurich, Switzerland]","institution_ids":["https://openalex.org/I202697423"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052200659","display_name":"Basil Huber","orcid":null},"institutions":[{"id":"https://openalex.org/I202697423","display_name":"University of Zurich","ror":"https://ror.org/02crff812","country_code":"CH","type":"education","lineage":["https://openalex.org/I202697423"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Basil Huber","raw_affiliation_strings":["Robotics and Perception Group, University of Zurich, Switzerland","Robot. & Perception Group, Univ. of Zurich, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Robotics and Perception Group, University of Zurich, Switzerland","institution_ids":["https://openalex.org/I202697423"]},{"raw_affiliation_string":"Robot. & Perception Group, Univ. of Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I202697423"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057116316","display_name":"Davide Scaramuzza","orcid":"https://orcid.org/0000-0002-3831-6778"},"institutions":[{"id":"https://openalex.org/I202697423","display_name":"University of Zurich","ror":"https://ror.org/02crff812","country_code":"CH","type":"education","lineage":["https://openalex.org/I202697423"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Davide Scaramuzza","raw_affiliation_strings":["Robotics and Perception Group, University of Zurich, Switzerland","Robot. & Perception Group, Univ. of Zurich, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Robotics and Perception Group, University of Zurich, Switzerland","institution_ids":["https://openalex.org/I202697423"]},{"raw_affiliation_string":"Robot. & Perception Group, Univ. of Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I202697423"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5083488340"],"corresponding_institution_ids":["https://openalex.org/I202697423"],"apc_list":null,"apc_paid":null,"fwci":257.169,"has_fulltext":false,"cited_by_count":253,"citation_normalized_percentile":{"value":0.99973109,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"2761","last_page":"2768"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9995999932289124,"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/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9987999796867371,"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/computer-science","display_name":"Computer science","score":0.7384340763092041},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6709669232368469},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6531035900115967},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5742709636688232},{"id":"https://openalex.org/keywords/frame-rate","display_name":"Frame rate","score":0.5518108010292053},{"id":"https://openalex.org/keywords/latency","display_name":"Latency (audio)","score":0.4720105826854706},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.45242440700531006},{"id":"https://openalex.org/keywords/low-latency","display_name":"Low latency (capital markets)","score":0.44418638944625854},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.4340744614601135},{"id":"https://openalex.org/keywords/pixel","display_name":"Pixel","score":0.4259773790836334},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.4113454818725586}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7384340763092041},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6709669232368469},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6531035900115967},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5742709636688232},{"id":"https://openalex.org/C3261483","wikidata":"https://www.wikidata.org/wiki/Q119565","display_name":"Frame rate","level":2,"score":0.5518108010292053},{"id":"https://openalex.org/C82876162","wikidata":"https://www.wikidata.org/wiki/Q17096504","display_name":"Latency (audio)","level":2,"score":0.4720105826854706},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.45242440700531006},{"id":"https://openalex.org/C46637626","wikidata":"https://www.wikidata.org/wiki/Q6693015","display_name":"Low latency (capital markets)","level":2,"score":0.44418638944625854},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.4340744614601135},{"id":"https://openalex.org/C160633673","wikidata":"https://www.wikidata.org/wiki/Q355198","display_name":"Pixel","level":2,"score":0.4259773790836334},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.4113454818725586},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":6,"locations":[{"id":"doi:10.1109/iros.2014.6942940","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6942940","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:www.zora.uzh.ch:125447","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306401281","display_name":"Zurich Open Repository and Archive (University of Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I202697423","host_organization_name":"University of Zurich","host_organization_lineage":["https://openalex.org/I202697423"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"M\u00fcggler, Elias; Huber, Basil; Scaramuzza, Davide  (2014). Event-based, 6-DOF pose tracking for high-speed maneuvers.  In: IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), Chicago, IL, USA, 14 September 2014 - 18 September 2014. Institute of Electrical and Electronics Engineers, 2761-2768.","raw_type":"Conference or Workshop Item"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.699.2591","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.699.2591","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://infoscience.epfl.ch/record/202751/files/IROS14_Mueggler.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.974.2802","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.974.2802","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://rpg.ifi.uzh.ch/docs/IROS14_Mueggler.pdf","raw_type":"text"},{"id":"pmh:oai:infoscience.epfl.ch:202751","is_oa":false,"landing_page_url":"http://infoscience.epfl.ch/record/202751","pdf_url":null,"source":{"id":"https://openalex.org/S4306400488","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},{"id":"doi:10.5167/uzh-125447","is_oa":true,"landing_page_url":"https://doi.org/10.5167/uzh-125447","pdf_url":null,"source":{"id":"https://openalex.org/S7407051291","display_name":"Universit\u00e4t Z\u00fcrich, ZORA","issn_l":null,"issn":[],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":""}],"best_oa_location":{"id":"pmh:oai:www.zora.uzh.ch:125447","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306401281","display_name":"Zurich Open Repository and Archive (University of Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I202697423","host_organization_name":"University of Zurich","host_organization_lineage":["https://openalex.org/I202697423"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"M\u00fcggler, Elias; Huber, Basil; Scaramuzza, Davide  (2014). Event-based, 6-DOF pose tracking for high-speed maneuvers.  In: IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), Chicago, IL, USA, 14 September 2014 - 18 September 2014. Institute of Electrical and Electronics Engineers, 2761-2768.","raw_type":"Conference or Workshop Item"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1975501109","https://openalex.org/W1975697167","https://openalex.org/W1998339166","https://openalex.org/W2010172797","https://openalex.org/W2016574277","https://openalex.org/W2018904782","https://openalex.org/W2033614958","https://openalex.org/W2033819227","https://openalex.org/W2040938785","https://openalex.org/W2050253520","https://openalex.org/W2087269417","https://openalex.org/W2095905764","https://openalex.org/W2112510830","https://openalex.org/W2113524801","https://openalex.org/W2125186487","https://openalex.org/W2137281791","https://openalex.org/W2142424817","https://openalex.org/W2166721300","https://openalex.org/W2167667767","https://openalex.org/W2209124607","https://openalex.org/W2294713796","https://openalex.org/W3144742656"],"related_works":["https://openalex.org/W2004851054","https://openalex.org/W3205411230","https://openalex.org/W4286899009","https://openalex.org/W3163341049","https://openalex.org/W9168048","https://openalex.org/W4300849822","https://openalex.org/W4376480820","https://openalex.org/W3155891479","https://openalex.org/W3029351463","https://openalex.org/W2885352820"],"abstract_inverted_index":{"In":[0,84],"the":[1,31,56,59,67,89,128,138,147,160,163,171],"last":[2],"few":[3],"years,":[4],"we":[5,78,87,196],"have":[6],"witnessed":[7],"impressive":[8],"demonstrations":[9],"of":[10,33,61,69,162,173],"aggressive":[11],"flights":[12],"and":[13],"acrobatics":[14],"using":[15,41,100,205],"quadrotors.":[16],"However,":[17],"those":[18,49],"robots":[19],"are":[20,44],"actually":[21],"blind.":[22],"They":[23],"do":[24],"not":[25,114],"see":[26],"by":[27,66],"themselves,":[28],"but":[29],"through":[30],"\u201ceyes\u201d":[32],"an":[34],"external":[35],"motion":[36,52],"capture":[37,53,202],"system.":[38],"Flight":[39],"maneuvers":[40,99],"onboard":[42,91],"sensors":[43],"still":[45],"slow":[46],"compared":[47,158],"to":[48,80,127,149,159,169,178,192,201],"attainable":[50],"with":[51,142,176,188],"systems.":[54],"At":[55],"current":[57],"state,":[58],"agility":[60],"a":[62,101,107,111,121,151,174,179,198,206],"robot":[63],"is":[64,156],"limited":[65],"latency":[68,155],"its":[70],"perception":[71,92,152],"pipeline.":[72],"To":[73],"obtain":[74],"more":[75],"agile":[76],"robots,":[77],"need":[79],"use":[81],"faster":[82],"sensors.":[83],"this":[85],"paper,":[86],"present":[88],"first":[90],"system":[93],"for":[94],"6-DOF":[95],"localization":[96],"during":[97,182],"high-speed":[98,183],"Dynamic":[102],"Vision":[103],"Sensor":[104],"(DVS).":[105],"Unlike":[106],"standard":[108],"CMOS":[109],"camera,":[110],"DVS":[112],"does":[113],"wastefully":[115],"send":[116],"full":[117],"image":[118],"frames":[119],"at":[120,137],"fixed":[122],"frame":[123],"rate.":[124],"Conversely,":[125],"similar":[126],"human":[129],"eye,":[130],"it":[131],"only":[132],"transmits":[133],"pixel-level":[134],"brightness":[135],"changes":[136],"time":[139],"they":[140],"occur":[141],"microsecond":[143],"resolution,":[144],"thus,":[145],"offering":[146],"possibility":[148],"create":[150],"pipeline":[153],"whose":[154],"negligible":[157],"dynamics":[161],"robot.":[164],"We":[165],"exploit":[166],"these":[167],"characteristics":[168],"estimate":[170],"pose":[172],"quadrotor":[175],"respect":[177],"known":[180],"pattern":[181],"maneuvers,":[184],"such":[185],"as":[186],"flips,":[187],"rotational":[189],"speeds":[190],"up":[191],"1,200":[193],"\u00b0/s.":[194],"Additionally,":[195],"provide":[197],"versatile":[199],"method":[200],"ground-truth":[203],"data":[204],"DVS.":[207]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":31},{"year":2024,"cited_by_count":26},{"year":2023,"cited_by_count":24},{"year":2022,"cited_by_count":24},{"year":2021,"cited_by_count":22},{"year":2020,"cited_by_count":32},{"year":2019,"cited_by_count":32},{"year":2018,"cited_by_count":22},{"year":2017,"cited_by_count":11},{"year":2016,"cited_by_count":19},{"year":2015,"cited_by_count":8},{"year":2014,"cited_by_count":1}],"updated_date":"2026-04-06T07:47:59.780226","created_date":"2025-10-10T00:00:00"}
