{"id":"https://openalex.org/W2220263381","doi":"https://doi.org/10.1109/iros.2015.7353931","title":"Omnidirectional visual obstacle detection using embedded FPGA","display_name":"Omnidirectional visual obstacle detection using embedded FPGA","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W2220263381","doi":"https://doi.org/10.1109/iros.2015.7353931","mag":"2220263381"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2015.7353931","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353931","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5091075769","display_name":"Pascal Gohl","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":"Pascal Gohl","raw_affiliation_strings":["ETH Zurich, Autonomous Systems Lab, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zurich, Autonomous Systems Lab, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","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":["Computer Vision and Geometry Group, ETH Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Vision and Geometry Group, ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037725766","display_name":"Sammy Omari","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":"Sammy Omari","raw_affiliation_strings":["ETH Zurich, Autonomous Systems Lab, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zurich, Autonomous Systems Lab, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055860801","display_name":"Markus Achtelik","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":"Markus Achtelik","raw_affiliation_strings":["ETH Zurich, Autonomous Systems Lab, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zurich, Autonomous Systems Lab, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","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":["Computer Vision and Geometry Group, ETH Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Vision and Geometry Group, ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083003222","display_name":"Roland Siegwart","orcid":"https://orcid.org/0000-0002-2760-7983"},"institutions":[{"id":"https://openalex.org/I2799323385","display_name":"Board of the Swiss Federal Institutes of Technology","ror":"https://ror.org/01rvn4p91","country_code":"CH","type":"government","lineage":["https://openalex.org/I2799323385"]},{"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":"Roland Siegwart","raw_affiliation_strings":["Eidgenossische Technische Hochschule Zurich, Zurich, ZH, CH"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Eidgenossische Technische Hochschule Zurich, Zurich, ZH, CH","institution_ids":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":89.8852,"has_fulltext":false,"cited_by_count":34,"citation_normalized_percentile":{"value":0.99761369,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"3938","last_page":"3943"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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":0.9976000189781189,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9976000189781189,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7581949830055237},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7303334474563599},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.7105351090431213},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6597768664360046},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.6263636350631714},{"id":"https://openalex.org/keywords/field-programmable-gate-array","display_name":"Field-programmable gate array","score":0.5868997573852539},{"id":"https://openalex.org/keywords/stereopsis","display_name":"Stereopsis","score":0.575157880783081},{"id":"https://openalex.org/keywords/frame-rate","display_name":"Frame rate","score":0.5303260684013367},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5117166042327881},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.42028772830963135},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.33346274495124817},{"id":"https://openalex.org/keywords/computer-hardware","display_name":"Computer hardware","score":0.2406686246395111}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7581949830055237},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7303334474563599},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.7105351090431213},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6597768664360046},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.6263636350631714},{"id":"https://openalex.org/C42935608","wikidata":"https://www.wikidata.org/wiki/Q190411","display_name":"Field-programmable gate array","level":2,"score":0.5868997573852539},{"id":"https://openalex.org/C68537008","wikidata":"https://www.wikidata.org/wiki/Q247932","display_name":"Stereopsis","level":2,"score":0.575157880783081},{"id":"https://openalex.org/C3261483","wikidata":"https://www.wikidata.org/wiki/Q119565","display_name":"Frame rate","level":2,"score":0.5303260684013367},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5117166042327881},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.42028772830963135},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.33346274495124817},{"id":"https://openalex.org/C9390403","wikidata":"https://www.wikidata.org/wiki/Q3966","display_name":"Computer hardware","level":1,"score":0.2406686246395111},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2015.7353931","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353931","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.707.9448","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.707.9448","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/GohlIROS15.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1529133245","https://openalex.org/W1676459225","https://openalex.org/W1986940113","https://openalex.org/W1998058414","https://openalex.org/W2001133583","https://openalex.org/W2008399778","https://openalex.org/W2024676408","https://openalex.org/W2027296962","https://openalex.org/W2091790851","https://openalex.org/W2097428864","https://openalex.org/W2123432765","https://openalex.org/W2125409550","https://openalex.org/W2133844819","https://openalex.org/W2146232918","https://openalex.org/W2158052077","https://openalex.org/W2158955701","https://openalex.org/W2167562394","https://openalex.org/W2509493982","https://openalex.org/W2902936065","https://openalex.org/W3212737926","https://openalex.org/W6674697852","https://openalex.org/W6724925041","https://openalex.org/W6756454868","https://openalex.org/W6803984101"],"related_works":["https://openalex.org/W2794103424","https://openalex.org/W4245435724","https://openalex.org/W1996530509","https://openalex.org/W3028317537","https://openalex.org/W2389515972","https://openalex.org/W1535080110","https://openalex.org/W2055301889","https://openalex.org/W306312984","https://openalex.org/W857189463","https://openalex.org/W2891167363"],"abstract_inverted_index":{"For":[0],"autonomous":[1],"navigation":[2],"of":[3,23,42,66,79,108,137],"Micro":[4],"Aerial":[5],"Vehicles":[6],"(MAVs)":[7],"in":[8,20,26,64,97,119,145,186],"cluttered":[9],"environments,":[10],"it":[11],"is":[12,149,183],"essential":[13],"to":[14,46,54,89,114,127,132,151,154],"detect":[15],"potential":[16],"obstacles":[17],"not":[18],"only":[19],"the":[21,61,101,106,135,139,163],"direction":[22],"flight":[24],"but":[25],"their":[27],"entire":[28],"local":[29],"environment.":[30],"While":[31],"there":[32],"exist":[33],"systems":[34,53],"that":[35],"do":[36],"vision":[37],"based":[38,117],"obstacle":[39,95,143],"detection,":[40],"most":[41],"them":[43],"are":[44],"limited":[45],"a":[47,55,73,123,129,169],"single":[48],"perception":[49,174],"direction.":[50],"Extending":[51],"these":[52],"multi-directional":[56],"sensing":[57],"approach":[58],"would":[59],"exhaust":[60],"payload":[62],"limit":[63],"terms":[65],"weight":[67],"and":[68,83,121,141,180],"computational":[69],"power.":[70],"We":[71],"present":[72],"novel":[74],"light-weight":[75,124],"sensor":[76],"setup":[77],"comprising":[78],"four":[80,164],"stereo":[81,165,181],"heads":[82,166],"an":[84,112],"inertial":[85],"measurement":[86],"unit":[87],"(IMU)":[88],"perform":[90,115,142],"FPGA-based":[91],"dense":[92],"reconstruction":[93],"for":[94],"detection":[96,144],"all":[98,138],"directions.":[99],"As":[100],"data-rate":[102],"scales":[103],"up":[104,153],"with":[105],"number":[107],"cameras":[109,140],"we":[110],"use":[111],"FPGA":[113],"streaming":[116],"tasks":[118],"real-time":[120],"show":[122],"polar-coordinate":[125],"map":[126],"allow":[128],"companion":[130],"computer":[131],"fully":[133],"process":[134,152],"data":[136],"real-time.":[146],"The":[147,173],"system":[148,175],"able":[150],"80":[155],"frames":[156],"per":[157],"second":[158],"(fps)":[159],"freely":[160],"distributed":[161],"on":[162],"while":[167],"maintaining":[168],"low":[170],"power":[171],"budget.":[172],"including":[176],"FPGA,":[177],"image":[178],"sensors":[179],"mounts":[182],"235":[184],"g":[185],"weight.":[187]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
