{"id":"https://openalex.org/W3020569505","doi":"https://doi.org/10.1109/iros45743.2020.9341151","title":"BIT-VO: Visual Odometry at 300 FPS using Binary Features from the Focal Plane","display_name":"BIT-VO: Visual Odometry at 300 FPS using Binary Features from the Focal Plane","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3020569505","doi":"https://doi.org/10.1109/iros45743.2020.9341151","mag":"3020569505"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341151","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341151","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2004.11186","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Riku Murai","orcid":null},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Riku Murai","raw_affiliation_strings":["Imperial College London,Department of Computing"],"affiliations":[{"raw_affiliation_string":"Imperial College London,Department of Computing","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Sajad Saeedi","orcid":null},"institutions":[{"id":"https://openalex.org/I530967","display_name":"Toronto Metropolitan University","ror":"https://ror.org/05g13zd79","country_code":"CA","type":"education","lineage":["https://openalex.org/I530967"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Sajad Saeedi","raw_affiliation_strings":["Ryerson University"],"affiliations":[{"raw_affiliation_string":"Ryerson University","institution_ids":["https://openalex.org/I530967"]}]},{"author_position":"last","author":{"id":null,"display_name":"Paul H. J. Kelly","orcid":null},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Paul H. J. Kelly","raw_affiliation_strings":["Imperial College London,Department of Computing"],"affiliations":[{"raw_affiliation_string":"Imperial College London,Department of Computing","institution_ids":["https://openalex.org/I47508984"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I47508984"],"apc_list":null,"apc_paid":null,"fwci":11.0052,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.9766321,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"8579","last_page":"8586"},"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9990000128746033,"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/T11992","display_name":"CCD and CMOS Imaging Sensors","score":0.9990000128746033,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5824000239372253},{"id":"https://openalex.org/keywords/pixel","display_name":"Pixel","score":0.5274999737739563},{"id":"https://openalex.org/keywords/cardinal-point","display_name":"Cardinal point","score":0.5228000283241272},{"id":"https://openalex.org/keywords/frame-rate","display_name":"Frame rate","score":0.4966000020503998},{"id":"https://openalex.org/keywords/binary-number","display_name":"Binary number","score":0.48500001430511475},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.4787999987602234},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.4401000142097473},{"id":"https://openalex.org/keywords/plane","display_name":"Plane (geometry)","score":0.3637999892234802},{"id":"https://openalex.org/keywords/image-sensor","display_name":"Image sensor","score":0.35010001063346863}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7997999787330627},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7815999984741211},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5824000239372253},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5741999745368958},{"id":"https://openalex.org/C160633673","wikidata":"https://www.wikidata.org/wiki/Q355198","display_name":"Pixel","level":2,"score":0.5274999737739563},{"id":"https://openalex.org/C138395690","wikidata":"https://www.wikidata.org/wiki/Q376733","display_name":"Cardinal point","level":2,"score":0.5228000283241272},{"id":"https://openalex.org/C3261483","wikidata":"https://www.wikidata.org/wiki/Q119565","display_name":"Frame rate","level":2,"score":0.4966000020503998},{"id":"https://openalex.org/C48372109","wikidata":"https://www.wikidata.org/wiki/Q3913","display_name":"Binary number","level":2,"score":0.48500001430511475},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.4787999987602234},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.4401000142097473},{"id":"https://openalex.org/C17825722","wikidata":"https://www.wikidata.org/wiki/Q17285","display_name":"Plane (geometry)","level":2,"score":0.3637999892234802},{"id":"https://openalex.org/C76935873","wikidata":"https://www.wikidata.org/wiki/Q209121","display_name":"Image sensor","level":2,"score":0.35010001063346863},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.3499999940395355},{"id":"https://openalex.org/C9417928","wikidata":"https://www.wikidata.org/wiki/Q1070689","display_name":"Image processing","level":3,"score":0.34769999980926514},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.326200008392334},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.32019999623298645},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.31470000743865967},{"id":"https://openalex.org/C193828747","wikidata":"https://www.wikidata.org/wiki/Q864118","display_name":"Binary image","level":4,"score":0.30660000443458557},{"id":"https://openalex.org/C152213855","wikidata":"https://www.wikidata.org/wiki/Q189880","display_name":"Charge-coupled device","level":2,"score":0.29440000653266907},{"id":"https://openalex.org/C82552819","wikidata":"https://www.wikidata.org/wiki/Q193540","display_name":"Focal length","level":3,"score":0.2881999909877777},{"id":"https://openalex.org/C42781572","wikidata":"https://www.wikidata.org/wiki/Q1250322","display_name":"Digital image","level":4,"score":0.2872999906539917},{"id":"https://openalex.org/C120515352","wikidata":"https://www.wikidata.org/wiki/Q2564580","display_name":"Image plane","level":3,"score":0.2824000120162964},{"id":"https://openalex.org/C2779705975","wikidata":"https://www.wikidata.org/wiki/Q62927","display_name":"Digital camera","level":2,"score":0.2809000015258789},{"id":"https://openalex.org/C2781399445","wikidata":"https://www.wikidata.org/wiki/Q309254","display_name":"High-dynamic-range imaging","level":4,"score":0.2768000066280365},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.26669999957084656},{"id":"https://openalex.org/C87335442","wikidata":"https://www.wikidata.org/wiki/Q2494345","display_name":"Local binary patterns","level":4,"score":0.26660001277923584},{"id":"https://openalex.org/C5339829","wikidata":"https://www.wikidata.org/wiki/Q1425977","display_name":"Machine vision","level":2,"score":0.25609999895095825},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2515999972820282},{"id":"https://openalex.org/C19118579","wikidata":"https://www.wikidata.org/wiki/Q786423","display_name":"Frequency domain","level":2,"score":0.25119999051094055}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros45743.2020.9341151","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341151","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2004.11186","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2004.11186","pdf_url":"https://arxiv.org/pdf/2004.11186","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:spiral.imperial.ac.uk:10044/1/88149","is_oa":false,"landing_page_url":"http://hdl.handle.net/10044/1/88149","pdf_url":null,"source":{"id":"https://openalex.org/S4306401396","display_name":"Spiral (Imperial College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I47508984","host_organization_name":"Imperial College London","host_organization_lineage":["https://openalex.org/I47508984"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020","raw_type":"Conference Paper"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2004.11186","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2004.11186","pdf_url":"https://arxiv.org/pdf/2004.11186","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6368762450","display_name":null,"funder_award_id":"EP/K008730/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W49679257","https://openalex.org/W206948248","https://openalex.org/W606713757","https://openalex.org/W1612997784","https://openalex.org/W1970504153","https://openalex.org/W2015996585","https://openalex.org/W2016574277","https://openalex.org/W2017410652","https://openalex.org/W2021851106","https://openalex.org/W2052408227","https://openalex.org/W2058009001","https://openalex.org/W2085261163","https://openalex.org/W2097988027","https://openalex.org/W2108134361","https://openalex.org/W2109635530","https://openalex.org/W2117228865","https://openalex.org/W2131785162","https://openalex.org/W2141584146","https://openalex.org/W2151290401","https://openalex.org/W2163352848","https://openalex.org/W2564632156","https://openalex.org/W2758793172","https://openalex.org/W2767045221","https://openalex.org/W2775522033","https://openalex.org/W2911117458","https://openalex.org/W2979359179","https://openalex.org/W3040838455","https://openalex.org/W4243425824","https://openalex.org/W6607902920","https://openalex.org/W6629564929","https://openalex.org/W6631707545","https://openalex.org/W6752328128","https://openalex.org/W6779297684","https://openalex.org/W6803376173"],"related_works":[],"abstract_inverted_index":{"Focal-plane":[0],"Sensor-processor":[1],"(FPSP)":[2],"is":[3,29,32,66,70,91],"a":[4,33,73,77,112],"next-generation":[5],"camera":[6],"technology":[7],"which":[8,65,90,100],"enables":[9],"every":[10],"pixel":[11],"on":[12,21,60],"the":[13,22,26,46,58,61,92,102,123],"sensor":[14],"chip":[15],"to":[16,51],"perform":[17],"computation":[18],"in":[19,37,45,111],"parallel,":[20],"focal":[23,62],"plane":[24],"where":[25],"light":[27],"intensity":[28],"captured.":[30],"SCAMP-5":[31,75],"general-purpose":[34],"FPSP":[35],"used":[36],"this":[38],"work":[39],"and":[40,68,118],"it":[41],"carries":[42],"out":[43],"computations":[44],"analog":[47,50],"domain":[48],"before":[49],"digital":[52],"conversion.":[53],"By":[54],"extracting":[55],"features":[56,120],"from":[57],"image":[59],"plane,":[63],"data":[64],"digitised":[67],"transferred":[69],"reduced.":[71],"As":[72],"consequence,":[74],"offers":[76],"high":[78],"frame":[79],"rate":[80],"while":[81],"maintaining":[82],"low":[83],"energy":[84],"consumption.":[85],"Here,":[86],"we":[87],"present":[88],"BITVO,":[89],"first":[93],"6-Degrees":[94],"of":[95],"Freedom":[96],"visual":[97],"odometry":[98],"algorithm":[99],"utilises":[101],"FPSP.":[103],"Our":[104],"entire":[105],"system":[106],"operates":[107],"at":[108],"300":[109],"FPS":[110],"natural":[113],"environment,":[114],"using":[115],"binary":[116],"edges":[117],"corner":[119],"detected":[121],"by":[122],"SCAMP-5.":[124]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":2}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2020-05-01T00:00:00"}