{"id":"https://openalex.org/W4389667239","doi":"https://doi.org/10.1109/iros55552.2023.10342300","title":"Hybrid Object Tracking with Events and Frames","display_name":"Hybrid Object Tracking with Events and Frames","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389667239","doi":"https://doi.org/10.1109/iros55552.2023.10342300"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10342300","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10342300","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"https://openalex.org/A5100368504","display_name":"Zhichao Li","orcid":"https://orcid.org/0000-0003-2741-7132"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]},{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Zhichao Li","raw_affiliation_strings":["Istituto Italiano di Tecnologia,Humanoid Sensing and Perception,Italy","Event-driven Perception for Robotics, Istituto Italiano di Tecnologia, Italy","University of Genoa, Genoa, Italy","Humanoid Sensing and Perception, Istituto Italiano di Tecnologia, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia,Humanoid Sensing and Perception,Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Event-driven Perception for Robotics, Istituto Italiano di Tecnologia, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"University of Genoa, Genoa, Italy","institution_ids":["https://openalex.org/I83816512"]},{"raw_affiliation_string":"Humanoid Sensing and Perception, Istituto Italiano di Tecnologia, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050044143","display_name":"Nicola A. Piga","orcid":"https://orcid.org/0000-0003-3183-8108"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Nicola A. Piga","raw_affiliation_strings":["Istituto Italiano di Tecnologia,Humanoid Sensing and Perception,Italy","Humanoid Sensing and Perception, Istituto Italiano di Tecnologia, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia,Humanoid Sensing and Perception,Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Humanoid Sensing and Perception, Istituto Italiano di Tecnologia, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004610040","display_name":"Franco Di Pietro","orcid":null},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Franco Di Pietro","raw_affiliation_strings":["Istituto Italiano di Tecnologia,Event-driven Perception for Robotics,Italy","Event-driven Perception for Robotics, Istituto Italiano di Tecnologia, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia,Event-driven Perception for Robotics,Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Event-driven Perception for Robotics, Istituto Italiano di Tecnologia, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048264289","display_name":"Massimiliano Iacono","orcid":null},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Massimiliano Iacono","raw_affiliation_strings":["Istituto Italiano di Tecnologia,Event-driven Perception for Robotics,Italy","Event-driven Perception for Robotics, Istituto Italiano di Tecnologia, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia,Event-driven Perception for Robotics,Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Event-driven Perception for Robotics, Istituto Italiano di Tecnologia, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048999395","display_name":"Arren Glover","orcid":"https://orcid.org/0000-0003-4499-4070"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Arren Glover","raw_affiliation_strings":["Istituto Italiano di Tecnologia,Event-driven Perception for Robotics,Italy","Event-driven Perception for Robotics, Istituto Italiano di Tecnologia, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia,Event-driven Perception for Robotics,Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Event-driven Perception for Robotics, Istituto Italiano di Tecnologia, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009034971","display_name":"Lorenzo Natale","orcid":"https://orcid.org/0000-0002-8777-5233"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Lorenzo Natale","raw_affiliation_strings":["Istituto Italiano di Tecnologia,Humanoid Sensing and Perception,Italy","Humanoid Sensing and Perception, Istituto Italiano di Tecnologia, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia,Humanoid Sensing and Perception,Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Humanoid Sensing and Perception, Istituto Italiano di Tecnologia, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019257524","display_name":"Chiara Bartolozzi","orcid":"https://orcid.org/0000-0003-3465-6449"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Chiara Bartolozzi","raw_affiliation_strings":["Istituto Italiano di Tecnologia,Event-driven Perception for Robotics,Italy","Event-driven Perception for Robotics, Istituto Italiano di Tecnologia, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia,Event-driven Perception for Robotics,Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Event-driven Perception for Robotics, Istituto Italiano di Tecnologia, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"9057","last_page":"9064"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9961000084877014,"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":0.9961000084877014,"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":0.9955999851226807,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9950000047683716,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/artificial-intelligence","display_name":"Artificial intelligence","score":0.8337727785110474},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7835679054260254},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7751297354698181},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.7136294841766357},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.5235393047332764},{"id":"https://openalex.org/keywords/video-tracking","display_name":"Video tracking","score":0.5161081552505493},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.4759224057197571},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.4666898846626282},{"id":"https://openalex.org/keywords/optical-flow","display_name":"Optical flow","score":0.4194663465023041},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.37025365233421326},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.20867833495140076},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.12496364116668701}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8337727785110474},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7835679054260254},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7751297354698181},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.7136294841766357},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.5235393047332764},{"id":"https://openalex.org/C202474056","wikidata":"https://www.wikidata.org/wiki/Q1931635","display_name":"Video tracking","level":3,"score":0.5161081552505493},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.4759224057197571},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.4666898846626282},{"id":"https://openalex.org/C155542232","wikidata":"https://www.wikidata.org/wiki/Q736111","display_name":"Optical flow","level":3,"score":0.4194663465023041},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.37025365233421326},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.20867833495140076},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.12496364116668701}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros55552.2023.10342300","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10342300","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":33,"referenced_works":["https://openalex.org/W618254468","https://openalex.org/W1505952289","https://openalex.org/W1531532259","https://openalex.org/W1749494163","https://openalex.org/W1976067945","https://openalex.org/W2012804028","https://openalex.org/W2149211411","https://openalex.org/W2158890580","https://openalex.org/W2166055403","https://openalex.org/W2253556744","https://openalex.org/W2280057228","https://openalex.org/W2565755350","https://openalex.org/W2739136981","https://openalex.org/W2775178320","https://openalex.org/W2783185291","https://openalex.org/W2790374560","https://openalex.org/W2884195444","https://openalex.org/W2904008996","https://openalex.org/W2945402695","https://openalex.org/W2963188159","https://openalex.org/W2963504620","https://openalex.org/W2981854237","https://openalex.org/W3023652714","https://openalex.org/W3040838455","https://openalex.org/W3112575141","https://openalex.org/W3130138602","https://openalex.org/W3133557228","https://openalex.org/W3205306227","https://openalex.org/W3207824483","https://openalex.org/W3214583320","https://openalex.org/W4312693299","https://openalex.org/W6691671710","https://openalex.org/W6754677871"],"related_works":["https://openalex.org/W2123263858","https://openalex.org/W3127959533","https://openalex.org/W2894986065","https://openalex.org/W4387967917","https://openalex.org/W4287600488","https://openalex.org/W4386083130","https://openalex.org/W4386925306","https://openalex.org/W2971088694","https://openalex.org/W2965594636","https://openalex.org/W2912550626"],"abstract_inverted_index":{"Robust":[0],"object":[1,101,106,124,173],"pose":[2,31,63,107,174],"tracking":[3],"plays":[4],"an":[5,15,86],"important":[6],"role":[7],"in":[8,145],"robot":[9],"manipulation,":[10],"but":[11],"it":[12],"is":[13,41],"still":[14],"open":[16],"issue":[17],"for":[18,35,62,127,195],"quickly":[19],"moving":[20,129],"targets":[21],"as":[22],"motion":[23],"blur":[24],"and":[25,177,186,193,199,203,210],"low":[26,68],"frequency":[27,69],"detection":[28],"can":[29,47,57],"reduce":[30],"estimation":[32,64,175],"accuracy":[33],"even":[34],"state-of-the-art":[36,171],"RGB-D-based":[37],"methods.":[38],"An":[39],"event-camera":[40,198],"a":[42,78,104,110],"low-latency":[43],"vision":[44],"sensor":[45],"that":[46,150],"act":[48],"complementary":[49],"to":[50,60,67,169,205],"RGB-D.":[51],"Specifically,":[52],"its":[53],"sub-millisecond":[54],"temporal":[55],"resolution":[56],"be":[58],"exploited":[59],"correct":[61],"inaccuracies":[65],"due":[66],"RGB-D":[70,115],"based":[71],"detection.":[72],"To":[73],"do":[74],"so,":[75],"we":[76],"propose":[77],"dual":[79],"Kalman":[80],"filter:":[81],"the":[82,90,95,99,153,191,197,206],"first":[83],"filter":[84,97],"estimates":[85],"object's":[87],"velocity":[88,102],"from":[89,109],"spatiotemporal":[91],"patterns":[92],"of":[93],"\u201cevents\u201d,":[94],"second":[96],"fuses":[98],"tracked":[100],"with":[103,148,184],"low-frequency":[105],"estimated":[108],"deep":[111],"neural":[112],"network":[113],"using":[114,196],"data.":[116,188],"The":[117,131,159,208],"full":[118],"system":[119],"outputs":[120],"high":[121],"frequency,":[122],"accurate":[123],"poses":[125],"also":[126],"fast":[128],"objects.":[130],"proposed":[132,160],"method":[133],"works":[134],"towards":[135],"low-power":[136],"robotics":[137],"by":[138],"replacing":[139],"high-cost":[140],"GPU-based":[141],"optical":[142],"flow":[143],"used":[144],"prior":[146],"work":[147],"event-cameras":[149],"inherently":[151],"extract":[152],"required":[154],"signal":[155],"without":[156],"costly":[157],"processing.":[158],"algorithm":[161,181],"achieves":[162],"comparable":[163],"or":[164],"better":[165],"performance":[166],"when":[167],"compared":[168],"two":[170],"6-DoF":[172],"algorithms":[176],"one":[178],"hybrid":[179],"event/RGB-D":[180],"on":[182],"benchmarks":[183],"simulated":[185],"real":[187],"We":[189],"discuss":[190],"benefits":[192],"tradeoffs":[194],"contribute":[200],"algorithm,":[201],"code,":[202],"datasets":[204,211],"community.":[207],"code":[209],"are":[212],"available":[213],"at":[214],"https://github.com/event-driven-robotics/Hybrid-object-tracking-with-events-and-frames.":[215]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}