{"id":"https://openalex.org/W4405785667","doi":"https://doi.org/10.1109/iros58592.2024.10802605","title":"Monocular Event-Inertial Odometry with Adaptive decay-based Time Surface and Polarity-aware Tracking","display_name":"Monocular Event-Inertial Odometry with Adaptive decay-based Time Surface and Polarity-aware Tracking","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405785667","doi":"https://doi.org/10.1109/iros58592.2024.10802605"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802605","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802605","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5067743569","display_name":"Kai Tang","orcid":"https://orcid.org/0000-0002-5184-2086"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Kai Tang","raw_affiliation_strings":["Zhejiang University,Institute of Cyber-Systems and Control,Hangzhou,China"],"affiliations":[{"raw_affiliation_string":"Zhejiang University,Institute of Cyber-Systems and Control,Hangzhou,China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044634528","display_name":"Xiaolei Lang","orcid":"https://orcid.org/0009-0003-6659-2424"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaolei Lang","raw_affiliation_strings":["Zhejiang University,Institute of Cyber-Systems and Control,Hangzhou,China"],"affiliations":[{"raw_affiliation_string":"Zhejiang University,Institute of Cyber-Systems and Control,Hangzhou,China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066926181","display_name":"Yukai Ma","orcid":"https://orcid.org/0000-0001-8135-9012"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yukai Ma","raw_affiliation_strings":["Zhejiang University,Institute of Cyber-Systems and Control,Hangzhou,China"],"affiliations":[{"raw_affiliation_string":"Zhejiang University,Institute of Cyber-Systems and Control,Hangzhou,China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yuehao Huang","orcid":null},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuehao Huang","raw_affiliation_strings":["Zhejiang University,Institute of Cyber-Systems and Control,Hangzhou,China"],"affiliations":[{"raw_affiliation_string":"Zhejiang University,Institute of Cyber-Systems and Control,Hangzhou,China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085347007","display_name":"Laijian Li","orcid":"https://orcid.org/0009-0002-3041-5170"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Laijian Li","raw_affiliation_strings":["Zhejiang University,Institute of Cyber-Systems and Control,Hangzhou,China"],"affiliations":[{"raw_affiliation_string":"Zhejiang University,Institute of Cyber-Systems and Control,Hangzhou,China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101616745","display_name":"Yong Liu","orcid":"https://orcid.org/0000-0002-3812-9622"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yong Liu","raw_affiliation_strings":["Zhejiang University,Institute of Cyber-Systems and Control,Hangzhou,China"],"affiliations":[{"raw_affiliation_string":"Zhejiang University,Institute of Cyber-Systems and Control,Hangzhou,China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080463555","display_name":"Jiajun Lv","orcid":"https://orcid.org/0000-0002-8545-9464"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiajun Lv","raw_affiliation_strings":["Zhejiang University,Institute of Cyber-Systems and Control,Hangzhou,China"],"affiliations":[{"raw_affiliation_string":"Zhejiang University,Institute of Cyber-Systems and Control,Hangzhou,China","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5067743569"],"corresponding_institution_ids":["https://openalex.org/I76130692"],"apc_list":null,"apc_paid":null,"fwci":2.9362,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.9178282,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"12544","last_page":"12551"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9976999759674072,"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"}},"topics":[{"id":"https://openalex.org/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9976999759674072,"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"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9969000220298767,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.9843999743461609,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.8094701766967773},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7438639998435974},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.7110577821731567},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6693960428237915},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.6203219890594482},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5812840461730957},{"id":"https://openalex.org/keywords/polarity","display_name":"Polarity (international relations)","score":0.5023024082183838},{"id":"https://openalex.org/keywords/event","display_name":"Event (particle physics)","score":0.49481314420700073},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.455667644739151},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3536348342895508},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.23241427540779114},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.22247323393821716},{"id":"https://openalex.org/keywords/chemistry","display_name":"Chemistry","score":0.07144796848297119},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.0691266655921936}],"concepts":[{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.8094701766967773},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7438639998435974},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.7110577821731567},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6693960428237915},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.6203219890594482},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5812840461730957},{"id":"https://openalex.org/C2777361361","wikidata":"https://www.wikidata.org/wiki/Q1112585","display_name":"Polarity (international relations)","level":3,"score":0.5023024082183838},{"id":"https://openalex.org/C2779662365","wikidata":"https://www.wikidata.org/wiki/Q5416694","display_name":"Event (particle physics)","level":2,"score":0.49481314420700073},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.455667644739151},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3536348342895508},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.23241427540779114},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.22247323393821716},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.07144796848297119},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0691266655921936},{"id":"https://openalex.org/C1491633281","wikidata":"https://www.wikidata.org/wiki/Q7868","display_name":"Cell","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10802605","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802605","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/13","display_name":"Climate action","score":0.699999988079071}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1532362218","https://openalex.org/W2118223742","https://openalex.org/W2128019145","https://openalex.org/W2469278928","https://openalex.org/W2519559998","https://openalex.org/W2530906228","https://openalex.org/W2565755350","https://openalex.org/W2567239141","https://openalex.org/W2745859992","https://openalex.org/W2754360834","https://openalex.org/W2783185291","https://openalex.org/W2950380208","https://openalex.org/W2969508737","https://openalex.org/W2979489021","https://openalex.org/W3040838455","https://openalex.org/W3043971245","https://openalex.org/W3091667825","https://openalex.org/W3144939529","https://openalex.org/W4221145923","https://openalex.org/W4253803843","https://openalex.org/W4285124932","https://openalex.org/W4312344287","https://openalex.org/W4312400353","https://openalex.org/W4312785450","https://openalex.org/W4367016663","https://openalex.org/W4386075740","https://openalex.org/W4387475672","https://openalex.org/W4387790316","https://openalex.org/W4399563956","https://openalex.org/W4400365283"],"related_works":["https://openalex.org/W4380763496","https://openalex.org/W2100339372","https://openalex.org/W4309137623","https://openalex.org/W3179470708","https://openalex.org/W2166220596","https://openalex.org/W2123881033","https://openalex.org/W2787146399","https://openalex.org/W4390187686","https://openalex.org/W2111152968","https://openalex.org/W4402177855"],"abstract_inverted_index":{"Event":[0],"cameras":[1,12],"have":[2],"garnered":[3],"considerable":[4],"attention":[5],"due":[6],"to":[7,48,57,106],"their":[8],"advantages":[9],"over":[10],"traditional":[11],"in":[13,83],"low":[14],"power":[15],"consumption,":[16],"high":[17],"dynamic":[18,59],"range,":[19],"and":[20,65,114],"no":[21],"motion":[22,84],"blur.":[23],"This":[24],"paper":[25],"proposes":[26],"a":[27],"monocular":[28],"event-inertial":[29,115],"odometry":[30,116],"incorporating":[31,100],"an":[32,43,101],"adaptive":[33,44],"decay":[34],"kernel-based":[35],"time":[36,74,104],"surface":[37,105],"with":[38,112,125],"polarity-aware":[39],"tracking.":[40],"We":[41],"utilize":[42],"decay-based":[45],"Time":[46],"Surface":[47],"extract":[49],"texture":[50],"information":[51],"from":[52,77],"asynchronous":[53],"events,":[54],"which":[55],"adapts":[56],"the":[58,62,67,96,108],"characteristics":[60],"of":[61,69],"event":[63,78],"stream":[64],"enhances":[66],"representation":[68],"environmental":[70],"textures.":[71],"However,":[72],"polarity-weighted":[73],"surfaces":[75],"suffer":[76],"polarity":[79],"shifts":[80],"during":[81],"changes":[82],"direction.":[85],"To":[86],"mitigate":[87],"its":[88],"adverse":[89],"effects":[90],"on":[91],"feature":[92,97],"tracking,":[93],"we":[94],"optimize":[95],"tracking":[98],"by":[99],"additional":[102],"polarityinverted":[103],"enhance":[107],"robustness.":[109],"Comparative":[110],"analysis":[111],"visual-inertial":[113],"methods":[117],"shows":[118],"that":[119],"our":[120],"approach":[121],"outperforms":[122],"state-of-the-art":[123],"techniques,":[124],"competitive":[126],"results":[127],"across":[128],"various":[129],"datasets.":[130]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":4}],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2025-10-10T00:00:00"}
