{"id":"https://openalex.org/W4416750028","doi":"https://doi.org/10.1109/iros60139.2025.11245865","title":"6-DoF Object Tracking with Event-based Optical Flow and Frames","display_name":"6-DoF Object Tracking with Event-based Optical Flow and Frames","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416750028","doi":"https://doi.org/10.1109/iros60139.2025.11245865"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11245865","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11245865","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Zhichao Li","raw_affiliation_strings":["Istituto Italiano di Tecnologia,Humanoid Sensing and Perception,Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia,Humanoid Sensing and Perception,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"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia,Event-Driven Perception for Robotics,Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","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"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia,Event-Driven Perception for Robotics,Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","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"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia,Humanoid Sensing and Perception,Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"18880","last_page":"18887"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.2451999932527542,"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":0.2451999932527542,"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":0.15000000596046448,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.0820000022649765,"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/optical-flow","display_name":"Optical flow","score":0.761900007724762},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.5730999708175659},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.5252000093460083},{"id":"https://openalex.org/keywords/video-tracking","display_name":"Video tracking","score":0.49889999628067017},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.45010000467300415},{"id":"https://openalex.org/keywords/motion-estimation","display_name":"Motion estimation","score":0.4032000005245209},{"id":"https://openalex.org/keywords/image-plane","display_name":"Image plane","score":0.3889000117778778},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.3718999922275543},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.37119999527931213}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.875},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8636999726295471},{"id":"https://openalex.org/C155542232","wikidata":"https://www.wikidata.org/wiki/Q736111","display_name":"Optical flow","level":3,"score":0.761900007724762},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6425999999046326},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.5730999708175659},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.5252000093460083},{"id":"https://openalex.org/C202474056","wikidata":"https://www.wikidata.org/wiki/Q1931635","display_name":"Video tracking","level":3,"score":0.49889999628067017},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.45010000467300415},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.4032000005245209},{"id":"https://openalex.org/C120515352","wikidata":"https://www.wikidata.org/wiki/Q2564580","display_name":"Image plane","level":3,"score":0.3889000117778778},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.3718999922275543},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.37119999527931213},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.3490999937057495},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.33869999647140503},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.32919999957084656},{"id":"https://openalex.org/C95020103","wikidata":"https://www.wikidata.org/wiki/Q1813492","display_name":"Match moving","level":3,"score":0.3246000111103058},{"id":"https://openalex.org/C3261483","wikidata":"https://www.wikidata.org/wiki/Q119565","display_name":"Frame rate","level":2,"score":0.29820001125335693},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.29339998960494995},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.2906999886035919},{"id":"https://openalex.org/C146159030","wikidata":"https://www.wikidata.org/wiki/Q7625099","display_name":"Structure from motion","level":3,"score":0.2831000089645386},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.2809000015258789},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.272599995136261},{"id":"https://openalex.org/C64876066","wikidata":"https://www.wikidata.org/wiki/Q5141226","display_name":"Cognitive neuroscience of visual object recognition","level":3,"score":0.2563999891281128},{"id":"https://openalex.org/C124774092","wikidata":"https://www.wikidata.org/wiki/Q6917782","display_name":"Motion field","level":3,"score":0.2508000135421753}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11245865","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11245865","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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":25,"referenced_works":["https://openalex.org/W1505952289","https://openalex.org/W1578285471","https://openalex.org/W1998339166","https://openalex.org/W2012804028","https://openalex.org/W2016574277","https://openalex.org/W2280057228","https://openalex.org/W2283109172","https://openalex.org/W2788172931","https://openalex.org/W2883294120","https://openalex.org/W2945402695","https://openalex.org/W2968161291","https://openalex.org/W3040838455","https://openalex.org/W3109908659","https://openalex.org/W3109988283","https://openalex.org/W3128104046","https://openalex.org/W3130138602","https://openalex.org/W3133557228","https://openalex.org/W3139658937","https://openalex.org/W3205306227","https://openalex.org/W4313644212","https://openalex.org/W4389667239","https://openalex.org/W4401414009","https://openalex.org/W4402754209","https://openalex.org/W4403791066","https://openalex.org/W4403878279"],"related_works":[],"abstract_inverted_index":{"Tracking":[0],"the":[1,62,79,114,144,155,159],"position":[2],"and":[3,41,54,174,179],"orientation":[4],"of":[5,64,82,109,117,120],"objects":[6,29,110,165],"in":[7,10,12,19,38,187],"space":[8],"(i.e.,":[9],"6-DoF)":[11],"real":[13,180],"time":[14],"is":[15,75,172],"a":[16],"fundamental":[17],"problem":[18],"robotics":[20],"for":[21,78,105,131],"environment":[22],"interaction.":[23],"It":[24],"becomes":[25],"more":[26,76],"challenging":[27,80],"when":[28,164],"move":[30,166],"at":[31,111,167],"high-speed":[32,188],"due":[33],"to":[34,135],"frame":[35],"rate":[36],"limitations":[37],"conventional":[39],"cameras":[40,45,69],"motion":[42,65,133,189],"blur.":[43,66],"Event":[44],"are":[46],"characterized":[47],"by":[48],"high":[49,55],"temporal":[50],"resolution,":[51],"low":[52,150],"latency":[53],"dynamic":[56],"range,":[57],"that":[58,74],"can":[59,161],"potentially":[60],"overcome":[61],"impacts":[63],"Traditional":[67],"RGB":[68,99],"provide":[70],"rich":[71],"visual":[72],"information":[73],"suitable":[77],"task":[81],"single-shot":[83],"object":[84,102,132,138,146],"pose":[85,103,107,153,157,163],"estimation.":[86],"In":[87],"this":[88],"work,":[89],"we":[90,124],"propose":[91,125],"using":[92],"event-based":[93,127],"optical":[94,128],"flow":[95,129],"combined":[96],"with":[97,149],"an":[98,126,137],"based":[100],"global":[101,156],"estimator":[104],"6-DoF":[106,139,147],"tracking":[108],"high-speed,":[112],"exploiting":[113],"core":[115],"advantages":[116],"both":[118,177],"types":[119],"vision":[121],"sensors.":[122],"Specifically,":[123],"algorithm":[130,171],"measurement":[134],"implement":[136],"velocity":[140,148],"tracker.":[141],"By":[142],"integrating":[143],"tracked":[145],"frequency":[151],"estimated":[152],"from":[154],"estimator,":[158],"method":[160],"track":[162],"high-speed.":[168],"The":[169],"proposed":[170],"tested":[173],"validated":[175],"on":[176],"synthetic":[178],"world":[181],"data,":[182],"demonstrating":[183],"its":[184],"effectiveness,":[185],"especially":[186],"scenarios.":[190]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-11-28T00:00:00"}
