{"id":"https://openalex.org/W2565755350","doi":"https://doi.org/10.1109/lra.2016.2645143","title":"EVO: A Geometric Approach to Event-Based 6-DOF Parallel Tracking and Mapping in Real Time","display_name":"EVO: A Geometric Approach to Event-Based 6-DOF Parallel Tracking and Mapping in Real Time","publication_year":2016,"publication_date":"2016-12-26","ids":{"openalex":"https://openalex.org/W2565755350","doi":"https://doi.org/10.1109/lra.2016.2645143","mag":"2565755350"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2016.2645143","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2016.2645143","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5036775655","display_name":"Henri Rebecq","orcid":"https://orcid.org/0000-0002-6577-9735"},"institutions":[{"id":"https://openalex.org/I202697423","display_name":"University of Zurich","ror":"https://ror.org/02crff812","country_code":"CH","type":"education","lineage":["https://openalex.org/I202697423"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Henri Rebecq","raw_affiliation_strings":["Robotics and Perception Group, University of Zurich, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Robotics and Perception Group, University of Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I202697423"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064944606","display_name":"Timo Horstschaefer","orcid":null},"institutions":[{"id":"https://openalex.org/I202697423","display_name":"University of Zurich","ror":"https://ror.org/02crff812","country_code":"CH","type":"education","lineage":["https://openalex.org/I202697423"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Timo Horstschaefer","raw_affiliation_strings":["Robotics and Perception Group, University of Zurich, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Robotics and Perception Group, University of Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I202697423"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068567652","display_name":"Guillermo Gallego","orcid":"https://orcid.org/0000-0002-2672-9241"},"institutions":[{"id":"https://openalex.org/I202697423","display_name":"University of Zurich","ror":"https://ror.org/02crff812","country_code":"CH","type":"education","lineage":["https://openalex.org/I202697423"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Guillermo Gallego","raw_affiliation_strings":["Robotics and Perception Group, University of Zurich, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Robotics and Perception Group, University of Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I202697423"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057116316","display_name":"Davide Scaramuzza","orcid":"https://orcid.org/0000-0002-3831-6778"},"institutions":[{"id":"https://openalex.org/I202697423","display_name":"University of Zurich","ror":"https://ror.org/02crff812","country_code":"CH","type":"education","lineage":["https://openalex.org/I202697423"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Davide Scaramuzza","raw_affiliation_strings":["Robotics and Perception Group, University of Zurich, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Robotics and Perception Group, University of Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I202697423"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5036775655"],"corresponding_institution_ids":["https://openalex.org/I202697423"],"apc_list":null,"apc_paid":null,"fwci":452.2994,"has_fulltext":false,"cited_by_count":389,"citation_normalized_percentile":{"value":0.99993611,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"2","issue":"2","first_page":"593","last_page":"600"},"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/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9973000288009644,"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/T10502","display_name":"Advanced Memory and Neural Computing","score":0.9884999990463257,"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/computer-vision","display_name":"Computer vision","score":0.7841020226478577},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7627681493759155},{"id":"https://openalex.org/keywords/event","display_name":"Event (particle physics)","score":0.7358921766281128},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7124043703079224},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.6054133772850037},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5882292985916138},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.5519883632659912},{"id":"https://openalex.org/keywords/motion-blur","display_name":"Motion blur","score":0.4919528663158417},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.44689589738845825},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.4124358594417572},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.3526410162448883},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.16652587056159973},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.12020605802536011}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7841020226478577},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7627681493759155},{"id":"https://openalex.org/C2779662365","wikidata":"https://www.wikidata.org/wiki/Q5416694","display_name":"Event (particle physics)","level":2,"score":0.7358921766281128},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7124043703079224},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.6054133772850037},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5882292985916138},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.5519883632659912},{"id":"https://openalex.org/C2777708103","wikidata":"https://www.wikidata.org/wiki/Q852589","display_name":"Motion blur","level":3,"score":0.4919528663158417},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.44689589738845825},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.4124358594417572},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.3526410162448883},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.16652587056159973},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.12020605802536011},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/lra.2016.2645143","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2016.2645143","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:www.zora.uzh.ch:138897","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306401281","display_name":"Zurich Open Repository and Archive (University of Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I202697423","host_organization_name":"University of Zurich","host_organization_lineage":["https://openalex.org/I202697423"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"Rebecq, Henri; Horstschaefer, Timo; Gallego, Guillermo; Scaramuzza, Davide  (2017). EVO: A geometric approach to event-based 6-DOF parallel tracking and mapping in real-time.  IEEE Robotics and Automation Letters, 2(2):593-600.","raw_type":"info:eu-repo/semantics/acceptedVersion"},{"id":"pmh:oai:infoscience.epfl.ch:228475","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/228475","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},{"id":"doi:10.5167/uzh-138897","is_oa":true,"landing_page_url":"https://doi.org/10.5167/uzh-138897","pdf_url":null,"source":{"id":"https://openalex.org/S7407051291","display_name":"Universit\u00e4t Z\u00fcrich, ZORA","issn_l":null,"issn":[],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:www.zora.uzh.ch:138897","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306401281","display_name":"Zurich Open Repository and Archive (University of Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I202697423","host_organization_name":"University of Zurich","host_organization_lineage":["https://openalex.org/I202697423"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"Rebecq, Henri; Horstschaefer, Timo; Gallego, Guillermo; Scaramuzza, Davide  (2017). EVO: A geometric approach to event-based 6-DOF parallel tracking and mapping in real-time.  IEEE Robotics and Automation Letters, 2(2):593-600.","raw_type":"info:eu-repo/semantics/acceptedVersion"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320924","display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung","ror":"https://ror.org/00yjd3n13"},{"id":"https://openalex.org/F4320334791","display_name":"National Center of Competence in Research Affective Sciences - Emotions in Individual Behaviour and Social Processes","ror":"https://ror.org/00yjd3n13"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W206948248","https://openalex.org/W297039922","https://openalex.org/W612478963","https://openalex.org/W1970504153","https://openalex.org/W1984190176","https://openalex.org/W2003857027","https://openalex.org/W2004360097","https://openalex.org/W2010172797","https://openalex.org/W2014673260","https://openalex.org/W2016574277","https://openalex.org/W2035379092","https://openalex.org/W2091767348","https://openalex.org/W2108467139","https://openalex.org/W2113524801","https://openalex.org/W2128855115","https://openalex.org/W2151290401","https://openalex.org/W2152864241","https://openalex.org/W2253556744","https://openalex.org/W2470786794","https://openalex.org/W2519559998","https://openalex.org/W2530906228","https://openalex.org/W2574323677","https://openalex.org/W4252031641","https://openalex.org/W6618872416","https://openalex.org/W6651332660","https://openalex.org/W6677165351","https://openalex.org/W6679309852","https://openalex.org/W6691671710","https://openalex.org/W6720231818","https://openalex.org/W6726398271","https://openalex.org/W6732413759"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W3024737167","https://openalex.org/W2414561716","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W2312326526","https://openalex.org/W3105866016","https://openalex.org/W4312703710","https://openalex.org/W208888162"],"abstract_inverted_index":{"We":[0,136],"present":[1],"EVO,":[2],"an":[3],"event-based":[4,88,98],"visual":[5],"odometry":[6],"algorithm.":[7],"Our":[8],"algorithm":[9,61,101,129],"successfully":[10],"leverages":[11],"the":[12,31,55,110,123,151],"outstanding":[13],"properties":[14],"of":[15,30,57,112,153],"event":[16,58,125,154],"cameras":[17],"to":[18,46,54,118,159,167],"track":[19],"fast":[20],"camera":[21],"motions":[22],"while":[23],"recovering":[24],"a":[25,40,86,96,103],"semidense":[26],"three-dimensional":[27],"(3-D)":[28],"map":[29],"environment.":[32],"The":[33],"implementation":[34],"runs":[35],"in":[36,71,102,144],"real":[37],"time":[38],"on":[39,92],"standard":[41,168],"CPU":[42],"and":[43,67,147],"outputs":[44],"up":[45],"several":[47],"hundred":[48],"pose":[49],"estimates":[50],"per":[51],"second.":[52],"Due":[53],"nature":[56],"cameras,":[59],"our":[60,113,128],"is":[62],"unaffected":[63],"by":[64,149],"motion":[65],"blur":[66],"operates":[68],"very":[69],"well":[70],"challenging,":[72],"high":[73],"dynamic":[74],"range":[75],"conditions":[76],"with":[77,95],"strong":[78],"illumination":[79],"changes.":[80],"To":[81],"achieve":[82],"this,":[83],"we":[84,107],"combine":[85],"novel,":[87],"tracking":[89],"approach":[90],"based":[91],"image-to-model":[93],"alignment":[94],"recent":[97],"3-D":[99],"reconstruction":[100],"parallel":[104],"fashion.":[105],"Additionally,":[106],"show":[108],"that":[109,138,163],"output":[111],"pipeline":[114],"can":[115],"be":[116],"used":[117],"reconstruct":[119],"intensity":[120,134],"images":[121],"from":[122],"binary":[124],"stream,":[126],"though":[127],"does":[130],"not":[131],"require":[132],"such":[133],"information.":[135],"believe":[137],"this":[139],"work":[140],"makes":[141],"significant":[142],"progress":[143],"simultaneous":[145],"localization":[146],"mapping":[148],"unlocking":[150],"potential":[152],"cameras.":[155,169],"This":[156],"allows":[157],"us":[158],"tackle":[160],"challenging":[161],"scenarios":[162],"are":[164],"currently":[165],"inaccessible":[166]},"counts_by_year":[{"year":2026,"cited_by_count":10},{"year":2025,"cited_by_count":58},{"year":2024,"cited_by_count":59},{"year":2023,"cited_by_count":52},{"year":2022,"cited_by_count":44},{"year":2021,"cited_by_count":41},{"year":2020,"cited_by_count":43},{"year":2019,"cited_by_count":42},{"year":2018,"cited_by_count":27},{"year":2017,"cited_by_count":12},{"year":2016,"cited_by_count":1}],"updated_date":"2026-04-06T07:47:59.780226","created_date":"2025-10-10T00:00:00"}
