{"id":"https://openalex.org/W4386431994","doi":"https://doi.org/10.1109/lra.2023.3311374","title":"Event-Based Stereo Visual Odometry With Native Temporal Resolution via Continuous-Time Gaussian Process Regression","display_name":"Event-Based Stereo Visual Odometry With Native Temporal Resolution via Continuous-Time Gaussian Process Regression","publication_year":2023,"publication_date":"2023-09-04","ids":{"openalex":"https://openalex.org/W4386431994","doi":"https://doi.org/10.1109/lra.2023.3311374"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3311374","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3311374","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"],"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/A5102872432","display_name":"Jianeng Wang","orcid":"https://orcid.org/0009-0004-3781-0434"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jianeng Wang","raw_affiliation_strings":["Estimation, Search, and Planning (ESP) Group, Oxford Robotics Institute (ORI), University of Oxford, Oxford, U.K"],"raw_orcid":"https://orcid.org/0009-0004-3781-0434","affiliations":[{"raw_affiliation_string":"Estimation, Search, and Planning (ESP) Group, Oxford Robotics Institute (ORI), University of Oxford, Oxford, U.K","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035590505","display_name":"Jonathan D. Gammell","orcid":"https://orcid.org/0000-0002-1034-3889"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jonathan D. Gammell","raw_affiliation_strings":["Estimation, Search, and Planning (ESP) Group, Oxford Robotics Institute (ORI), University of Oxford, Oxford, U.K"],"raw_orcid":"https://orcid.org/0000-0002-1034-3889","affiliations":[{"raw_affiliation_string":"Estimation, Search, and Planning (ESP) Group, Oxford Robotics Institute (ORI), University of Oxford, Oxford, U.K","institution_ids":["https://openalex.org/I4210116723"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4210116723"],"apc_list":null,"apc_paid":null,"fwci":12.3504,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.98032292,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"8","issue":"10","first_page":"6707","last_page":"6714"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9941999912261963,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9916999936103821,"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/event","display_name":"Event (particle physics)","score":0.6795214414596558},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.5927971005439758},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5467868447303772},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5396994948387146},{"id":"https://openalex.org/keywords/kriging","display_name":"Kriging","score":0.5005269050598145},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.49551188945770264},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.4416664242744446},{"id":"https://openalex.org/keywords/asynchronous-communication","display_name":"Asynchronous communication","score":0.4229731261730194},{"id":"https://openalex.org/keywords/regression","display_name":"Regression","score":0.42085573077201843},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.40543103218078613},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.40070196986198425},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.36667943000793457},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.35838836431503296},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.23846685886383057},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.19851624965667725},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.13571226596832275}],"concepts":[{"id":"https://openalex.org/C2779662365","wikidata":"https://www.wikidata.org/wiki/Q5416694","display_name":"Event (particle physics)","level":2,"score":0.6795214414596558},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.5927971005439758},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5467868447303772},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5396994948387146},{"id":"https://openalex.org/C81692654","wikidata":"https://www.wikidata.org/wiki/Q225926","display_name":"Kriging","level":2,"score":0.5005269050598145},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.49551188945770264},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.4416664242744446},{"id":"https://openalex.org/C151319957","wikidata":"https://www.wikidata.org/wiki/Q752739","display_name":"Asynchronous communication","level":2,"score":0.4229731261730194},{"id":"https://openalex.org/C83546350","wikidata":"https://www.wikidata.org/wiki/Q1139051","display_name":"Regression","level":2,"score":0.42085573077201843},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.40543103218078613},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.40070196986198425},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.36667943000793457},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.35838836431503296},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.23846685886383057},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.19851624965667725},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.13571226596832275},{"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/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2023.3311374","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3311374","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"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/1","display_name":"No poverty","score":0.7300000190734863}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W1531122638","https://openalex.org/W1639227073","https://openalex.org/W1970504153","https://openalex.org/W1975697167","https://openalex.org/W2001496915","https://openalex.org/W2003857027","https://openalex.org/W2004360097","https://openalex.org/W2012319351","https://openalex.org/W2113524801","https://openalex.org/W2131684180","https://openalex.org/W2168676389","https://openalex.org/W2204930965","https://openalex.org/W2293833064","https://openalex.org/W2474281075","https://openalex.org/W2519559998","https://openalex.org/W2530906228","https://openalex.org/W2565755350","https://openalex.org/W2745007981","https://openalex.org/W2754360834","https://openalex.org/W2767800299","https://openalex.org/W2783185291","https://openalex.org/W2785582094","https://openalex.org/W2809335043","https://openalex.org/W2948163905","https://openalex.org/W2950380208","https://openalex.org/W3040838455","https://openalex.org/W3048590264","https://openalex.org/W3084220991","https://openalex.org/W3105213754","https://openalex.org/W3144939529","https://openalex.org/W3177990170","https://openalex.org/W3197950218","https://openalex.org/W4206169080","https://openalex.org/W4214956431","https://openalex.org/W4243425824","https://openalex.org/W4253803843","https://openalex.org/W4286891353","https://openalex.org/W4367016663","https://openalex.org/W6782386708","https://openalex.org/W6803028875"],"related_works":["https://openalex.org/W566010457","https://openalex.org/W2600092203","https://openalex.org/W4300066510","https://openalex.org/W2056958800","https://openalex.org/W2803685231","https://openalex.org/W4293503520","https://openalex.org/W3134152097","https://openalex.org/W4311388919","https://openalex.org/W2966696655","https://openalex.org/W2115519811"],"abstract_inverted_index":{"Event-based":[0],"cameras":[1,18,133],"asynchronously":[2],"capture":[3],"individual":[4,105],"visual":[5,59],"changes":[6],"in":[7,32,58,114],"a":[8,33,38,47,96,139],"scene.":[9],"This":[10,74,92],"makes":[11],"them":[12],"more":[13],"robust":[14],"than":[15],"traditional":[16],"frame-based":[17],"to":[19,123],"highly":[20],"dynamic":[21],"motions":[22],"and":[23,128,159,183],"poor":[24],"illumination.":[25],"It":[26,54,118],"also":[27],"means":[28],"that":[29,101],"every":[30],"measurement":[31,44],"scene":[34],"can":[35],"occur":[36],"at":[37,70],"unique":[39],"time.":[40,73],"Handling":[41],"these":[42],"different":[43],"times":[45,107],"is":[46,55,145],"major":[48],"challenge":[49],"of":[50,89,131],"using":[51],"event-based":[52,90,132,177],"cameras.":[53,91],"often":[56],"addressed":[57],"odometry":[60],"(VO)":[61],"pipelines":[62],"by":[63,181],"approximating":[64],"temporally":[65],"close":[66],"measurements":[67],"as":[68],"occurring":[69],"one":[71],"common":[72],"grouping":[75,111],"simplifies":[76],"the":[77,85,115,125,148,173],"estimation":[78,116,122],"problem":[79],"but,":[80],"absent":[81],"additional":[82],"sensors,":[83],"sacrifices":[84],"inherent":[86],"temporal":[87,126],"resolution":[88],"paper":[93],"instead":[94],"presents":[95],"complete":[97],"stereo":[98,178],"VO":[99,179],"pipeline":[100,180],"estimates":[102],"directly":[103],"with":[104,138],"event-measurement":[106],"without":[108],"requiring":[109],"any":[110],"or":[112],"approximation":[113],"state.":[117],"uses":[119],"continuous-time":[120],"trajectory":[121],"maintain":[124],"fidelity":[127],"asynchronous":[129],"nature":[130],"through":[134],"Gaussian":[135],"process":[136],"regression":[137],"physically":[140],"motivated":[141],"prior.":[142],"Its":[143],"performance":[144],"evaluated":[146],"on":[147,168],"MVSEC":[149],"dataset,":[150],"where":[151],"it":[152],"achieves":[153],"<inline-formula":[154,160],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[155,161],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[156,162],"notation=\"LaTeX\">$7.9\\cdot":[157],"10^{-3}$</tex-math></inline-formula>":[158,164],"notation=\"LaTeX\">$5.9\\cdot":[163],"RMS":[165],"relative":[166],"error":[167],"two":[169,182],"independent":[170],"sequences,":[171],"outperforming":[172],"existing":[174],"publicly":[175],"available":[176],"four":[184],"times,":[185],"respectively.":[186]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
