{"id":"https://openalex.org/W7133347199","doi":"https://doi.org/10.1109/lra.2026.3669796","title":"SSS-VIO: Strawberry Squid Asymmetrical Eyes Bio-Inspired Stereo Visual Inertial Odometry","display_name":"SSS-VIO: Strawberry Squid Asymmetrical Eyes Bio-Inspired Stereo Visual Inertial Odometry","publication_year":2026,"publication_date":"2026-03-03","ids":{"openalex":"https://openalex.org/W7133347199","doi":"https://doi.org/10.1109/lra.2026.3669796"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2026.3669796","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3669796","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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/A5124215577","display_name":"Yebei Wen","orcid":null},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yebei Wen","raw_affiliation_strings":["College of Automation, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":"https://orcid.org/0009-0001-5673-2783","affiliations":[{"raw_affiliation_string":"College of Automation, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061936686","display_name":"Hanyu Zhan","orcid":"https://orcid.org/0000-0002-1465-9194"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hanyu Zhan","raw_affiliation_strings":["College of Automation, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0002-1465-9194","affiliations":[{"raw_affiliation_string":"College of Automation, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128004162","display_name":"Jizhou Lai","orcid":null},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jizhou Lai","raw_affiliation_strings":["College of Automation, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0003-2443-5693","affiliations":[{"raw_affiliation_string":"College of Automation, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128008908","display_name":"Wei Fang","orcid":null},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Fang","raw_affiliation_strings":["College of Automation, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":"https://orcid.org/0009-0007-8988-3135","affiliations":[{"raw_affiliation_string":"College of Automation, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5124220464","display_name":"Shenghong Xie","orcid":null},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shenghong Xie","raw_affiliation_strings":["College of Automation, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":"https://orcid.org/0009-0002-9616-6701","affiliations":[{"raw_affiliation_string":"College of Automation, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5127897484","display_name":"Cheng Yuan","orcid":null},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Cheng Yuan","raw_affiliation_strings":["College of Automation, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0001-8484-2587","affiliations":[{"raw_affiliation_string":"College of Automation, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I9842412"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.25976168,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"4","first_page":"5206","last_page":"5213"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.2816999852657318,"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"}},"topics":[{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.2816999852657318,"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"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.12309999763965607,"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/T10638","display_name":"Optical measurement and interference techniques","score":0.060100000351667404,"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/odometry","display_name":"Odometry","score":0.6773999929428101},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5795000195503235},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.5435000061988831},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.4196000099182129},{"id":"https://openalex.org/keywords/usable","display_name":"USable","score":0.3465999960899353},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.34630000591278076},{"id":"https://openalex.org/keywords/high-dynamic-range","display_name":"High dynamic range","score":0.33709999918937683}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.756600022315979},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7458000183105469},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.6773999929428101},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6502000093460083},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5795000195503235},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.5435000061988831},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4196000099182129},{"id":"https://openalex.org/C2780615836","wikidata":"https://www.wikidata.org/wiki/Q2471869","display_name":"USable","level":2,"score":0.3465999960899353},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.34630000591278076},{"id":"https://openalex.org/C2780056265","wikidata":"https://www.wikidata.org/wiki/Q106239881","display_name":"High dynamic range","level":3,"score":0.33709999918937683},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.3319999873638153},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.32910001277923584},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.32710000872612},{"id":"https://openalex.org/C68537008","wikidata":"https://www.wikidata.org/wiki/Q247932","display_name":"Stereopsis","level":2,"score":0.28870001435279846},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.27300000190734863},{"id":"https://openalex.org/C5339829","wikidata":"https://www.wikidata.org/wiki/Q1425977","display_name":"Machine vision","level":2,"score":0.2655999958515167}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2026.3669796","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3669796","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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":[],"awards":[{"id":"https://openalex.org/G3612370286","display_name":null,"funder_award_id":"90YQR25027","funder_id":"https://openalex.org/F4320334859","funder_display_name":"Foundation of the Graduate Innovation Center, Nanjing University of Aeronautics and Astronautics"},{"id":"https://openalex.org/G7306462830","display_name":null,"funder_award_id":"YQR26033","funder_id":"https://openalex.org/F4320327720","funder_display_name":"Foundation for Innovative Research Groups of the National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320327720","display_name":"Foundation for Innovative Research Groups of the National Natural Science Foundation of China","ror":null},{"id":"https://openalex.org/F4320334859","display_name":"Foundation of the Graduate Innovation Center, Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Visual-inertial":[0],"odometry":[1],"(VIO)":[2],"serves":[3],"as":[4],"a":[5,44,49,89,97],"dominant":[6],"framework":[7],"for":[8,145,156],"real-time":[9],"motion":[10],"state":[11],"estimation":[12],"in":[13,92,110],"micro":[14],"aerial":[15],"vehicles":[16],"(MAVs).":[17],"However,":[18],"existing":[19],"VIO":[20,108,148],"techniques":[21],"remain":[22],"highly":[23],"susceptible":[24],"to":[25,57,67,75],"high":[26],"dynamic":[27,94,149],"range":[28,95],"(HDR)":[29],"illumination":[30],"conditions.":[31],"Bio-inspired":[32],"by":[33,118],"the":[34,39,68,133,140,147],"lateralized":[35],"visual":[36],"system":[37],"of":[38,70,78,135],"Strawberry":[40],"Squid,":[41],"we":[42],"propose":[43],"SSS-VIO":[45,103],"technique":[46],"that":[47],"integrates":[48],"functionally":[50],"asymmetric-eye":[51,143],"design":[52,69],"and":[53,74,122,160],"perceptual":[54],"attention":[55],"mechanisms":[56],"overcome":[58],"HDR-induced":[59],"limitations.":[60],"The":[61],"proposed":[62],"method":[63],"is":[64,139],"applicable":[65],"both":[66],"asymmetric":[71],"stereo":[72,80],"platforms":[73],"cost-effective":[76],"retrofitting":[77],"commercial":[79],"cameras.":[81],"Experimental":[82],"evaluations":[83],"on":[84],"an":[85],"OAK-4P-New":[86],"camera":[87],"demonstrate":[88],"40%":[90],"increase":[91],"usable":[93],"with":[96],"single":[98],"neutral":[99],"density":[100],"filter.":[101],"Furthermore,":[102],"also":[104],"outperforms":[105],"multiple":[106],"state-of-the-art":[107],"methods":[109],"MAV":[111,157],"flight":[112],"tests,":[113],"reducing":[114],"Absolute":[115],"Trajectory":[116],"Error":[117,127],"at":[119],"least":[120],"46.1%":[121],"consistently":[123],"improving":[124],"Relative":[125],"Pose":[126],"across":[128],"different":[129],"trajectory":[130],"segments.":[131],"To":[132],"best":[134],"our":[136],"knowledge,":[137],"this":[138],"first":[141],"bio-inspired":[142],"solution":[144],"enhancing":[146],"range,":[150],"which":[151],"might":[152],"unlock":[153],"new":[154],"potentials":[155],"indoor-outdoor":[158],"localization":[159],"applications.":[161]},"counts_by_year":[],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2026-03-04T00:00:00"}