{"id":"https://openalex.org/W4415822411","doi":"https://doi.org/10.1109/ro-man63969.2025.11217813","title":"Estimating Scene Flow in Robot Surroundings with Distributed Miniaturised Time-of-Flight Sensors","display_name":"Estimating Scene Flow in Robot Surroundings with Distributed Miniaturised Time-of-Flight Sensors","publication_year":2025,"publication_date":"2025-08-25","ids":{"openalex":"https://openalex.org/W4415822411","doi":"https://doi.org/10.1109/ro-man63969.2025.11217813"},"language":null,"primary_location":{"id":"doi:10.1109/ro-man63969.2025.11217813","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ro-man63969.2025.11217813","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 34th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","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":null,"display_name":"Jack Sander","orcid":null},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Jack Sander","raw_affiliation_strings":["University of Oxford,Oxford Robotics Institute (ORI),UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Oxford,Oxford Robotics Institute (ORI),UK","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055775355","display_name":"Giammarco Caroleo","orcid":"https://orcid.org/0000-0003-1796-7472"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Giammarco Caroleo","raw_affiliation_strings":["University of Oxford,Oxford Robotics Institute (ORI),UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Oxford,Oxford Robotics Institute (ORI),UK","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041142320","display_name":"Alessandro Albini","orcid":"https://orcid.org/0000-0003-1562-7044"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Alessandro Albini","raw_affiliation_strings":["University of Oxford,Oxford Robotics Institute (ORI),UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Oxford,Oxford Robotics Institute (ORI),UK","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054789141","display_name":"Perla Maiolino","orcid":"https://orcid.org/0000-0002-7588-9567"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Perla Maiolino","raw_affiliation_strings":["University of Oxford,Oxford Robotics Institute (ORI),UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Oxford,Oxford Robotics Institute (ORI),UK","institution_ids":["https://openalex.org/I40120149"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I40120149"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"493","last_page":"499"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.5482000112533569,"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":0.5482000112533569,"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":0.06870000064373016,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.05999999865889549,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/robot","display_name":"Robot","score":0.5759999752044678},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.5687999725341797},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5002999901771545},{"id":"https://openalex.org/keywords/optical-flow","display_name":"Optical flow","score":0.4828000068664551},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4551999866962433},{"id":"https://openalex.org/keywords/motion-estimation","display_name":"Motion estimation","score":0.4408000111579895},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4189000129699707},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.38589999079704285}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7549999952316284},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6894000172615051},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5859000086784363},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5759999752044678},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.5687999725341797},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5002999901771545},{"id":"https://openalex.org/C155542232","wikidata":"https://www.wikidata.org/wiki/Q736111","display_name":"Optical flow","level":3,"score":0.4828000068664551},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4551999866962433},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.4408000111579895},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4189000129699707},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.38589999079704285},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.3555000126361847},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.3553999960422516},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.35100001096725464},{"id":"https://openalex.org/C95020103","wikidata":"https://www.wikidata.org/wiki/Q1813492","display_name":"Match moving","level":3,"score":0.33959999680519104},{"id":"https://openalex.org/C38349280","wikidata":"https://www.wikidata.org/wiki/Q1434290","display_name":"Flow (mathematics)","level":2,"score":0.3375999927520752},{"id":"https://openalex.org/C159694833","wikidata":"https://www.wikidata.org/wiki/Q2321565","display_name":"Iterative method","level":2,"score":0.3375000059604645},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.334199994802475},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.29159998893737793},{"id":"https://openalex.org/C202474056","wikidata":"https://www.wikidata.org/wiki/Q1931635","display_name":"Video tracking","level":3,"score":0.2770000100135803},{"id":"https://openalex.org/C195958017","wikidata":"https://www.wikidata.org/wiki/Q1675268","display_name":"Iterative closest point","level":3,"score":0.2728999853134155},{"id":"https://openalex.org/C2780624872","wikidata":"https://www.wikidata.org/wiki/Q852453","display_name":"Motion detection","level":3,"score":0.2678000032901764},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2524999976158142},{"id":"https://openalex.org/C29265498","wikidata":"https://www.wikidata.org/wiki/Q7047719","display_name":"Noise measurement","level":3,"score":0.2508000135421753}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ro-man63969.2025.11217813","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ro-man63969.2025.11217813","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 34th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1921093919","https://openalex.org/W2049981393","https://openalex.org/W2129671742","https://openalex.org/W2131072478","https://openalex.org/W2162130878","https://openalex.org/W2168538937","https://openalex.org/W2601243251","https://openalex.org/W2613864254","https://openalex.org/W2736878617","https://openalex.org/W2770902190","https://openalex.org/W2797343926","https://openalex.org/W2908964649","https://openalex.org/W2922660011","https://openalex.org/W2951037181","https://openalex.org/W2962771259","https://openalex.org/W2973779043","https://openalex.org/W2984858187","https://openalex.org/W3003971233","https://openalex.org/W3084283133","https://openalex.org/W3090462889","https://openalex.org/W3127528059","https://openalex.org/W3180484829","https://openalex.org/W4210254627","https://openalex.org/W4310564884","https://openalex.org/W4312374527","https://openalex.org/W4362580604","https://openalex.org/W4386590697","https://openalex.org/W4402727437","https://openalex.org/W4405785756","https://openalex.org/W4411019338"],"related_works":[],"abstract_inverted_index":{"Tracking":[0],"the":[1,45,58,76,122,136,140,143],"motion":[2,68,144],"of":[3,78,124,142],"humans":[4],"or":[5],"objects":[6],"in":[7,111,153],"a":[8,66,88],"robot\u2019s":[9,46],"surroundings":[10],"is":[11,109,152],"essential":[12],"to":[13,64,74,91,103,120],"improve":[14],"safe":[15],"robot":[16],"motions":[17],"and":[18,33,56,81,95,98,145],"reactions.":[19],"In":[20],"this":[21],"work,":[22],"we":[23,86],"present":[24],"an":[25,99,112,125,149],"approach":[26,108],"for":[27],"scene":[28],"flow":[29],"estimation":[30],"from":[31,38,53],"low-density":[32,82],"noisy":[34],"point":[35],"clouds":[36],"acquired":[37],"miniaturised":[39],"Time-of-Flight":[40],"(ToF)":[41],"sensors":[42],"distributed":[43],"across":[44],"body.":[47],"The":[48],"proposed":[49,107],"method":[50,137],"clusters":[51],"points":[52,97],"consecutive":[54],"frames":[55],"applies":[57],"Iterative":[59],"Closest":[60],"Point":[61],"(ICP)":[62],"algorithm":[63],"estimate":[65,121],"dense":[67],"flow,":[69],"with":[70,148,155],"additional":[71],"steps":[72],"introduced":[73],"mitigate":[75],"impact":[77],"sensor":[79,156],"noise":[80],"data":[83],"points.":[84],"Specifically,":[85],"employ":[87],"fitness-based":[89],"classification":[90],"distinguish":[92],"between":[93],"stationary":[94],"moving":[96,127],"inlier":[100],"removal":[101],"strategy":[102],"refine":[104],"geometric":[105],"correspondences.The":[106],"validated":[110],"experimental":[113],"setup":[114],"where":[115],"24":[116],"ToF":[117],"are":[118],"used":[119],"velocity":[123],"object":[126],"at":[128],"different":[129],"controlled":[130],"speeds.":[131],"Experimental":[132],"results":[133],"show":[134],"that":[135],"consistently":[138],"approximates":[139],"direction":[141],"its":[146],"magnitude":[147],"error":[150],"which":[151],"line":[154],"noise.":[157]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-11-03T00:00:00"}
