{"id":"https://openalex.org/W4387934850","doi":"https://doi.org/10.1109/tim.2023.3325508","title":"Cubic B-Spline-Based Feature Tracking for Visual\u2013Inertial Odometry With Event Camera","display_name":"Cubic B-Spline-Based Feature Tracking for Visual\u2013Inertial Odometry With Event Camera","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4387934850","doi":"https://doi.org/10.1109/tim.2023.3325508"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2023.3325508","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2023.3325508","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"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 Transactions on Instrumentation and Measurement","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/A5100738649","display_name":"Xinghua Liu","orcid":"https://orcid.org/0000-0001-5665-3535"},"institutions":[{"id":"https://openalex.org/I4210131919","display_name":"Xi'an University of Technology","ror":"https://ror.org/038avdt50","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210131919"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xinghua Liu","raw_affiliation_strings":["School of Electrical Engineering, Xi'an University of Technology, Xi'an, China"],"raw_orcid":"https://orcid.org/0000-0001-5665-3535","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Xi'an University of Technology, Xi'an, China","institution_ids":["https://openalex.org/I4210131919"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091419421","display_name":"Hanjun Xue","orcid":"https://orcid.org/0009-0007-5879-0067"},"institutions":[{"id":"https://openalex.org/I4210131919","display_name":"Xi'an University of Technology","ror":"https://ror.org/038avdt50","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210131919"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hanjun Xue","raw_affiliation_strings":["School of Electrical Engineering, Xi'an University of Technology, Xi'an, China"],"raw_orcid":"https://orcid.org/0009-0007-5879-0067","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Xi'an University of Technology, Xi'an, China","institution_ids":["https://openalex.org/I4210131919"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Xiang Gao","orcid":"https://orcid.org/0009-0003-4056-7853"},"institutions":[{"id":"https://openalex.org/I4210131919","display_name":"Xi'an University of Technology","ror":"https://ror.org/038avdt50","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210131919"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiang Gao","raw_affiliation_strings":["School of Electrical Engineering, Xi'an University of Technology, Xi'an, China"],"raw_orcid":"https://orcid.org/0009-0003-4056-7853","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Xi'an University of Technology, Xi'an, China","institution_ids":["https://openalex.org/I4210131919"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100448105","display_name":"Han Liu","orcid":"https://orcid.org/0000-0002-6618-1380"},"institutions":[{"id":"https://openalex.org/I4210131919","display_name":"Xi'an University of Technology","ror":"https://ror.org/038avdt50","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210131919"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Han Liu","raw_affiliation_strings":["School of Automation and Information Engineering, Xi'an University of Technology, Xi'an, China"],"raw_orcid":"https://orcid.org/0000-0002-6618-1380","affiliations":[{"raw_affiliation_string":"School of Automation and Information Engineering, Xi'an University of Technology, Xi'an, China","institution_ids":["https://openalex.org/I4210131919"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077852542","display_name":"Badong Chen","orcid":"https://orcid.org/0000-0003-1710-3818"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Badong Chen","raw_affiliation_strings":["School of Electronic and Information Engineering, Xi'an Jiaotong University, Xi'an, China"],"raw_orcid":"https://orcid.org/0000-0003-1710-3818","affiliations":[{"raw_affiliation_string":"School of Electronic and Information Engineering, Xi'an Jiaotong University, Xi'an, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008501506","display_name":"Shuzhi Sam Ge","orcid":"https://orcid.org/0000-0001-5549-312X"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Shuzhi Sam Ge","raw_affiliation_strings":["School of Electrical and Computer Engineering, National University of Singapore, Queenstown, Singapore"],"raw_orcid":"https://orcid.org/0000-0001-5549-312X","affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering, National University of Singapore, Queenstown, Singapore","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5100738649"],"corresponding_institution_ids":["https://openalex.org/I4210131919"],"apc_list":null,"apc_paid":null,"fwci":4.0479,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.942301,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"72","issue":null,"first_page":"1","last_page":"15"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9983000159263611,"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/T12549","display_name":"Image and Object Detection Techniques","score":0.9968000054359436,"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":0.764985203742981},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7606862783432007},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7070818543434143},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6773141622543335},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5738369822502136},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.466678261756897},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.4461803436279297},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.18303453922271729},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.15112614631652832}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.764985203742981},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7606862783432007},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7070818543434143},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6773141622543335},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5738369822502136},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.466678261756897},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.4461803436279297},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.18303453922271729},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.15112614631652832},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tim.2023.3325508","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2023.3325508","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"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 Transactions on Instrumentation and Measurement","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G238182171","display_name":null,"funder_award_id":"U2003110","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":49,"referenced_works":["https://openalex.org/W1612997784","https://openalex.org/W2027661541","https://openalex.org/W2048497537","https://openalex.org/W2519559998","https://openalex.org/W2538522345","https://openalex.org/W2544243493","https://openalex.org/W2565755350","https://openalex.org/W2567239141","https://openalex.org/W2745859992","https://openalex.org/W2754360834","https://openalex.org/W2762152057","https://openalex.org/W2767800299","https://openalex.org/W2783185291","https://openalex.org/W2927905861","https://openalex.org/W2950380208","https://openalex.org/W2962987986","https://openalex.org/W2971141820","https://openalex.org/W2983756949","https://openalex.org/W2998281665","https://openalex.org/W3014801889","https://openalex.org/W3019283508","https://openalex.org/W3033926966","https://openalex.org/W3040838455","https://openalex.org/W3043971245","https://openalex.org/W3094905052","https://openalex.org/W3100408631","https://openalex.org/W3122190729","https://openalex.org/W3122889292","https://openalex.org/W3144939529","https://openalex.org/W3153542184","https://openalex.org/W3162188105","https://openalex.org/W3165528186","https://openalex.org/W3191249473","https://openalex.org/W3201416825","https://openalex.org/W3207392858","https://openalex.org/W4205956105","https://openalex.org/W4221156536","https://openalex.org/W4230766380","https://openalex.org/W4246614213","https://openalex.org/W4293731354","https://openalex.org/W4297094408","https://openalex.org/W4311457582","https://openalex.org/W4322707272","https://openalex.org/W4367146527","https://openalex.org/W4379012389","https://openalex.org/W4381333019","https://openalex.org/W4393972863","https://openalex.org/W6850596596","https://openalex.org/W6850800683"],"related_works":["https://openalex.org/W2414561716","https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W3024737167","https://openalex.org/W2998370018","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W3125052734","https://openalex.org/W2981103992","https://openalex.org/W2312326526"],"abstract_inverted_index":{"It":[0],"is":[1,47,98],"challenging":[2],"to":[3,49,67,87,100],"obtain":[4],"accurate":[5],"trajectories":[6],"with":[7,14,109,113,140],"standard":[8],"camera":[9],"visual":[10],"odometry":[11],"in":[12,164],"environments":[13],"weak":[15],"textures":[16],"and":[17,45,106,116,136,168,174],"light":[18],"variations.":[19],"This":[20],"article":[21],"introduces":[22],"a":[23,69,76],"novel":[24],"approach":[25],"(Cubic":[26],"B-Spline-based":[27],"Visual-Inertial":[28],"Odometry,":[29],"CB-VIO),":[30],"using":[31],"the":[32,36,40,51,60,84,94,114,117,122,131,137,159],"DAVIS":[33],"camera.":[34],"In":[35],"proposed":[37,123],"CB-VIO":[38,163],"method,":[39],"matching":[41],"mechanism":[42],"between":[43],"images":[44],"events":[46,64],"designed":[48],"improve":[50],"success":[52],"rate":[53],"of":[54,153,162,166],"event":[55,72],"tracking,":[56],"based":[57],"on":[58,83,150],"which":[59,157],"template":[61],"points":[62],"from":[63,104],"are":[65,148],"utilized":[66],"construct":[68],"cubic":[70],"B-spline-based":[71],"tracking":[73,85],"model":[74,86,97],"within":[75],"continuous":[77,124],"spatio-temporal":[78,125],"window":[79,126],"(under":[80],"SE(3)).":[81],"Based":[82],"interpolate":[88],"poses":[89],"at":[90],"any":[91],"time":[92],"point,":[93],"IMU":[95],"measurement":[96],"constructed":[99],"achieve":[101],"data":[102,132],"fusion":[103],"asynchronous":[105],"synchronous":[107],"sensors":[108],"different":[110,155],"rates.":[111],"Compared":[112],"Spline-VIO":[115],"Event-based":[118],"Visual":[119],"Odometry":[120],"(EVO),":[121],"method":[127],"can":[128],"effectively":[129],"solve":[130],"association":[133],"for":[134,143],"EVO":[135],"continuous-time":[138],"trajectory":[139],"fixed-time":[141],"intervals":[142],"Spline-VIO.":[144],"The":[145],"experimental":[146],"results":[147],"compared":[149],"public":[151],"datasets":[152],"multiple":[154],"scenes,":[156],"demonstrate":[158],"superior":[160],"performance":[161],"terms":[165],"accuracy":[167],"robustness":[169],"(translation":[170],"error":[171,176],"\u2a7d":[172,177],"1.3%":[173],"rotation":[175],"2\u00b0).":[178]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4}],"updated_date":"2026-05-03T08:25:01.440150","created_date":"2025-10-10T00:00:00"}
