{"id":"https://openalex.org/W4399526616","doi":"https://doi.org/10.1109/tiv.2024.3412595","title":"DH-PTAM: A Deep Hybrid Stereo Events-Frames Parallel Tracking and Mapping System","display_name":"DH-PTAM: A Deep Hybrid Stereo Events-Frames Parallel Tracking and Mapping System","publication_year":2024,"publication_date":"2024-06-11","ids":{"openalex":"https://openalex.org/W4399526616","doi":"https://doi.org/10.1109/tiv.2024.3412595"},"language":"en","primary_location":{"id":"doi:10.1109/tiv.2024.3412595","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2024.3412595","pdf_url":null,"source":{"id":"https://openalex.org/S4210199657","display_name":"IEEE Transactions on Intelligent Vehicles","issn_l":"2379-8858","issn":["2379-8858","2379-8904"],"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 Intelligent Vehicles","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-04620377v1/document","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5068585119","display_name":"Abanob Soliman","orcid":"https://orcid.org/0000-0003-4956-8580"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Abanob Soliman","raw_affiliation_strings":["Continental Engineering Services Ltd., Burgess Hill, U.K","Continental Engineering Services Limited (United Kingdom)"],"affiliations":[{"raw_affiliation_string":"Continental Engineering Services Ltd., Burgess Hill, U.K","institution_ids":[]},{"raw_affiliation_string":"Continental Engineering Services Limited (United Kingdom)","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060409577","display_name":"Fabien Bonardi","orcid":"https://orcid.org/0000-0002-3555-7306"},"institutions":[{"id":"https://openalex.org/I4210107733","display_name":"Informatique, Biologie Int\u00e9grative et Syst\u00e8mes Complexes","ror":"https://ror.org/01aqxgr98","country_code":"FR","type":"facility","lineage":["https://openalex.org/I277688954","https://openalex.org/I277688954","https://openalex.org/I4210107733","https://openalex.org/I88467170"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Fabien Bonardi","raw_affiliation_strings":["IBISC Laboratory, Université Paris-Saclay, Univ Evry, Paris, France"],"affiliations":[{"raw_affiliation_string":"IBISC Laboratory, Université Paris-Saclay, Univ Evry, Paris, France","institution_ids":["https://openalex.org/I4210107733"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010761826","display_name":"D\u00e9sir\u00e9 Sidib\u00e9","orcid":"https://orcid.org/0000-0002-5843-7139"},"institutions":[{"id":"https://openalex.org/I4210107733","display_name":"Informatique, Biologie Int\u00e9grative et Syst\u00e8mes Complexes","ror":"https://ror.org/01aqxgr98","country_code":"FR","type":"facility","lineage":["https://openalex.org/I277688954","https://openalex.org/I277688954","https://openalex.org/I4210107733","https://openalex.org/I88467170"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"D\u00e9sir\u00e9 Sidib\u00e9","raw_affiliation_strings":["IBISC Laboratory, Université Paris-Saclay, Univ Evry, Paris, France"],"affiliations":[{"raw_affiliation_string":"IBISC Laboratory, Université Paris-Saclay, Univ Evry, Paris, France","institution_ids":["https://openalex.org/I4210107733"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033226493","display_name":"Samia Bouchafa","orcid":"https://orcid.org/0000-0002-2860-8128"},"institutions":[{"id":"https://openalex.org/I4210107733","display_name":"Informatique, Biologie Int\u00e9grative et Syst\u00e8mes Complexes","ror":"https://ror.org/01aqxgr98","country_code":"FR","type":"facility","lineage":["https://openalex.org/I277688954","https://openalex.org/I277688954","https://openalex.org/I4210107733","https://openalex.org/I88467170"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Samia Bouchafa","raw_affiliation_strings":["IBISC Laboratory, Université Paris-Saclay, Univ Evry, Paris, France"],"affiliations":[{"raw_affiliation_string":"IBISC Laboratory, Université Paris-Saclay, Univ Evry, Paris, France","institution_ids":["https://openalex.org/I4210107733"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5068585119"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":10.8559,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.97643585,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"10","issue":"1","first_page":"336","last_page":"345"},"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":0.9997000098228455,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9994000196456909,"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/computer-vision","display_name":"Computer vision","score":0.6485641598701477},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6265553832054138},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5565233826637268},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5194960832595825},{"id":"https://openalex.org/keywords/tracking-system","display_name":"Tracking system","score":0.42675501108169556},{"id":"https://openalex.org/keywords/stereopsis","display_name":"Stereopsis","score":0.4211907386779785},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.14398923516273499},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.08152365684509277}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6485641598701477},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6265553832054138},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5565233826637268},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5194960832595825},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.42675501108169556},{"id":"https://openalex.org/C68537008","wikidata":"https://www.wikidata.org/wiki/Q247932","display_name":"Stereopsis","level":2,"score":0.4211907386779785},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.14398923516273499},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.08152365684509277},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tiv.2024.3412595","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2024.3412595","pdf_url":null,"source":{"id":"https://openalex.org/S4210199657","display_name":"IEEE Transactions on Intelligent Vehicles","issn_l":"2379-8858","issn":["2379-8858","2379-8904"],"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 Intelligent Vehicles","raw_type":"journal-article"},{"id":"pmh:oai:HAL:hal-04620377v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04620377v1/document","pdf_url":null,"source":{"id":"https://openalex.org/S4406922466","display_name":"SPIRE - Sciences Po Institutional REpository","issn_l":null,"issn":null,"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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Intelligent Vehicles, 2025, 10 (1), pp.336--345. ⟨10.1109/TIV.2024.3412595⟩","raw_type":"Journal articles"},{"id":"pmh:oai:HAL:hal-04621160v1","is_oa":false,"landing_page_url":"https://hal.science/hal-04621160","pdf_url":null,"source":{"id":"https://openalex.org/S4406922466","display_name":"SPIRE - Sciences Po Institutional REpository","issn_l":null,"issn":null,"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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ISSN: 2379-8858","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-04620377v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04620377v1/document","pdf_url":null,"source":{"id":"https://openalex.org/S4406922466","display_name":"SPIRE - Sciences Po Institutional REpository","issn_l":null,"issn":null,"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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Intelligent Vehicles, 2025, 10 (1), pp.336--345. ⟨10.1109/TIV.2024.3412595⟩","raw_type":"Journal articles"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/13","score":0.44999998807907104,"display_name":"Climate action"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W1989484209","https://openalex.org/W2117248802","https://openalex.org/W2151290401","https://openalex.org/W2151689215","https://openalex.org/W2519559998","https://openalex.org/W2530906228","https://openalex.org/W2565755350","https://openalex.org/W2606894526","https://openalex.org/W2618066342","https://openalex.org/W2783185291","https://openalex.org/W2785582094","https://openalex.org/W2885478207","https://openalex.org/W2909063396","https://openalex.org/W2963510238","https://openalex.org/W2969508737","https://openalex.org/W2997495511","https://openalex.org/W2998124059","https://openalex.org/W3010268791","https://openalex.org/W3043075211","https://openalex.org/W3043971245","https://openalex.org/W3098250009","https://openalex.org/W3105213754","https://openalex.org/W3120099762","https://openalex.org/W3124624766","https://openalex.org/W3144939529","https://openalex.org/W3201971426","https://openalex.org/W4206743952","https://openalex.org/W4283823181","https://openalex.org/W4294255656","https://openalex.org/W4306796139","https://openalex.org/W4312400353","https://openalex.org/W4367016663","https://openalex.org/W4387475672","https://openalex.org/W4387790316","https://openalex.org/W4389352560","https://openalex.org/W4399563956","https://openalex.org/W4401415501","https://openalex.org/W6758162286","https://openalex.org/W6770485707","https://openalex.org/W6800540912"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,7,38,43,75],"robust":[4],"approach":[5],"for":[6,56,79],"visual":[8,29],"parallel":[9,67],"tracking":[10,68],"and":[11,34,54,69,89,95,109],"mapping":[12,70],"(PTAM)":[13],"system":[14],"that":[15],"excels":[16],"in":[17,37,105,111,115],"challenging":[18],"environments.":[19],"Our":[20],"proposed":[21,99],"method":[22,100],"combines":[23],"the":[24],"strengths":[25],"of":[26,93,107],"heterogeneous":[27],"multi-modal":[28],"sensors,":[30,36],"including":[31],"stereo":[32],"event-based":[33],"frame-based":[35],"unified":[39],"reference":[40],"frame":[41],"through":[42],"novel":[44],"spatio-temporal":[45],"synchronization":[46],"approach.":[47],"We":[48,62],"employ":[49],"deep":[50],"learning-based":[51],"feature":[52],"extraction":[53],"description":[55],"estimation":[57],"to":[58],"enhance":[59],"robustness":[60,108],"further.":[61],"also":[63],"introduce":[64],"an":[65],"end-to-end":[66],"optimization":[71],"layer":[72],"complemented":[73],"by":[74],"simple":[76],"loop-closure":[77],"algorithm":[78],"efficient":[80],"SLAM":[81],"behavior.":[82],"Through":[83],"comprehensive":[84],"experiments":[85],"on":[86],"both":[87],"small-scale":[88],"large-scale":[90,116],"real-world":[91],"sequences":[92],"VECtor":[94],"TUM-VIE":[96],"benchmarks,":[97],"our":[98],"(DH-PTAM)":[101],"demonstrates":[102],"superior":[103],"performance":[104],"terms":[106],"accuracy":[110],"adverse":[112],"conditions,":[113],"especially":[114],"HDR":[117],"scenarios.":[118]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":3}],"updated_date":"2026-03-11T14:59:36.786465","created_date":"2025-10-10T00:00:00"}