{"id":"https://openalex.org/W4405717674","doi":"https://doi.org/10.1109/tmc.2024.3521044","title":"Taming Event Cameras With Bio-Inspired Architecture and Algorithm: A Case for Drone Obstacle Avoidance","display_name":"Taming Event Cameras With Bio-Inspired Architecture and Algorithm: A Case for Drone Obstacle Avoidance","publication_year":2024,"publication_date":"2024-12-23","ids":{"openalex":"https://openalex.org/W4405717674","doi":"https://doi.org/10.1109/tmc.2024.3521044"},"language":"en","primary_location":{"id":"doi:10.1109/tmc.2024.3521044","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tmc.2024.3521044","pdf_url":null,"source":{"id":"https://openalex.org/S69141925","display_name":"IEEE Transactions on Mobile Computing","issn_l":"1536-1233","issn":["1536-1233","1558-0660","2161-9875"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320439","host_organization_name":"IEEE Computer Society","host_organization_lineage":["https://openalex.org/P4310320439","https://openalex.org/P4310319808"],"host_organization_lineage_names":["IEEE Computer Society","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 Mobile Computing","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/A5100453910","display_name":"Danyang Li","orcid":"https://orcid.org/0000-0002-7527-4669"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Danyang Li","raw_affiliation_strings":["School of Software and BNRist, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Software and BNRist, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014880925","display_name":"Jingao Xu","orcid":"https://orcid.org/0000-0002-8347-2657"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingao Xu","raw_affiliation_strings":["School of Software and BNRist, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Software and BNRist, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061103594","display_name":"Zheng Yang","orcid":"https://orcid.org/0000-0003-4048-2684"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zheng Yang","raw_affiliation_strings":["School of Software and BNRist, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Software and BNRist, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103163083","display_name":"Yishujie Zhao","orcid":"https://orcid.org/0009-0000-5370-9257"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yishujie Zhao","raw_affiliation_strings":["School of Software and BNRist, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Software and BNRist, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102742661","display_name":"Hao Cao","orcid":"https://orcid.org/0000-0002-9872-2380"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Cao","raw_affiliation_strings":["School of Software and BNRist, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Software and BNRist, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101877973","display_name":"Yunhao Liu","orcid":"https://orcid.org/0000-0001-8052-9200"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunhao Liu","raw_affiliation_strings":["School of Software and BNRist, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Software and BNRist, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070325443","display_name":"Longfei Shangguan","orcid":"https://orcid.org/0000-0002-1153-7087"},"institutions":[{"id":"https://openalex.org/I170201317","display_name":"University of Pittsburgh","ror":"https://ror.org/01an3r305","country_code":"US","type":"education","lineage":["https://openalex.org/I170201317"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Longfei Shangguan","raw_affiliation_strings":["Department of Computer Science, University of Pittsburgh, Pittsburgh, PA, USA","Department of Computer Science, University of Pittsburgh, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Pittsburgh, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I170201317"]},{"raw_affiliation_string":"Department of Computer Science, University of Pittsburgh, USA","institution_ids":["https://openalex.org/I170201317"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5100453910"],"corresponding_institution_ids":["https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":0.326,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.67585913,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"24","issue":"5","first_page":"4202","last_page":"4216"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12788","display_name":"Space Science and Extraterrestrial Life","score":0.8665000200271606,"subfield":{"id":"https://openalex.org/subfields/3103","display_name":"Astronomy and Astrophysics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12788","display_name":"Space Science and Extraterrestrial Life","score":0.8665000200271606,"subfield":{"id":"https://openalex.org/subfields/3103","display_name":"Astronomy and Astrophysics"},"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/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.7609999775886536,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.7608000040054321,"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/drone","display_name":"Drone","score":0.8521404266357422},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7584253549575806},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.748651385307312},{"id":"https://openalex.org/keywords/architecture","display_name":"Architecture","score":0.6493365168571472},{"id":"https://openalex.org/keywords/event","display_name":"Event (particle physics)","score":0.5243580341339111},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.49336376786231995},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4831468462944031},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.4520639181137085},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.42478781938552856},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.37558481097221375},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.22276073694229126},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.14688578248023987}],"concepts":[{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.8521404266357422},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7584253549575806},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.748651385307312},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.6493365168571472},{"id":"https://openalex.org/C2779662365","wikidata":"https://www.wikidata.org/wiki/Q5416694","display_name":"Event (particle physics)","level":2,"score":0.5243580341339111},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.49336376786231995},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4831468462944031},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4520639181137085},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.42478781938552856},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.37558481097221375},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.22276073694229126},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.14688578248023987},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tmc.2024.3521044","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tmc.2024.3521044","pdf_url":null,"source":{"id":"https://openalex.org/S69141925","display_name":"IEEE Transactions on Mobile Computing","issn_l":"1536-1233","issn":["1536-1233","1558-0660","2161-9875"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320439","host_organization_name":"IEEE Computer Society","host_organization_lineage":["https://openalex.org/P4310320439","https://openalex.org/P4310319808"],"host_organization_lineage_names":["IEEE Computer Society","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 Mobile Computing","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Climate action","score":0.44999998807907104,"id":"https://metadata.un.org/sdg/13"}],"awards":[{"id":"https://openalex.org/G146228517","display_name":null,"funder_award_id":"62402276","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G493441726","display_name":null,"funder_award_id":"62302254","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6623992072","display_name":null,"funder_award_id":"62372265","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":54,"referenced_works":["https://openalex.org/W1578819269","https://openalex.org/W1586102543","https://openalex.org/W1996348120","https://openalex.org/W2012842163","https://openalex.org/W2029279488","https://openalex.org/W2041756956","https://openalex.org/W2107433900","https://openalex.org/W2138040059","https://openalex.org/W2165584048","https://openalex.org/W2410630689","https://openalex.org/W2519559998","https://openalex.org/W2565755350","https://openalex.org/W2739136981","https://openalex.org/W2743524224","https://openalex.org/W2745859992","https://openalex.org/W2767142727","https://openalex.org/W2783185291","https://openalex.org/W2789435382","https://openalex.org/W2798878556","https://openalex.org/W2920818934","https://openalex.org/W2946866968","https://openalex.org/W2951725413","https://openalex.org/W2954771128","https://openalex.org/W2962747795","https://openalex.org/W2965867763","https://openalex.org/W2971854498","https://openalex.org/W2972885840","https://openalex.org/W2978280553","https://openalex.org/W3008119758","https://openalex.org/W3008153996","https://openalex.org/W3011524659","https://openalex.org/W3033921912","https://openalex.org/W3034657761","https://openalex.org/W3037849673","https://openalex.org/W3040838455","https://openalex.org/W3087247146","https://openalex.org/W3094402048","https://openalex.org/W3118564668","https://openalex.org/W3129445845","https://openalex.org/W3132799496","https://openalex.org/W3133110313","https://openalex.org/W3134027214","https://openalex.org/W3144939529","https://openalex.org/W3171953850","https://openalex.org/W3175124268","https://openalex.org/W3175830586","https://openalex.org/W3188285597","https://openalex.org/W3203047772","https://openalex.org/W4250666038","https://openalex.org/W4306179602","https://openalex.org/W4313046416","https://openalex.org/W4317927920","https://openalex.org/W4317928069","https://openalex.org/W4386260654"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W4391249562","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W3043170174","https://openalex.org/W2155948905","https://openalex.org/W2357323510"],"abstract_inverted_index":{"Fast":[0],"and":[1,19,83,97,123],"accurate":[2],"obstacle":[3,47,87,116,125],"avoidance":[4,48],"is":[5],"crucial":[6],"to":[7,27],"drone":[8,46],"safety.":[9],"Yet":[10],"existing":[11],"on-board":[12],"sensor":[13],"modules":[14],"such":[15],"as":[16],"frame":[17],"cameras":[18],"radars":[20],"are":[21,58],"ill-suited":[22],"for":[23,45],"doing":[24],"so":[25],"due":[26],"their":[28],"low":[29],"temporal":[30],"resolution":[31],"or":[32],"limited":[33],"field":[34],"of":[35,56,119,128,140],"view.":[36],"This":[37],"paper":[38],"presents":[39],"<i>BioDrone</i>,":[40],"a":[41,72,76,84],"new":[42],"design":[43],"paradigm":[44],"using":[49],"stereo":[50],"event":[51,74,81],"cameras.":[52],"At":[53],"the":[54,67],"heart":[55],"BioDrone":[57,91,112],"three":[59],"simple":[60],"yet":[61],"effective":[62],"system":[63],"designs":[64],"inspired":[65],"by":[66,147],"mammalian":[68],"visual":[69],"system,":[70],"namely,":[71],"chiasm-inspired":[73],"filtering,":[75],"lateral":[77],"geniculate":[78],"nucleus":[79],"(LGN)-inspired":[80],"matching,":[82],"dorsal":[85],"stream-inspired":[86],"tracking.":[88],"We":[89],"implement":[90],"on":[92,100],"FPGA":[93],"through":[94],"software-hardware":[95],"co-design":[96],"deploy":[98],"it":[99],"an":[101,115,124,137],"industrial":[102],"drone.":[103],"In":[104],"comparative":[105],"experiments":[106],"against":[107],"two":[108],"state-of-the-art":[109],"event-based":[110],"systems,":[111],"consistently":[113],"achieves":[114],"detection":[117],"rate":[118],"<inline-formula><tex-math":[120,129,141],"notation=\"LaTeX\">$&gt;":[121],"$</tex-math></inline-formula>90%,":[122],"tracking":[126],"error":[127],"notation=\"LaTeX\">$&lt;$</tex-math></inline-formula>5.8":[130],"cm":[131],"across":[132],"all":[133],"flight":[134],"modes":[135],"with":[136],"end-to-end":[138],"latency":[139],"notation=\"LaTeX\">$&lt;$</tex-math></inline-formula>6.4":[142],"ms,":[143],"outperforming":[144],"both":[145],"baselines":[146],"over":[148],"44%.":[149]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}
