{"id":"https://openalex.org/W2950380208","doi":"https://doi.org/10.1109/tro.2018.2858287","title":"Continuous-Time Visual-Inertial Odometry for Event Cameras","display_name":"Continuous-Time Visual-Inertial Odometry for Event Cameras","publication_year":2018,"publication_date":"2018-08-10","ids":{"openalex":"https://openalex.org/W2950380208","doi":"https://doi.org/10.1109/tro.2018.2858287","mag":"2950380208"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2018.2858287","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2018.2858287","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1702.07389","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Elias Mueggler","orcid":"https://orcid.org/0000-0002-8008-443X"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Elias Mueggler","raw_affiliation_strings":["ETH Z\u00fcrich, Z\u00fcrich, Switzerland"],"affiliations":[{"raw_affiliation_string":"ETH Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Guillermo Gallego","orcid":"https://orcid.org/0000-0002-2672-9241"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Guillermo Gallego","raw_affiliation_strings":["ETH Z\u00fcrich, Z\u00fcrich, Switzerland"],"affiliations":[{"raw_affiliation_string":"ETH Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Henri Rebecq","orcid":"https://orcid.org/0000-0002-6577-9735"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Henri Rebecq","raw_affiliation_strings":["ETH Z\u00fcrich, Z\u00fcrich, Switzerland"],"affiliations":[{"raw_affiliation_string":"ETH Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":null,"display_name":"Davide Scaramuzza","orcid":"https://orcid.org/0000-0002-3831-6778"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Davide Scaramuzza","raw_affiliation_strings":["ETH Z\u00fcrich, Z\u00fcrich, Switzerland"],"affiliations":[{"raw_affiliation_string":"ETH Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I35440088"],"apc_list":null,"apc_paid":null,"fwci":5.4953,"has_fulltext":false,"cited_by_count":173,"citation_normalized_percentile":{"value":0.96383745,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"34","issue":"6","first_page":"1425","last_page":"1440"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10502","display_name":"Advanced Memory and Neural Computing","score":0.9666000008583069,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T10502","display_name":"Advanced Memory and Neural Computing","score":0.9666000008583069,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T11992","display_name":"CCD and CMOS Imaging Sensors","score":0.005200000014156103,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T13553","display_name":"Age of Information Optimization","score":0.0034000000450760126,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/visual-odometry","display_name":"Visual odometry","score":0.7961000204086304},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.682699978351593},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.48730000853538513},{"id":"https://openalex.org/keywords/event","display_name":"Event (particle physics)","score":0.453900009393692},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.4478999972343445},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.44690001010894775},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.44269999861717224},{"id":"https://openalex.org/keywords/asynchronous-communication","display_name":"Asynchronous communication","score":0.4415000081062317},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.3921999931335449}],"concepts":[{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.7961000204086304},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7792999744415283},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.733299970626831},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6956999897956848},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.682699978351593},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.48730000853538513},{"id":"https://openalex.org/C2779662365","wikidata":"https://www.wikidata.org/wiki/Q5416694","display_name":"Event (particle physics)","level":2,"score":0.453900009393692},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.4478999972343445},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.44690001010894775},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.44269999861717224},{"id":"https://openalex.org/C151319957","wikidata":"https://www.wikidata.org/wiki/Q752739","display_name":"Asynchronous communication","level":2,"score":0.4415000081062317},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.3921999931335449},{"id":"https://openalex.org/C125245961","wikidata":"https://www.wikidata.org/wiki/Q221656","display_name":"Brightness","level":2,"score":0.3837999999523163},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.36230000853538513},{"id":"https://openalex.org/C155542232","wikidata":"https://www.wikidata.org/wiki/Q736111","display_name":"Optical flow","level":3,"score":0.34540000557899475},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.3352999985218048},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.3188000023365021},{"id":"https://openalex.org/C205372480","wikidata":"https://www.wikidata.org/wiki/Q210521","display_name":"Image resolution","level":2,"score":0.3165000081062317},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.30410000681877136},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3012000024318695},{"id":"https://openalex.org/C76935873","wikidata":"https://www.wikidata.org/wiki/Q209121","display_name":"Image sensor","level":2,"score":0.30090001225471497},{"id":"https://openalex.org/C119666444","wikidata":"https://www.wikidata.org/wiki/Q5977280","display_name":"Temporal resolution","level":2,"score":0.2996000051498413},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.28139999508857727},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.2775000035762787},{"id":"https://openalex.org/C3004257","wikidata":"https://www.wikidata.org/wiki/Q17084606","display_name":"Correspondence problem","level":2,"score":0.27070000767707825},{"id":"https://openalex.org/C68537008","wikidata":"https://www.wikidata.org/wiki/Q247932","display_name":"Stereopsis","level":2,"score":0.2529999911785126},{"id":"https://openalex.org/C53533937","wikidata":"https://www.wikidata.org/wiki/Q185020","display_name":"Histogram","level":3,"score":0.2524999976158142}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tro.2018.2858287","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2018.2858287","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:1702.07389","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1702.07389","pdf_url":"https://arxiv.org/pdf/1702.07389","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1702.07389","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1702.07389","pdf_url":"https://arxiv.org/pdf/1702.07389","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320924","display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung","ror":"https://ror.org/00yjd3n13"},{"id":"https://openalex.org/F4320326765","display_name":"National Centre of Competence in Research Robotics","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W206948248","https://openalex.org/W297039922","https://openalex.org/W1532362218","https://openalex.org/W1980178290","https://openalex.org/W1986434229","https://openalex.org/W2000668356","https://openalex.org/W2003857027","https://openalex.org/W2004360097","https://openalex.org/W2010172797","https://openalex.org/W2014673260","https://openalex.org/W2016574277","https://openalex.org/W2016959837","https://openalex.org/W2027661541","https://openalex.org/W2050253520","https://openalex.org/W2061176333","https://openalex.org/W2065353791","https://openalex.org/W2077275997","https://openalex.org/W2091790851","https://openalex.org/W2111308925","https://openalex.org/W2113524801","https://openalex.org/W2114084853","https://openalex.org/W2155056756","https://openalex.org/W2200993670","https://openalex.org/W2211420311","https://openalex.org/W2482726005","https://openalex.org/W2519559998","https://openalex.org/W2530906228","https://openalex.org/W2565755350","https://openalex.org/W2567239141","https://openalex.org/W2567937506","https://openalex.org/W2754360834","https://openalex.org/W2766013930","https://openalex.org/W2767800299","https://openalex.org/W2783185291","https://openalex.org/W2796368857","https://openalex.org/W2796402180","https://openalex.org/W6677871018","https://openalex.org/W6732413759","https://openalex.org/W6745585686","https://openalex.org/W6746461121"],"related_works":[],"abstract_inverted_index":{"Event":[0],"cameras":[1,242],"are":[2,66],"bioinspired":[3],"vision":[4],"sensors":[5],"that":[6,53,72,188,209],"output":[7],"pixel-level":[8],"brightness":[9],"changes":[10],"instead":[11],"of":[12,38,47,63,76,91,120,147,159,197,229],"standard":[13,21],"intensity":[14],"frames.":[15],"They":[16],"offer":[17],"significant":[18],"advantages":[19],"over":[20,194],"cameras,":[22],"namely":[23],"a":[24,33,73,95,104,141,183,198,244],"very":[25],"high":[26,56,85,132],"dynamic":[27],"range,":[28],"no":[29],"motion":[30],"blur,":[31],"and":[32,59,88,127,175,214,223],"latency":[34],"in":[35,94,144,161],"the":[36,43,48,55,60,64,77,84,121,128,145,157,177,195,211,227,234],"order":[37],"microseconds.":[39],"However,":[40],"due":[41],"to":[42,107],"fundamentally":[44],"different":[45],"structure":[46],"sensor's":[49],"output,":[50],"new":[51],"algorithms":[52],"exploit":[54],"temporal":[57,86],"resolution":[58,87],"asynchronous":[61,89,122],"nature":[62,90],"sensor":[65,93],"required.":[67],"Recent":[68],"work":[69,236],"has":[70],"shown":[71],"continuous-time":[74,105,245],"representation":[75,106,116],"event":[78,113,135,204,241],"camera":[79,136],"pose":[80],"can":[81,216],"deal":[82],"with":[83,111,124,240],"this":[92,99,232],"principled":[96],"way.":[97],"In":[98],"paper,":[100],"we":[101],"leverage":[102],"such":[103],"perform":[108],"visual-inertial":[109,238],"odometry":[110,201],"an":[112],"camera.":[114],"This":[115,153],"allows":[117],"direct":[118],"integration":[119],"events":[123,222],"microsecond":[125],"accuracy":[126,193],"inertial":[129,224],"measurements":[130],"at":[131],"frequency.":[133],"The":[134],"trajectory":[137,162],"is":[138,233],"approximated":[139],"by":[140,220],"smooth":[142],"curve":[143],"space":[146],"rigid-body":[148],"motions":[149],"using":[150,243],"cubic":[151],"splines.":[152],"formulation":[154],"significantly":[155],"reduces":[156],"number":[158],"variables":[160],"estimation":[163],"problems.":[164],"We":[165,186,206],"evaluate":[166],"our":[167,189,230],"method":[168,190,202],"on":[169,237],"real":[170],"data":[171],"from":[172,182],"several":[173],"scenes":[174],"compare":[176],"results":[178],"against":[179],"ground":[180],"truth":[181],"motion-capture":[184],"system.":[185],"show":[187,208],"provides":[191],"improved":[192],"result":[196],"state-of-the-art":[199],"visual":[200],"for":[203],"cameras.":[205],"also":[207],"both":[210],"map":[212],"orientation":[213],"scale":[215],"be":[217],"recovered":[218],"accurately":[219],"fusing":[221],"data.":[225],"To":[226],"best":[228],"knowledge,":[231],"first":[235],"fusion":[239],"framework.":[246]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":38},{"year":2024,"cited_by_count":38},{"year":2023,"cited_by_count":32},{"year":2022,"cited_by_count":21},{"year":2021,"cited_by_count":17},{"year":2020,"cited_by_count":13},{"year":2019,"cited_by_count":10},{"year":2018,"cited_by_count":2}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2019-06-27T00:00:00"}
