{"id":"https://openalex.org/W4406158071","doi":"https://doi.org/10.1109/lra.2025.3527311","title":"Gyrevento: Event-Based Omnidirectional Visual Gyroscope in a Manhattan World","display_name":"Gyrevento: Event-Based Omnidirectional Visual Gyroscope in a Manhattan World","publication_year":2025,"publication_date":"2025-01-08","ids":{"openalex":"https://openalex.org/W4406158071","doi":"https://doi.org/10.1109/lra.2025.3527311"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3527311","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3527311","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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 Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-04849696/document","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Daniel Rodrigues Da Costa","orcid":"https://orcid.org/0009-0001-4582-8536"},"institutions":[{"id":"https://openalex.org/I4401200318","display_name":"Mod\u00e9lisation, information et syst\u00e8mes","ror":"https://ror.org/05w9qrp28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I4401200318","https://openalex.org/I4647051"]},{"id":"https://openalex.org/I4647051","display_name":"Universit\u00e9 de Picardie Jules Verne","ror":"https://ror.org/01gyxrk03","country_code":"FR","type":"education","lineage":["https://openalex.org/I4647051"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Daniel Rodrigues Da Costa","raw_affiliation_strings":["MIS Laboratory, University of Picardie Jules Verne, Amiens Cedex, France","MIS laboratory, University of Picardie Jules Verne, 33 rue Saint-Leu, Amiens Cedex, France"],"raw_orcid":"https://orcid.org/0009-0001-4582-8536","affiliations":[{"raw_affiliation_string":"MIS Laboratory, University of Picardie Jules Verne, Amiens Cedex, France","institution_ids":["https://openalex.org/I4647051"]},{"raw_affiliation_string":"MIS laboratory, University of Picardie Jules Verne, 33 rue Saint-Leu, Amiens Cedex, France","institution_ids":["https://openalex.org/I4401200318","https://openalex.org/I4647051"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010705731","display_name":"Pascal Vasseur","orcid":"https://orcid.org/0000-0001-5145-9653"},"institutions":[{"id":"https://openalex.org/I4401200318","display_name":"Mod\u00e9lisation, information et syst\u00e8mes","ror":"https://ror.org/05w9qrp28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I4401200318","https://openalex.org/I4647051"]},{"id":"https://openalex.org/I4647051","display_name":"Universit\u00e9 de Picardie Jules Verne","ror":"https://ror.org/01gyxrk03","country_code":"FR","type":"education","lineage":["https://openalex.org/I4647051"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Pascal Vasseur","raw_affiliation_strings":["MIS Laboratory, University of Picardie Jules Verne, Amiens Cedex, France","MIS laboratory, University of Picardie Jules Verne, 33 rue Saint-Leu, Amiens Cedex, France"],"raw_orcid":"https://orcid.org/0000-0001-5145-9653","affiliations":[{"raw_affiliation_string":"MIS Laboratory, University of Picardie Jules Verne, Amiens Cedex, France","institution_ids":["https://openalex.org/I4647051"]},{"raw_affiliation_string":"MIS laboratory, University of Picardie Jules Verne, 33 rue Saint-Leu, Amiens Cedex, France","institution_ids":["https://openalex.org/I4401200318","https://openalex.org/I4647051"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026787189","display_name":"Fabio Morbidi","orcid":"https://orcid.org/0000-0002-7187-3410"},"institutions":[{"id":"https://openalex.org/I4401200318","display_name":"Mod\u00e9lisation, information et syst\u00e8mes","ror":"https://ror.org/05w9qrp28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I4401200318","https://openalex.org/I4647051"]},{"id":"https://openalex.org/I4647051","display_name":"Universit\u00e9 de Picardie Jules Verne","ror":"https://ror.org/01gyxrk03","country_code":"FR","type":"education","lineage":["https://openalex.org/I4647051"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Fabio Morbidi","raw_affiliation_strings":["MIS Laboratory, University of Picardie Jules Verne, Amiens Cedex, France","MIS laboratory, University of Picardie Jules Verne, 33 rue Saint-Leu, Amiens Cedex, France"],"raw_orcid":"https://orcid.org/0000-0002-7187-3410","affiliations":[{"raw_affiliation_string":"MIS Laboratory, University of Picardie Jules Verne, Amiens Cedex, France","institution_ids":["https://openalex.org/I4647051"]},{"raw_affiliation_string":"MIS laboratory, University of Picardie Jules Verne, 33 rue Saint-Leu, Amiens Cedex, France","institution_ids":["https://openalex.org/I4401200318","https://openalex.org/I4647051"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.6161,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.59081277,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":97},"biblio":{"volume":"10","issue":"3","first_page":"2910","last_page":"2917"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11904","display_name":"Spatial Cognition and Navigation","score":0.7279000282287598,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T11904","display_name":"Spatial Cognition and Navigation","score":0.7279000282287598,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T13854","display_name":"Historical Geography and Cartography","score":0.7027000188827515,"subfield":{"id":"https://openalex.org/subfields/3305","display_name":"Geography, Planning and Development"},"field":{"id":"https://openalex.org/fields/33","display_name":"Social Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/gyroscope","display_name":"Gyroscope","score":0.6900599598884583},{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.6306151747703552},{"id":"https://openalex.org/keywords/event","display_name":"Event (particle physics)","score":0.5025537014007568},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4840235412120819},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4738117754459381},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.434057354927063},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.3501617908477783},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.18823301792144775},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.159845232963562},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.11850643157958984},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.10061436891555786}],"concepts":[{"id":"https://openalex.org/C158488048","wikidata":"https://www.wikidata.org/wiki/Q483400","display_name":"Gyroscope","level":2,"score":0.6900599598884583},{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.6306151747703552},{"id":"https://openalex.org/C2779662365","wikidata":"https://www.wikidata.org/wiki/Q5416694","display_name":"Event (particle physics)","level":2,"score":0.5025537014007568},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4840235412120819},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4738117754459381},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.434057354927063},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.3501617908477783},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.18823301792144775},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.159845232963562},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.11850643157958984},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.10061436891555786},{"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/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/lra.2025.3527311","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3527311","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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 Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:HAL:hal-04849696v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04849696","pdf_url":"https://hal.science/hal-04849696/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters, In press","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:HAL:hal-04849696v2","is_oa":true,"landing_page_url":"https://hal.science/hal-04849696v2/document","pdf_url":"https://hal.science/hal-04849696v2/file/RoVaMo_RAL24.pdf","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters, In press","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:HAL:hal-04849696v3","is_oa":false,"landing_page_url":"https://hal.science/hal-04849696v3/document","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters, In press, 10 (3), pp.2910-2917. &#x27E8;10.1109/lra.2025.3527311&#x27E9;","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-04849696v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04849696","pdf_url":"https://hal.science/hal-04849696/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters, In press","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G288135539","display_name":"Event-based Visual Localization","funder_award_id":"ANR-23-CE33-0011","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"},{"id":"https://openalex.org/G7786355547","display_name":null,"funder_award_id":"2021-2024","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"}],"funders":[{"id":"https://openalex.org/F4320320883","display_name":"Agence Nationale de la Recherche","ror":"https://ror.org/00rbzpz17"},{"id":"https://openalex.org/F4320321181","display_name":"Austrian Science Fund","ror":"https://ror.org/013tf3c58"},{"id":"https://openalex.org/F4320336678","display_name":"Agence de l'innovation de D\u00e9fense","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4406158071.pdf","grobid_xml":"https://content.openalex.org/works/W4406158071.grobid-xml"},"referenced_works_count":41,"referenced_works":["https://openalex.org/W1498813999","https://openalex.org/W1565014502","https://openalex.org/W1967073510","https://openalex.org/W1971022913","https://openalex.org/W2022998379","https://openalex.org/W2028431412","https://openalex.org/W2090967418","https://openalex.org/W2096758544","https://openalex.org/W2105340458","https://openalex.org/W2105680090","https://openalex.org/W2118400056","https://openalex.org/W2150773602","https://openalex.org/W2153451837","https://openalex.org/W2166093077","https://openalex.org/W2168241268","https://openalex.org/W2204016210","https://openalex.org/W2519559998","https://openalex.org/W2528596085","https://openalex.org/W2565755350","https://openalex.org/W2602186967","https://openalex.org/W2740924709","https://openalex.org/W2754360834","https://openalex.org/W2790551463","https://openalex.org/W2890016712","https://openalex.org/W2950380208","https://openalex.org/W3040838455","https://openalex.org/W3174283987","https://openalex.org/W3177730458","https://openalex.org/W3189852228","https://openalex.org/W4205709322","https://openalex.org/W4206626572","https://openalex.org/W4214956431","https://openalex.org/W4221145923","https://openalex.org/W4285182881","https://openalex.org/W4312400353","https://openalex.org/W4386703062","https://openalex.org/W4390873561","https://openalex.org/W4399121711","https://openalex.org/W4399601286","https://openalex.org/W4402354015","https://openalex.org/W4402704623"],"related_works":["https://openalex.org/W1889129279","https://openalex.org/W4387451989","https://openalex.org/W2532412374","https://openalex.org/W2063137106","https://openalex.org/W2358715846","https://openalex.org/W2020920196","https://openalex.org/W4229455305","https://openalex.org/W2068060055","https://openalex.org/W2168042464","https://openalex.org/W2153246813"],"abstract_inverted_index":{"In":[0],"this":[1,79],"paper,":[2],"we":[3],"study":[4],"the":[5,9,34,55,58,66,72,110,118,124],"problem":[6],"of":[7,11,57,65,68,75,112,120],"estimating":[8],"orientation":[10],"an":[12],"event":[13],"omnidirectional":[14,37],"camera":[15,121],"mounted":[16],"on":[17,123],"a":[18,26,76,83,106],"robot":[19,107],"and":[20,51,102,116],"observing":[21],"3D":[22,77],"parallel":[23],"lines":[24],"in":[25,87],"man-made":[27],"environment":[28],"(Manhattan":[29],"world).":[30],"We":[31],"present":[32],"Gyrevento,":[33],"first":[35],"event-based":[36],"visual":[38,114],"gyroscope.":[39],"Gyrevento":[40],"does":[41],"not":[42],"require":[43],"any":[44],"initialization,":[45],"provides":[46],"certifiably":[47],"globally":[48],"optimal":[49],"solutions,":[50],"is":[52,63,82],"scalable,":[53],"since":[54],"size":[56],"nonlinear":[59],"least-squares":[60],"cost":[61,80],"function":[62,81,86],"independent":[64],"number":[67],"lines.":[69],"Thanks":[70],"to":[71],"Cayley-Gibbs-Rodrigues":[73],"parameterization":[74],"rotation,":[78],"degree-four":[84],"rational":[85],"three":[88],"variables,":[89],"which":[90],"can":[91],"be":[92],"efficiently":[93],"minimized":[94],"via":[95],"off-the-shelf":[96],"polynomial":[97],"optimization":[98],"software.":[99],"Numerical":[100],"simulations":[101],"real-world":[103],"experiments":[104],"with":[105],"manipulator":[108],"show":[109],"effectiveness":[111],"our":[113],"gyroscope":[115],"elucidate":[117],"impact":[119],"velocity":[122],"attitude":[125],"estimation":[126],"error.":[127]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}
