{"id":"https://openalex.org/W3109995084","doi":"https://doi.org/10.1145/3384419.3430776","title":"milliEgo","display_name":"milliEgo","publication_year":2020,"publication_date":"2020-11-16","ids":{"openalex":"https://openalex.org/W3109995084","doi":"https://doi.org/10.1145/3384419.3430776","mag":"3109995084"},"language":"en","primary_location":{"id":"doi:10.1145/3384419.3430776","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3384419.3430776","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 18th Conference on Embedded Networked Sensor Systems","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.research.ed.ac.uk/en/publications/6dea4dcb-54d3-4bbf-ba53-db0002ae500f","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5030505775","display_name":"Chris Xiaoxuan Lu","orcid":"https://orcid.org/0000-0002-3733-4480"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Chris Xiaoxuan Lu","raw_affiliation_strings":["University of Edinburgh, Edinburgh, Scotland, United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Edinburgh, Edinburgh, Scotland, United Kingdom","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030156598","display_name":"Muhamad Risqi U. Saputra","orcid":"https://orcid.org/0000-0001-6067-630X"},"institutions":[{"id":"https://openalex.org/I4210146410","display_name":"Science Oxford","ror":"https://ror.org/04j8yhy50","country_code":"GB","type":"nonprofit","lineage":["https://openalex.org/I4210146410"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Muhamad Risqi U. Saputra","raw_affiliation_strings":["University at Oxford, Oxford, England, United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University at Oxford, Oxford, England, United Kingdom","institution_ids":["https://openalex.org/I4210146410"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101688277","display_name":"Peijun Zhao","orcid":"https://orcid.org/0000-0003-2843-6941"},"institutions":[{"id":"https://openalex.org/I4210146410","display_name":"Science Oxford","ror":"https://ror.org/04j8yhy50","country_code":"GB","type":"nonprofit","lineage":["https://openalex.org/I4210146410"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Peijun Zhao","raw_affiliation_strings":["University at Oxford, Oxford, England, United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University at Oxford, Oxford, England, United Kingdom","institution_ids":["https://openalex.org/I4210146410"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020331930","display_name":"Yasin Almal\u0131o\u011flu","orcid":"https://orcid.org/0000-0002-9251-7853"},"institutions":[{"id":"https://openalex.org/I4210146410","display_name":"Science Oxford","ror":"https://ror.org/04j8yhy50","country_code":"GB","type":"nonprofit","lineage":["https://openalex.org/I4210146410"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Yasin Almalioglu","raw_affiliation_strings":["University at Oxford, Oxford, England, United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University at Oxford, Oxford, England, United Kingdom","institution_ids":["https://openalex.org/I4210146410"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110718216","display_name":"Pedro Porto Buarque de Gusm\u00e3o","orcid":null},"institutions":[{"id":"https://openalex.org/I4210146410","display_name":"Science Oxford","ror":"https://ror.org/04j8yhy50","country_code":"GB","type":"nonprofit","lineage":["https://openalex.org/I4210146410"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Pedro P. B. de Gusmao","raw_affiliation_strings":["University at Oxford, Oxford, England, United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University at Oxford, Oxford, England, United Kingdom","institution_ids":["https://openalex.org/I4210146410"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101907748","display_name":"Changhao Chen","orcid":"https://orcid.org/0000-0002-3529-2600"},"institutions":[{"id":"https://openalex.org/I4210146410","display_name":"Science Oxford","ror":"https://ror.org/04j8yhy50","country_code":"GB","type":"nonprofit","lineage":["https://openalex.org/I4210146410"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Changhao Chen","raw_affiliation_strings":["University at Oxford, Oxford, England, United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University at Oxford, Oxford, England, United Kingdom","institution_ids":["https://openalex.org/I4210146410"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087258551","display_name":"Ke Sun","orcid":"https://orcid.org/0000-0001-9563-1398"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ke Sun","raw_affiliation_strings":["University of California San Diego"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California San Diego","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010637110","display_name":"Niki Trigoni","orcid":"https://orcid.org/0000-0001-6236-9645"},"institutions":[{"id":"https://openalex.org/I4210146410","display_name":"Science Oxford","ror":"https://ror.org/04j8yhy50","country_code":"GB","type":"nonprofit","lineage":["https://openalex.org/I4210146410"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Niki Trigoni","raw_affiliation_strings":["University at Oxford, Oxford, England, United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University at Oxford, Oxford, England, United Kingdom","institution_ids":["https://openalex.org/I4210146410"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5060183988","display_name":"Andrew Markham","orcid":"https://orcid.org/0000-0001-5716-3941"},"institutions":[{"id":"https://openalex.org/I4210146410","display_name":"Science Oxford","ror":"https://ror.org/04j8yhy50","country_code":"GB","type":"nonprofit","lineage":["https://openalex.org/I4210146410"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Andrew Markham","raw_affiliation_strings":["University at Oxford, Oxford, England, United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University at Oxford, Oxford, England, United Kingdom","institution_ids":["https://openalex.org/I4210146410"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":9,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":115.8377,"has_fulltext":true,"cited_by_count":131,"citation_normalized_percentile":{"value":0.99928658,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"109","last_page":"122"},"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":0.9990000128746033,"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/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9966999888420105,"subfield":{"id":"https://openalex.org/subfields/3105","display_name":"Instrumentation"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8007436990737915},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7418254613876343},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.701960563659668},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.6870579719543457},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.679230809211731},{"id":"https://openalex.org/keywords/fuse","display_name":"Fuse (electrical)","score":0.6492092609405518},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5878215432167053},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.502389669418335},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.485691636800766},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.45111918449401855},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.44157376885414124},{"id":"https://openalex.org/keywords/augmented-reality","display_name":"Augmented reality","score":0.4395485818386078},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.4375763535499573},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.43245285749435425},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.42758485674858093},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4235069453716278},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.4223957359790802},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.41707277297973633},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09953871369361877}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8007436990737915},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7418254613876343},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.701960563659668},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.6870579719543457},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.679230809211731},{"id":"https://openalex.org/C141353440","wikidata":"https://www.wikidata.org/wiki/Q182221","display_name":"Fuse (electrical)","level":2,"score":0.6492092609405518},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5878215432167053},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.502389669418335},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.485691636800766},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.45111918449401855},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.44157376885414124},{"id":"https://openalex.org/C153715457","wikidata":"https://www.wikidata.org/wiki/Q254183","display_name":"Augmented reality","level":2,"score":0.4395485818386078},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.4375763535499573},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.43245285749435425},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.42758485674858093},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4235069453716278},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.4223957359790802},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.41707277297973633},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09953871369361877},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1145/3384419.3430776","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3384419.3430776","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 18th Conference on Embedded Networked Sensor Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:pure.ed.ac.uk:publications/6dea4dcb-54d3-4bbf-ba53-db0002ae500f","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11820/6dea4dcb-54d3-4bbf-ba53-db0002ae500f","pdf_url":"https://www.research.ed.ac.uk/en/publications/6dea4dcb-54d3-4bbf-ba53-db0002ae500f","source":{"id":"https://openalex.org/S4306400321","display_name":"Edinburgh Research Explorer (University of Edinburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98677209","host_organization_name":"University of Edinburgh","host_organization_lineage":["https://openalex.org/I98677209"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""}],"best_oa_location":{"id":"pmh:oai:pure.ed.ac.uk:publications/6dea4dcb-54d3-4bbf-ba53-db0002ae500f","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11820/6dea4dcb-54d3-4bbf-ba53-db0002ae500f","pdf_url":"https://www.research.ed.ac.uk/en/publications/6dea4dcb-54d3-4bbf-ba53-db0002ae500f","source":{"id":"https://openalex.org/S4306400321","display_name":"Edinburgh Research Explorer (University of Edinburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98677209","host_organization_name":"University of Edinburgh","host_organization_lineage":["https://openalex.org/I98677209"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""},"sustainable_development_goals":[{"score":0.41999998688697815,"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9"}],"awards":[{"id":"https://openalex.org/G4253207184","display_name":null,"funder_award_id":"EP/S030832/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3109995084.pdf","grobid_xml":"https://content.openalex.org/works/W3109995084.grobid-xml"},"referenced_works_count":58,"referenced_works":["https://openalex.org/W764651262","https://openalex.org/W1012311414","https://openalex.org/W1026270304","https://openalex.org/W1496800979","https://openalex.org/W1511125607","https://openalex.org/W1548836129","https://openalex.org/W1974175135","https://openalex.org/W1995262955","https://openalex.org/W2006023663","https://openalex.org/W2029309217","https://openalex.org/W2033554200","https://openalex.org/W2038197117","https://openalex.org/W2044366237","https://openalex.org/W2058535340","https://openalex.org/W2062227835","https://openalex.org/W2062956715","https://openalex.org/W2067053438","https://openalex.org/W2091790851","https://openalex.org/W2134236847","https://openalex.org/W2321847991","https://openalex.org/W2521888215","https://openalex.org/W2549315536","https://openalex.org/W2553915786","https://openalex.org/W2561074213","https://openalex.org/W2598706937","https://openalex.org/W2613524681","https://openalex.org/W2740794586","https://openalex.org/W2788608285","https://openalex.org/W2830339951","https://openalex.org/W2890714858","https://openalex.org/W2895472109","https://openalex.org/W2897609501","https://openalex.org/W2897886597","https://openalex.org/W2898051546","https://openalex.org/W2919203733","https://openalex.org/W2948470778","https://openalex.org/W2950739196","https://openalex.org/W2962716476","https://openalex.org/W2963091558","https://openalex.org/W2963423603","https://openalex.org/W2963956866","https://openalex.org/W2964112890","https://openalex.org/W2964314455","https://openalex.org/W2965575120","https://openalex.org/W2966072084","https://openalex.org/W2968443604","https://openalex.org/W2979633758","https://openalex.org/W2994617216","https://openalex.org/W3012252768","https://openalex.org/W3018353706","https://openalex.org/W3023792721","https://openalex.org/W3043075211","https://openalex.org/W3090913682","https://openalex.org/W3106440972","https://openalex.org/W3114473259","https://openalex.org/W4231756768","https://openalex.org/W4241614188","https://openalex.org/W4247964138"],"related_works":["https://openalex.org/W2972219788","https://openalex.org/W1981778017","https://openalex.org/W4285265093","https://openalex.org/W3011348788","https://openalex.org/W607586325","https://openalex.org/W3135923011","https://openalex.org/W2028864324","https://openalex.org/W4386899866","https://openalex.org/W3090091644","https://openalex.org/W2134943711"],"abstract_inverted_index":{"Robust":[0],"and":[1,11,98,163,181],"accurate":[2],"trajectory":[3],"estimation":[4,63],"of":[5,68,83],"mobile":[6],"agents":[7],"such":[8,24],"as":[9,25],"people":[10],"robots":[12],"is":[13,114,155],"a":[14,56,77,110,140],"key":[15],"requirement":[16],"for":[17,21,116,183],"providing":[18,87],"spatial":[19],"awareness":[20],"emerging":[22],"capabilities":[23,67],"augmented":[26],"reality":[27],"or":[28,47,90,135],"autonomous":[29],"interaction.":[30],"Although":[31,73],"currently":[32],"dominated":[33],"by":[34],"optical":[35],"techniques":[36,106],"e.g.,":[37],"visual-inertial":[38],"odometry":[39],"these":[40],"suffer":[41],"from":[42],"challenges":[43],"with":[44,130],"scene":[45],"illumination":[46],"featureless":[48],"surfaces.":[49],"As":[50],"an":[51],"alternative,":[52],"we":[53,138,150],"propose":[54,109],"milliEgo,":[55],"novel":[57],"deep-learning":[58],"approach":[59,143],"to":[60,124,144,157,166],"robust":[61],"egomotion":[62],"which":[64],"exploits":[65],"the":[66,173],"low-cost":[69],"mm":[70],"Wave":[71],"radar.":[72],"mmWave":[74,127],"radar":[75],"has":[76],"fundamental":[78],"advantage":[79],"over":[80],"monocular":[81],"cameras":[82],"being":[84],"metric":[85],"i.e.,":[86],"absolute":[88],"scale":[89],"depth,":[91],"current":[92],"single":[93],"chip":[94],"solutions":[95],"have":[96],"limited":[97],"sparse":[99],"imaging":[100],"resolution,":[101],"making":[102],"existing":[103],"point-cloud":[104],"registration":[105],"brittle.":[107],"We":[108,169],"new":[111],"architecture":[112,175],"that":[113,172],"optimized":[115],"solving":[117],"this":[118],"challenging":[119],"pose":[120,128],"transformation":[121],"problem.":[122],"Secondly,":[123],"robustly":[125],"fuse":[126],"estimates":[129],"additional":[131],"sensors,":[132],"e.g.":[133],"inertial":[134],"visual":[136],"sensors":[137],"introduce":[139],"mixed":[141],"attention":[142],"deep":[145],"fusion.":[146],"Through":[147],"extensive":[148],"experiments,":[149],"demonstrate":[151],"our":[152],"proposed":[153],"system":[154],"able":[156],"achieve":[158],"1.3%":[159],"3D":[160],"error":[161],"drift":[162],"generalizes":[164],"well":[165],"unseen":[167],"environments.":[168],"also":[170],"show":[171],"neural":[174],"can":[176],"be":[177],"made":[178],"highly":[179],"efficient":[180],"suitable":[182],"real-time":[184],"embedded":[185],"applications.":[186]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":25},{"year":2024,"cited_by_count":32},{"year":2023,"cited_by_count":32},{"year":2022,"cited_by_count":23},{"year":2021,"cited_by_count":15},{"year":2020,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2020-12-07T00:00:00"}