{"id":"https://openalex.org/W4402354015","doi":"https://doi.org/10.15607/rss.2024.xx.088","title":"Event-based Visual Inertial Velometer","display_name":"Event-based Visual Inertial Velometer","publication_year":2024,"publication_date":"2024-07-15","ids":{"openalex":"https://openalex.org/W4402354015","doi":"https://doi.org/10.15607/rss.2024.xx.088"},"language":"en","primary_location":{"id":"doi:10.15607/rss.2024.xx.088","is_oa":true,"landing_page_url":"https://doi.org/10.15607/rss.2024.xx.088","pdf_url":"https://doi.org/10.15607/rss.2024.xx.088","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics: Science and Systems XX","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.15607/rss.2024.xx.088","any_repository_has_fulltext":null},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5108982313","display_name":"Xiuyuan LU","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Xiuyuan LU","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100753053","display_name":"Yi Zhou","orcid":"https://orcid.org/0000-0003-0020-847X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yi Zhou","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001681262","display_name":"Junkai Niu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Junkai Niu","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026169204","display_name":"Sheng Zhong","orcid":"https://orcid.org/0000-0003-2865-8202"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sheng Zhong","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5001947944","display_name":"Shaojie Shen","orcid":"https://orcid.org/0000-0002-5573-2909"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shaojie Shen","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5108982313"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":8.492,"has_fulltext":true,"cited_by_count":16,"citation_normalized_percentile":{"value":0.97909018,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9384999871253967,"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"}},"topics":[{"id":"https://openalex.org/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9384999871253967,"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"}},{"id":"https://openalex.org/T11992","display_name":"CCD and CMOS Imaging Sensors","score":0.906499981880188,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6676872372627258},{"id":"https://openalex.org/keywords/event","display_name":"Event (particle physics)","score":0.5909286141395569},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.4897451400756836},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.48328354954719543},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4496798515319824},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06189221143722534}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6676872372627258},{"id":"https://openalex.org/C2779662365","wikidata":"https://www.wikidata.org/wiki/Q5416694","display_name":"Event (particle physics)","level":2,"score":0.5909286141395569},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.4897451400756836},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.48328354954719543},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4496798515319824},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06189221143722534},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.15607/rss.2024.xx.088","is_oa":true,"landing_page_url":"https://doi.org/10.15607/rss.2024.xx.088","pdf_url":"https://doi.org/10.15607/rss.2024.xx.088","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics: Science and Systems XX","raw_type":"proceedings-article"},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-146638","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-146638","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"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":"Conference paper"}],"best_oa_location":{"id":"doi:10.15607/rss.2024.xx.088","is_oa":true,"landing_page_url":"https://doi.org/10.15607/rss.2024.xx.088","pdf_url":"https://doi.org/10.15607/rss.2024.xx.088","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics: Science and Systems XX","raw_type":"proceedings-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4402354015.pdf","grobid_xml":"https://content.openalex.org/works/W4402354015.grobid-xml"},"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2772917594","https://openalex.org/W2775347418","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":{"Neuromorphic":[0],"event-based":[1,41,105,140],"cameras":[2],"are":[3,36],"bio-inspired":[4],"visual":[5,42],"sensors":[6],"with":[7,131,182],"asynchronous":[8],"pixels":[9],"and":[10,67,158,166],"extremely":[11],"high":[12],"temporal":[13],"resolution.Such":[14],"favorable":[15],"properties":[16],"make":[17],"them":[18],"an":[19,159],"excellent":[20],"choice":[21],"for":[22,58,70,104],"solving":[23],"state":[24,107],"estimation":[25,108],"tasks":[26],"under":[27],"aggressive":[28],"ego":[29],"motion.However,":[30],"failures":[31],"of":[32,54,65,96,112,116,136],"camera":[33,157],"pose":[34],"tracking":[35],"frequently":[37],"witnessed":[38],"in":[39,52,88,109,179],"state-of-the-art":[40],"odometry":[43],"systems":[44],"when":[45],"the":[46,55,63,78,93,114,117,124,132,150,171],"local":[47],"map":[48],"cannot":[49],"be":[50,85],"updated":[51],"time.One":[53],"biggest":[56],"roadblocks":[57],"this":[59,110],"specific":[60],"field":[61],"is":[62,128],"absence":[64],"efficient":[66],"robust":[68],"methods":[69],"data":[71,168],"association":[72],"without":[73],"imposing":[74],"any":[75],"assumption":[76],"on":[77,163],"environment.This":[79],"problem":[80],"seems,":[81],"however,":[82],"unlikely":[83],"to":[84,92],"addressed":[86],"as":[87],"standard":[89],"vision":[90],"due":[91],"motiondependent":[94],"observability":[95],"event":[97,118,137,156],"data.Therefore,":[98],"we":[99,120],"propose":[100],"a":[101,144,154],"map-free":[102],"design":[103],"visual-inertial":[106,141],"paper.Instead":[111],"estimating":[113],"position":[115],"camera,":[119],"find":[121],"that":[122,147,170],"recovering":[123],"instantaneous":[125,176],"linear":[126,177],"velocity":[127,178],"more":[129],"consistent":[130],"differential":[133],"working":[134],"principle":[135],"cameras.The":[138],"proposed":[139,172],"velometer":[142],"leverages":[143],"continuous-time":[145],"formulation":[146],"incrementally":[148],"fuses":[149],"heterogeneous":[151],"measurements":[152],"from":[153],"stereo":[155],"inertial":[160],"measurement":[161],"unit.Experiments":[162],"both":[164],"synthetic":[165],"real":[167],"demonstrate":[169],"method":[173],"can":[174],"recover":[175],"metric":[180],"scale":[181],"low":[183],"latency.":[184]},"counts_by_year":[{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":3}],"updated_date":"2026-03-14T06:41:57.775601","created_date":"2025-10-10T00:00:00"}