{"id":"https://openalex.org/W7162643732","doi":"https://doi.org/10.48550/arxiv.2605.27661","title":"Design of a Real-time Asynchronous Monocular Odometry for Planetary Exploration","display_name":"Design of a Real-time Asynchronous Monocular Odometry for Planetary Exploration","publication_year":2026,"publication_date":"2026-05-26","ids":{"openalex":"https://openalex.org/W7162643732","doi":"https://doi.org/10.48550/arxiv.2605.27661"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.27661","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.27661","pdf_url":null,"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":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.27661","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5059380261","display_name":"Be\u00f1at I\u00f1igo","orcid":"https://orcid.org/0000-0002-2577-3582"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Inigo, Benat","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076919380","display_name":"Florian Steidle","orcid":"https://orcid.org/0000-0001-6935-9810"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Steidle, Florian","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5025957981","display_name":"Wolfgang Stuerzl","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Stuerzl, Wolfgang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.8151000142097473,"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":0.8151000142097473,"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/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.03610000014305115,"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/T10502","display_name":"Advanced Memory and Neural Computing","score":0.03009999915957451,"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/visual-odometry","display_name":"Visual odometry","score":0.7940000295639038},{"id":"https://openalex.org/keywords/asynchronous-communication","display_name":"Asynchronous communication","score":0.705299973487854},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6721000075340271},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.49000000953674316},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.46950000524520874},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.40959998965263367},{"id":"https://openalex.org/keywords/brightness","display_name":"Brightness","score":0.4009000062942505}],"concepts":[{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.7940000295639038},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7630000114440918},{"id":"https://openalex.org/C151319957","wikidata":"https://www.wikidata.org/wiki/Q752739","display_name":"Asynchronous communication","level":2,"score":0.705299973487854},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6744999885559082},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6721000075340271},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.651199996471405},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.49000000953674316},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.46950000524520874},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.438400000333786},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.40959998965263367},{"id":"https://openalex.org/C125245961","wikidata":"https://www.wikidata.org/wiki/Q221656","display_name":"Brightness","level":2,"score":0.4009000062942505},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.38839998841285706},{"id":"https://openalex.org/C2780056265","wikidata":"https://www.wikidata.org/wiki/Q106239881","display_name":"High dynamic range","level":3,"score":0.3441999852657318},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.3260999917984009},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.31529998779296875},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.30820000171661377},{"id":"https://openalex.org/C2779662365","wikidata":"https://www.wikidata.org/wiki/Q5416694","display_name":"Event (particle physics)","level":2,"score":0.27709999680519104},{"id":"https://openalex.org/C2987395694","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Feature tracking","level":3,"score":0.26930001378059387},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.25049999356269836}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.27661","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.27661","pdf_url":null,"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":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.27661","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.27661","pdf_url":null,"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":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"We":[0,64],"describe":[1],"our":[2],"preliminary":[3],"design":[4],"of":[5],"a":[6,99],"real-time":[7,100],"asynchronous":[8,78,101],"event-based":[9],"monocular":[10],"odometry":[11],"for":[12],"planetary":[13,20],"exploration.":[14],"Operating":[15],"under":[16],"strict":[17],"computational":[18],"constraints,":[19],"rovers":[21],"frequently":[22],"encounter":[23],"complex,":[24],"unpredictable":[25],"environments":[26],"that":[27,75],"demand":[28],"high-speed":[29],"sensing":[30],"and":[31],"robustness":[32,59],"to":[33,81],"high":[34],"dynamic":[35],"range":[36],"(HDR)":[37],"lighting.":[38],"Event":[39],"cameras":[40],"address":[41],"these":[42],"needs":[43],"by":[44,97],"reporting":[45],"asynchronous,":[46],"pixel-wise":[47],"brightness":[48],"changes":[49],"with":[50,91],"microsecond":[51],"resolution,":[52],"significantly":[53],"reducing":[54],"data":[55],"bandwidth":[56],"while":[57],"maintaining":[58],"in":[60],"extreme":[61],"lighting":[62],"conditions.":[63],"propose":[65],"an":[66,70],"approach":[67],"based":[68],"on":[69],"Error-State":[71],"Kalman":[72],"Filter":[73],"(ESKF)":[74],"leverages":[76],"this":[77],"event":[79],"stream":[80],"continuously":[82],"estimate":[83],"camera":[84,87],"ego-motion.":[85],"The":[86],"state":[88],"is":[89],"updated":[90],"every":[92],"tracked":[93],"position":[94],"output":[95],"generated":[96],"RATE,":[98],"feature":[102],"tracker.":[103]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-05-29T00:00:00"}
