{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,24]],"date-time":"2026-06-24T02:46:26Z","timestamp":1782269186193,"version":"3.54.5"},"reference-count":65,"publisher":"Springer Science and Business Media LLC","issue":"3","license":[{"start":{"date-parts":[[2026,6,1]],"date-time":"2026-06-01T00:00:00Z","timestamp":1780272000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2026,6,1]],"date-time":"2026-06-01T00:00:00Z","timestamp":1780272000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Math Imaging Vis"],"published-print":{"date-parts":[[2026,6]]},"DOI":"10.1007\/s10851-026-01294-w","type":"journal-article","created":{"date-parts":[[2026,6,3]],"date-time":"2026-06-03T18:02:21Z","timestamp":1780509741000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["A Theoretical Analysis of Velocity Estimation from Multiple Independent Optical-Flow Sensors"],"prefix":"10.1007","volume":"68","author":[{"given":"Fabio","family":"DallaLibera","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ryo","family":"Okumura","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yusuke","family":"Adachi","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2026,6,3]]},"reference":[{"issue":"3","key":"1294_CR1","doi-asserted-by":"publisher","first-page":"428","DOI":"10.1006\/cviu.1998.0744","volume":"73","author":"JK Aggarwal","year":"1999","unstructured":"Aggarwal, J.K., Cai, Q.: Human motion analysis: a review. Comput. Vis. Image Underst. 73(3), 428\u2013440 (1999)","journal-title":"Comput. Vis. Image Underst."},{"issue":"2","key":"1294_CR2","doi-asserted-by":"publisher","first-page":"179","DOI":"10.1177\/0278364904041326","volume":"23","author":"A Kelly","year":"2004","unstructured":"Kelly, A.: Linearized error propagation in odometry. Int. J. Robot. Res. 23(2), 179\u2013218 (2004)","journal-title":"Int. J. Robot. Res."},{"key":"1294_CR3","doi-asserted-by":"crossref","unstructured":"Ojeda, L., Borenstein, J.: Flexnav: fuzzy logic expert rule-based position estimation for mobile robots on rugged terrain. In: Proceedings 2002 IEEE International Conference on Robotics and Automation, 1, 317\u2013322 (2002). IEEE","DOI":"10.1109\/ROBOT.2002.1013380"},{"key":"1294_CR4","doi-asserted-by":"crossref","unstructured":"Saito, R., Watanabe, K., Nagai, I.: Laser odometry taking account of the tilt on the laser sensor. In: 2015 10th Asian Control Conference (ASCC), 1\u20134 (2015). IEEE","DOI":"10.1109\/ASCC.2015.7244648"},{"key":"1294_CR5","unstructured":"Zwaan, S., Santos-Victor, J.: An insect inspired visual sensor for the autonomous navigation of a mobile robot. Proc. of the Seventh International Sysposium on Intelligent Robotic Systems (SIRS) 12 (1999)"},{"key":"1294_CR6","doi-asserted-by":"crossref","unstructured":"Netter, T., Francheschini, N.: A robotic aircraft that follows terrain using a neuromorphic eye. In: IEEE\/RSJ International Conference on Intelligent Robots and Systems, 1, 129\u2013134 (2002). IEEE","DOI":"10.1109\/IRDS.2002.1041376"},{"issue":"6","key":"1294_CR7","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3190\/11\/6\/066007","volume":"11","author":"S Mafrica","year":"2016","unstructured":"Mafrica, S., Servel, A., Ruffier, F.: Minimalistic optic flow sensors applied to indoor and outdoor visual guidance and odometry on a car-like robot. Bioinsp. Biomim. 11(6), 066007 (2016)","journal-title":"Bioinsp. Biomim."},{"key":"1294_CR8","doi-asserted-by":"publisher","first-page":"305","DOI":"10.1017\/S096249291700006X","volume":"26","author":"O \u00d6zye\u015fil","year":"2017","unstructured":"\u00d6zye\u015fil, O., Voroninski, V., Basri, R., Singer, A.: A survey of structure from motion*. Acta Numer 26, 305\u2013364 (2017)","journal-title":"Acta Numer"},{"key":"1294_CR9","doi-asserted-by":"publisher","DOI":"10.1016\/j.cviu.2023.103803","volume":"235","author":"X Jiang","year":"2023","unstructured":"Jiang, X., Zhang, S., Zhang, X.-P., Ma, J.: Improving sparse graph attention for feature matching by informative keypoints exploration. Comput. Vis. Image Underst. 235, 103803 (2023)","journal-title":"Comput. Vis. Image Underst."},{"issue":"4\u20136","key":"1294_CR10","doi-asserted-by":"publisher","first-page":"1032","DOI":"10.1016\/j.neucom.2008.04.013","volume":"72","author":"D-J Lee","year":"2009","unstructured":"Lee, D.-J., Merrell, P.C., Nelson, B.E., Wei, Z.: Multi-frame structure from motion using optical flow probability distributions. Neurocomputing 72(4\u20136), 1032\u20131041 (2009)","journal-title":"Neurocomputing"},{"key":"1294_CR11","doi-asserted-by":"publisher","DOI":"10.1016\/j.patcog.2020.107391","volume":"105","author":"T-B Phan","year":"2020","unstructured":"Phan, T.-B., Trinh, D.-H., Wolf, D., Daul, C.: Optical flow-based structure-from-motion for the reconstruction of epithelial surfaces. Patt. Recogn. 105, 107391 (2020)","journal-title":"Patt. Recogn."},{"key":"1294_CR12","doi-asserted-by":"publisher","DOI":"10.1016\/j.engappai.2024.107850","volume":"131","author":"T Benmessabih","year":"2024","unstructured":"Benmessabih, T., Slama, R., Havard, V., Baudry, D.: Online human motion analysis in industrial context: A review. Eng. Appl. Artif. Intell. 131, 107850 (2024)","journal-title":"Eng. Appl. Artif. Intell."},{"key":"1294_CR13","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1109\/TIM.2023.3276528","volume":"72","author":"S Garc\u00eda-de-Villa","year":"2023","unstructured":"Garc\u00eda-de-Villa, S., Casillas-P\u00e9rez, D., Jim\u00e9nez-Mart\u00edn, A., Garc\u00eda-Dom\u00ednguez, J.J.: Inertial sensors for human motion analysis: A comprehensive review. IEEE Trans. Instrum. Meas. 72, 1\u201339 (2023)","journal-title":"IEEE Trans. Instrum. Meas."},{"key":"1294_CR14","doi-asserted-by":"crossref","unstructured":"Qin, H., Dai, Y., Jiang, Y., Li, D., Liu, H., Zhang, Y., Li, J., Yang, T.: Inside-out multi-person 3d pose estimation using the panoramic camera capture system. IEEE Transactions on Instrumentation and Measurement (2023)","DOI":"10.1109\/TIM.2023.3346490"},{"key":"1294_CR15","doi-asserted-by":"crossref","unstructured":"Ahuja, K., Shen, V., Fang, C.M., Riopelle, N., Kong, A., Harrison, C.: Controllerpose: inside-out body capture with vr controller cameras. In: Proceedings of the 2022 CHI Conference on Human Factors in Computing Systems, 1\u201313 (2022)","DOI":"10.1145\/3491102.3502105"},{"key":"1294_CR16","doi-asserted-by":"crossref","unstructured":"Jiang, H., Grauman, K.: Seeing invisible poses: Estimating 3d body pose from egocentric video. In: 2017 IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 3501\u20133509 (2017). IEEE","DOI":"10.1109\/CVPR.2017.373"},{"key":"1294_CR17","doi-asserted-by":"crossref","unstructured":"Jiang, J., Streli, P., Meier, M., Holz, C.: Egoposer: Robust real-time egocentric pose estimation from sparse and intermittent observations everywhere. In: European Conference on Computer Vision, pp. 277\u2013294 (2025). Springer","DOI":"10.1007\/978-3-031-72627-9_16"},{"key":"1294_CR18","doi-asserted-by":"crossref","unstructured":"Plank, H., Egger, T., Steffan, C., Steger, C., Holweg, G., Druml, N.: High-performance indoor positioning and pose estimation with time-of-flight 3d imaging. In: 2017 International Conference on Indoor Positioning and Indoor Navigation (IPIN), 1\u20138 (2017). IEEE","DOI":"10.1109\/IPIN.2017.8115878"},{"key":"1294_CR19","unstructured":"Kelly, A.: Some Useful Results for Closed-form Propagation of Error in Vehicle Odometry vol. Technical Report CMU-RI-TR-00-20. Carnegie Mellon University, (2000)"},{"issue":"3","key":"1294_CR20","doi-asserted-by":"publisher","first-page":"169","DOI":"10.1002\/rob.20184","volume":"24","author":"M Maimone","year":"2007","unstructured":"Maimone, M., Cheng, Y., Matthies, L.: Two years of visual odometry on the mars exploration rovers. J. Field Robot. 24(3), 169\u2013186 (2007)","journal-title":"J. Field Robot."},{"key":"1294_CR21","doi-asserted-by":"crossref","unstructured":"Howard, T.M., Morfopoulos, A., Morrison, J., Kuwata, Y., Villalpando, C., Matthies, L., McHenry, M.: Enabling continuous planetary rover navigation through fpga stereo and visual odometry. In: 2012 IEEE Aerospace Conference, 1\u20139 (2012). IEEE","DOI":"10.1109\/AERO.2012.6187041"},{"issue":"3","key":"1294_CR22","doi-asserted-by":"publisher","first-page":"194","DOI":"10.1109\/TIV.2017.2749181","volume":"2","author":"G Bresson","year":"2017","unstructured":"Bresson, G., Alsayed, Z., Yu, L., Glaser, S.: Simultaneous localization and mapping: a survey of current trends in autonomous driving. IEEE Trans. Intell. Veh. 2(3), 194\u2013220 (2017)","journal-title":"IEEE Trans. Intell. Veh."},{"key":"1294_CR23","doi-asserted-by":"crossref","unstructured":"Hess, W., Kohler, D., Rapp, H., Andor, D.: Real-time loop closure in 2d lidar slam. In: 2016 IEEE International Conference on Robotics and Automation (ICRA), pp. 1271\u20131278 (2016). IEEE","DOI":"10.1109\/ICRA.2016.7487258"},{"issue":"6","key":"1294_CR24","doi-asserted-by":"publisher","first-page":"869","DOI":"10.1109\/70.544770","volume":"12","author":"J Borenstein","year":"1996","unstructured":"Borenstein, J., Feng, L.: Measurement and correction of systematic odometry errors in mobile robots. IEEE Trans. Robot. Autom. 12(6), 869\u2013880 (1996)","journal-title":"IEEE Trans. Robot. Autom."},{"issue":"5","key":"1294_CR25","doi-asserted-by":"publisher","first-page":"887","DOI":"10.20965\/jrm.2017.p0887","volume":"29","author":"A Yanagisawa","year":"2017","unstructured":"Yanagisawa, A., Ishigami, G.: Development and performance evaluation of planar travel distance sensors for mobile robots in sandy terrain. J. Robot. Mechatron. 29(5), 887\u2013894 (2017)","journal-title":"J. Robot. Mechatron."},{"issue":"1","key":"1294_CR26","doi-asserted-by":"publisher","first-page":"74","DOI":"10.1016\/j.sna.2008.10.003","volume":"149","author":"J-S Hu","year":"2009","unstructured":"Hu, J.-S., Chang, Y.-J., Hsu, Y.-L.: Calibration and on-line data selection of multiple optical flow sensors for odometry applications. Sens. Actuat. A 149(1), 74\u201380 (2009)","journal-title":"Sens. Actuat. A"},{"key":"1294_CR27","doi-asserted-by":"crossref","unstructured":"Killpack, M., Deyle, T., Anderson, C., Kemp, C.C.: Visual odometry and control for an omnidirectional mobile robot with a downward-facing camera. In: 2010 IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 139\u2013146 (2010). IEEE","DOI":"10.1109\/IROS.2010.5649749"},{"issue":"3","key":"1294_CR28","doi-asserted-by":"publisher","first-page":"263","DOI":"10.1007\/s10846-008-9235-4","volume":"53","author":"F Bonin-Font","year":"2008","unstructured":"Bonin-Font, F., Ortiz, A., Oliver, G.: Visual navigation for mobile robots: a survey. J. Intell. Rob. Syst. 53(3), 263\u2013296 (2008)","journal-title":"J. Intell. Rob. Syst."},{"issue":"1","key":"1294_CR29","doi-asserted-by":"publisher","first-page":"361","DOI":"10.1007\/s10846-013-9923-6","volume":"73","author":"H Chao","year":"2014","unstructured":"Chao, H., Gu, Y., Napolitano, M.: A survey of optical flow techniques for robotics navigation applications. J. Intell. Robot. Syst. 73(1), 361\u2013372 (2014)","journal-title":"J. Intell. Robot. Syst."},{"key":"1294_CR30","doi-asserted-by":"crossref","unstructured":"Campbell, J., Sukthankar, R., Nourbakhsh, I., Pahwa, A.: A robust visual odometry and precipice detection system using consumer-grade monocular vision. In: Proceedings of the 2005 IEEE International Conference on Robotics and Automation, pp. 3421\u20133427 (2005). IEEE","DOI":"10.1109\/ROBOT.2005.1570639"},{"key":"1294_CR31","doi-asserted-by":"crossref","unstructured":"Seegmiller, N., Wettergreen, D.: Optical flow odometry with robustness to self-shadowing. In: 2011 IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 613\u2013618 (2011)","DOI":"10.1109\/IROS.2011.6094670"},{"key":"1294_CR32","doi-asserted-by":"crossref","unstructured":"Badino, H., Yamamoto, A., Kanade, T.: Visual odometry by multi-frame feature integration. In: Proceedings of the IEEE International Conference on Computer Vision Workshops, pp. 222\u2013229 (2013)","DOI":"10.1109\/ICCVW.2013.37"},{"key":"1294_CR33","doi-asserted-by":"crossref","unstructured":"Nourani-Vatani, N., Roberts, J., Srinivasan, M.V.: Practical visual odometry for car-like vehicles. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3551\u20133557 (2009). IEEE","DOI":"10.1109\/ROBOT.2009.5152403"},{"issue":"5","key":"1294_CR34","doi-asserted-by":"publisher","first-page":"742","DOI":"10.1002\/rob.20407","volume":"28","author":"N Nourani-Vatani","year":"2011","unstructured":"Nourani-Vatani, N., Borges, P.V.K.: Correlation-based visual odometry for ground vehicles. J. Field Robot. 28(5), 742\u2013768 (2011)","journal-title":"J. Field Robot."},{"key":"1294_CR35","doi-asserted-by":"crossref","unstructured":"Kazik, T., G\u00f6kto\u011fan, A.H.: Visual odometry based on the Fourier\u2013Mellin transform for a rover using a monocular ground-facing camera. In: 2011 IEEE International Conference on Mechatronics, pp. 469\u2013474 (2011). IEEE","DOI":"10.1109\/ICMECH.2011.5971331"},{"issue":"3","key":"1294_CR36","doi-asserted-by":"publisher","first-page":"637","DOI":"10.1007\/s11554-017-0706-3","volume":"14","author":"M Birem","year":"2018","unstructured":"Birem, M., Kleihorst, R., El-Ghouti, N.: Visual odometry based on the Fourier transform using a monocular ground-facing camera. J. Real-Time Image Proc. 14(3), 637\u2013646 (2018)","journal-title":"J. Real-Time Image Proc."},{"key":"1294_CR37","doi-asserted-by":"crossref","unstructured":"Yu, Y., Pradalier, C., Zong, G.: Appearance-based monocular visual odometry for ground vehicles. In: 2011 IEEE\/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 862\u2013867 (2011). IEEE","DOI":"10.1109\/AIM.2011.6027050"},{"issue":"9","key":"1294_CR38","doi-asserted-by":"publisher","first-page":"685","DOI":"10.1016\/j.robot.2007.05.008","volume":"55","author":"M Zaman","year":"2007","unstructured":"Zaman, M.: High resolution relative localisation using two cameras. Robot. Auton. Syst. 55(9), 685\u2013692 (2007)","journal-title":"Robot. Auton. Syst."},{"key":"1294_CR39","unstructured":"Ericson, E., Astrand, B.: Visual odometry system for agricultural field robots. In: Proceedings of the World Congress on Engineering and Computer Science, pp. 619\u2013624 (2008)"},{"key":"1294_CR40","doi-asserted-by":"crossref","unstructured":"Expert, F., Viollet, S., Ruffier, F.: A mouse sensor and a 2-pixel motion sensor exposed to continuous illuminance changes. In: SENSORS, 2011 IEEE, pp. 974\u2013977 (2011). IEEE","DOI":"10.1109\/ICSENS.2011.6127002"},{"key":"1294_CR41","doi-asserted-by":"crossref","unstructured":"Zhang, T., Wu, H., Borst, A., Kuhnlenz, K., Buss, M.: An fpga implementation of insect-inspired motion detector for high-speed vision systems. In: 2008 IEEE International Conference on Robotics and Automation, pp. 335\u2013340 (2008). IEEE","DOI":"10.1109\/ROBOT.2008.4543230"},{"key":"1294_CR42","doi-asserted-by":"crossref","unstructured":"Bonarini, A., Matteucci, M., Restelli, M.: Automatic error detection and reduction for an odometric sensor based on two optical mice. In: Proceedings of the 2005 IEEE International Conference on Robotics and Automation, pp. 1675\u20131680 (2005). IEEE","DOI":"10.1109\/ROBOT.2005.1570354"},{"issue":"3","key":"1294_CR43","doi-asserted-by":"publisher","first-page":"201","DOI":"10.1007\/s10514-009-9139-6","volume":"27","author":"A Beyeler","year":"2009","unstructured":"Beyeler, A., Zufferey, J.-C., Floreano, D.: Vision-based control of near-obstacle flight. Auton. Robot. 27(3), 201\u2013219 (2009)","journal-title":"Auton. Robot."},{"key":"1294_CR44","doi-asserted-by":"crossref","unstructured":"Dille, M., Grocholsky, B., Singh, S.: Outdoor downward-facing optical flow odometry with commodity sensors. In: Field and Service Robotics, pp. 183\u2013193 (2010). Springer","DOI":"10.1007\/978-3-642-13408-1_17"},{"key":"1294_CR45","doi-asserted-by":"crossref","unstructured":"Sekimori, D., Miyazaki, F.: Precise dead-reckoning for mobile robots using multiple optical mouse sensors. In: Informatics in Control, Automation and Robotics II, pp. 145\u2013151. Springer (2007)","DOI":"10.1007\/978-1-4020-5626-0_18"},{"issue":"10","key":"1294_CR46","doi-asserted-by":"publisher","first-page":"2267","DOI":"10.1016\/j.automatica.2011.08.004","volume":"47","author":"M Cimino","year":"2011","unstructured":"Cimino, M., Pagilla, P.R.: Optimal location of mouse sensors on mobile robots for position sensing. Automatica 47(10), 2267\u20132272 (2011)","journal-title":"Automatica"},{"issue":"4","key":"1294_CR47","first-page":"485","volume":"2","author":"S-Y Lee","year":"2004","unstructured":"Lee, S.-Y., Song, J.-B.: Mobile robot localization using optical flow sensors. Int. J. Control Autom. Syst. 2(4), 485\u2013493 (2004)","journal-title":"Int. J. Control Autom. Syst."},{"issue":"6","key":"1294_CR48","doi-asserted-by":"publisher","first-page":"88","DOI":"10.5772\/58691","volume":"11","author":"S Kim","year":"2014","unstructured":"Kim, S.: Isotropic optical mouse placement for mobile robot velocity estimation. Int. J. Adv. Rob. Syst. 11(6), 88 (2014)","journal-title":"Int. J. Adv. Rob. Syst."},{"issue":"5","key":"1294_CR49","first-page":"713","volume":"6","author":"S-B Kim","year":"2008","unstructured":"Kim, S.-B., Lee, S.-H.: Robust velocity estimation of an omnidirectional mobile robot using a polygonal array of optical mice. Int. J. Control Autom. Syst. 6(5), 713\u2013721 (2008)","journal-title":"Int. J. Control Autom. Syst."},{"issue":"2","key":"1294_CR50","doi-asserted-by":"publisher","first-page":"348","DOI":"10.1002\/asjc.454","volume":"14","author":"S Kim","year":"2012","unstructured":"Kim, S., Kim, H.: Systematic robustness analysis of least squares mobile robot velocity estimation using a regular polygonal optical mouse array. Asian J. Control 14(2), 348\u2013358 (2012)","journal-title":"Asian J. Control"},{"key":"1294_CR51","doi-asserted-by":"publisher","DOI":"10.1016\/j.sna.2019.111731","volume":"301","author":"A Paijens","year":"2020","unstructured":"Paijens, A., Huang, L., Al-Jumaily, A.: Implementation and calibration of an odometry system for mobile robots, based on optical computer mouse sensors. Sens. Actuat. A 301, 111731 (2020)","journal-title":"Sens. Actuat. A"},{"key":"1294_CR52","doi-asserted-by":"crossref","unstructured":"Bradshaw, J., Lollini, C., Bishop, B.E.: On the development of an enhanced optical mouse sensor for odometry and mobile robotics education. In: 2007 Thirty-Ninth Southeastern Symposium on System Theory, pp. 6\u201310 (2007). IEEE","DOI":"10.1109\/SSST.2007.352307"},{"issue":"6","key":"1294_CR53","doi-asserted-by":"publisher","first-page":"1925","DOI":"10.1109\/JSEN.2011.2180525","volume":"12","author":"R Ross","year":"2011","unstructured":"Ross, R., Devlin, J., Wang, S.: Toward refocused optical mouse sensors for outdoor optical flow odometry. IEEE Sens. J. 12(6), 1925\u20131932 (2011)","journal-title":"IEEE Sens. J."},{"key":"1294_CR54","unstructured":"Kim, J., Brambley, G.: Dual optic-flow integrated navigation for small-scale flying robots. In: Proc. of Australasian Conference on Robotics and Automation, Brisbane, Australia (2007). Citeseer"},{"issue":"2","key":"1294_CR55","doi-asserted-by":"publisher","first-page":"296","DOI":"10.1016\/j.sna.2009.10.007","volume":"156","author":"D Hyun","year":"2009","unstructured":"Hyun, D., Yang, H.S., Park, H.R., Park, H.-S.: Differential optical navigation sensor for mobile robots. Sens. Actuat. A 156(2), 296\u2013301 (2009)","journal-title":"Sens. Actuat. A"},{"key":"1294_CR56","doi-asserted-by":"crossref","unstructured":"He, M., Guo, X., Wang, G.: Enhanced positioning systems using optical mouse sensors. In: International Conference on Intelligent Robotics and Applications, pp. 463\u2013474 (2014). Springer","DOI":"10.1007\/978-3-319-13963-0_47"},{"key":"1294_CR57","doi-asserted-by":"crossref","unstructured":"Maier, M., Brandner, M.: Low-cost optical odometry for wheeled mobile robots. In: 2011 IEEE International Instrumentation and Measurement Technology Conference, pp. 1\u20134 (2011). IEEE","DOI":"10.1109\/IMTC.2011.5944305"},{"issue":"5","key":"1294_CR58","doi-asserted-by":"publisher","first-page":"11208","DOI":"10.3390\/s150511208","volume":"15","author":"D-H Yi","year":"2015","unstructured":"Yi, D.-H., Lee, T.-J., Cho, D.-I.: Afocal optical flow sensor for reducing vertical height sensitivity in indoor robot localization and navigation. Sensors 15(5), 11208\u201311221 (2015)","journal-title":"Sensors"},{"key":"1294_CR59","doi-asserted-by":"crossref","unstructured":"Greatwood, C., Bose, L., Richardson, T., Mayol-Cuevas, W., Chen, J., Carey, S.J., Dudek, P.: Perspective correcting visual odometry for agile mavs using a pixel processor array. In: 2018 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 987\u2013994 (2018). IEEE","DOI":"10.1109\/IROS.2018.8594500"},{"issue":"11","key":"1294_CR60","doi-asserted-by":"publisher","first-page":"21045","DOI":"10.3390\/s141121045","volume":"14","author":"H Dahmen","year":"2014","unstructured":"Dahmen, H., Mallot, H.A.: Odometry for ground moving agents by optic flow recorded with optical mouse chips. Sensors 14(11), 21045\u201321064 (2014)","journal-title":"Sensors"},{"issue":"2","key":"1294_CR61","doi-asserted-by":"publisher","first-page":"107","DOI":"10.1260\/1756-8293.2.2.107","volume":"2","author":"J-C Zufferey","year":"2010","unstructured":"Zufferey, J.-C., Beyeler, A., Floreano, D.: Autonomous flight at low altitude using light sensors and little computational power. Int. J. Micro Air Veh. 2(2), 107\u2013117 (2010)","journal-title":"Int. J. Micro Air Veh."},{"issue":"6","key":"1294_CR62","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3190\/ac1f7b","volume":"16","author":"B Lingenfelter","year":"2021","unstructured":"Lingenfelter, B., Nag, A., Breugel, F.: Insect inspired vision-based velocity estimation through spatial pooling of optic flow during linear motion. Bioinsp. Biomim. 16(6), 066004 (2021)","journal-title":"Bioinsp. Biomim."},{"key":"1294_CR63","unstructured":"Chan, R., Mulla, A., Stol, K.: Characterisation of low-cost optical flow sensors. In: Proceeding of the Australasian Conference on Robotics and Automation, pp. 1\u20138 (2010)"},{"key":"1294_CR64","doi-asserted-by":"crossref","unstructured":"Yi, D.-H., Lee, T.-J., Dan, D.-I., et al.: Afocal optical flow sensor for mobile robot odometry. In: 2015 15th International Conference on Control, Automation and Systems (ICCAS), pp. 1393\u20131397 (2015). IEEE","DOI":"10.1109\/ICCAS.2015.7364858"},{"issue":"1","key":"1294_CR65","doi-asserted-by":"publisher","first-page":"171","DOI":"10.3390\/s18010171","volume":"18","author":"D-H Yi","year":"2018","unstructured":"Yi, D.-H., Lee, T.-J., Cho, D.-I., et al.: A new localization system for indoor service robots in low luminance and slippery indoor environment using afocal optical flow sensor based sensor fusion. Sensors 18(1), 171 (2018)","journal-title":"Sensors"}],"container-title":["Journal of Mathematical Imaging and Vision"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10851-026-01294-w.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10851-026-01294-w","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10851-026-01294-w.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,6,24]],"date-time":"2026-06-24T01:49:07Z","timestamp":1782265747000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10851-026-01294-w"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,6]]},"references-count":65,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2026,6]]}},"alternative-id":["1294"],"URL":"https:\/\/doi.org\/10.1007\/s10851-026-01294-w","relation":{},"ISSN":["0924-9907","1573-7683"],"issn-type":[{"value":"0924-9907","type":"print"},{"value":"1573-7683","type":"electronic"}],"subject":[],"published":{"date-parts":[[2026,6]]},"assertion":[{"value":"29 May 2025","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"1 April 2026","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"3 June 2026","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The authors have no relevant financial or non-financial interests to disclose. The authors declare no conflict of interest.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest"}}],"article-number":"28"}}