{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:55:07Z","timestamp":1777715707053,"version":"3.51.4"},"reference-count":16,"publisher":"SAGE Publications","issue":"6","license":[{"start":{"date-parts":[[2007,6,1]],"date-time":"2007-06-01T00:00:00Z","timestamp":1180656000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2007,6]]},"abstract":"<jats:p>In the neurological system of primates, changes in posture are detected by the central nervous system through a vestibular process. This process, located in the inner ear, coordinates several system outputs to maintain stable balance, visual gaze, and autonomic control in response to changes in posture. Consequently the vestibular data is merged to other sensing data like touch, vision, .... The visuo-inertial merging is crucial for several tasks like navigation, depth estimation, stabilization. This paper proposes a \u201cprimate-inspired\u201d sensing hardware, based on a CMOS imaging and an artificial vestibular system. The whole sensor can be considered like a smart embedded sensor where one of the most original aspects of this approach is the use of a System On Chip implemented in a FPGA to manage the whole system. The sensing device is designed around a 4 million pixels CMOS imager and the artificial vestibular set is composed of three linear accelerometers and three gyroscopes. With its structure, the system provides a high degree of versatility and allows the implementation of parallel image and inertial processing algorithms. In order to illustrate the proposed approach, depth estimation with Kalman filtering implementation is carried out.<\/jats:p>","DOI":"10.1177\/0278364907079275","type":"journal-article","created":{"date-parts":[[2007,6,26]],"date-time":"2007-06-26T10:53:19Z","timestamp":1182855199000},"page":"537-546","source":"Crossref","is-referenced-by-count":7,"title":["Towards an Embedded Visuo-Inertial Smart Sensor"],"prefix":"10.1177","volume":"26","author":[{"given":"P.","family":"Chalimbaud","sequence":"first","affiliation":[{"name":"Dream Sensor Team (DST) LASMEA UMR CNRS 6602 University Blaise Pascal of Clermont-Ferrand 63177 Aubi\u00e8re\u2014Cedex, France, -bpclermont.fr"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"F.","family":"Marmoiton","sequence":"additional","affiliation":[{"name":"Dream Sensor Team (DST) LASMEA\u2014UMR CNRS 6602 University Blaise Pascal of Clermont-Ferrand 63177 Aubi\u00e8re\u2014Cedex, France, -bpclermont.fr"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"F.","family":"Berry","sequence":"additional","affiliation":[{"name":"Dream Sensor Team (DST) LASMEA\u2014UMR CNRS 6602 University Blaise Pascal of Clermont-Ferrand 63177 Aubi\u00e8re\u2014Cedex, France, -bpclermont.fr"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2007,6,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1002\/0471221279"},{"key":"atypb2","volume-title":"CVPR '98: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition","author":"Benedetti, A."},{"key":"atypb3","volume-title":"ICVS '99: Proceedings of the First International Conference on Computer Vision Systems","author":"Benitez, D."},{"key":"atypb4","doi-asserted-by":"publisher","DOI":"10.1023\/A:1013623303037"},{"key":"atypb5","volume-title":"Mathematical Theory of Networks and Systems: Proceedings of the International Symposium Held at the Ben Gurion University of the Negev","author":"Brockett, R.W."},{"key":"atypb6","volume-title":"ICRA05 Workshop on Integration of Vision and Inertial Sensors (InerVis2005)","author":"Chalimbaud, P."},{"key":"atypb7","doi-asserted-by":"publisher","DOI":"10.1109\/2.839320"},{"key":"atypb8","volume-title":"Three-Dimensional Computer Vision, a Geometric Viewpoint","author":"Faugeras, O.","year":"1993"},{"key":"atypb9","volume-title":"Proceedings of the Oceans 2001 Conference","author":"Huster, A."},{"key":"atypb10","doi-asserted-by":"publisher","DOI":"10.1115\/1.3662552"},{"key":"atypb11","volume-title":"Proceedings of the 7th European Conference on Computer Vision","author":"Lhuillier, M."},{"issue":"1","key":"atypb12","first-page":"3","volume":"21","author":"Lobo, J.","year":"2004","journal-title":"Systems"},{"key":"atypb13","volume-title":"Seventh IEEE International Conference on Computer Vision (ICCV 1999)","author":"Mukai, T."},{"key":"atypb14","volume-title":"Proceedings of Workshop on Integration of Vision and Inertial Sensors (INERVIS 2003)","author":"Qian, G."},{"key":"atypb15","volume-title":"FCCM '97: Proceedings of the 5th IEEE Symposium on FPGA-Based Custom Computing Machines","author":"Woodfill, J."},{"key":"atypb16","volume-title":"VR '01: Proceedings of the Virtual Reality 2001 Conference (VR'01)","author":"You, S."}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364907079275","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364907079275","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:15:59Z","timestamp":1777457759000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0278364907079275"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2007,6]]},"references-count":16,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2007,6]]}},"alternative-id":["10.1177\/0278364907079275"],"URL":"https:\/\/doi.org\/10.1177\/0278364907079275","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2007,6]]}}}