{"id":"https://openalex.org/W3091687063","doi":"https://doi.org/10.1109/icra40945.2020.9197374","title":"Visual Odometry Revisited: What Should Be Learnt?","display_name":"Visual Odometry Revisited: What Should Be Learnt?","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3091687063","doi":"https://doi.org/10.1109/icra40945.2020.9197374","mag":"3091687063"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9197374","doi":"https://doi.org/10.1109/icra40945.2020.9197374","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197374","pdf_url":null,"source":{"id":"https://openalex.org/S4210217939","display_name":"Proceedings - IEEE International Conference on Robotics and Automation/Proceedings","issn_l":"1050-4729","issn":["1050-4729","2577-087X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","is_traditional":true,"indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1909.09803","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5056457283","display_name":"Huangying Zhan","orcid":"https://orcid.org/0000-0002-2899-8314","observed_orcids":["https://orcid.org/0000-0002-2899-8314"]},"institutions":[{"id":"https://openalex.org/I5681781","display_name":"The University of Adelaide","ror":"https://ror.org/00892tw58","country_code":"AU","type":"education","lineage":["https://openalex.org/I4405259444","https://openalex.org/I5681781"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Huangying Zhan","raw_affiliation_strings":["School of Computer Science, the University of Adelaide"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science, the University of Adelaide","institution_ids":["https://openalex.org/I5681781"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054422176","display_name":"Chamara Saroj Weerasekera","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I5681781","display_name":"The University of Adelaide","ror":"https://ror.org/00892tw58","country_code":"AU","type":"education","lineage":["https://openalex.org/I4405259444","https://openalex.org/I5681781"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Chamara Saroj Weerasekera","raw_affiliation_strings":["School of Computer Science, the University of Adelaide"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science, the University of Adelaide","institution_ids":["https://openalex.org/I5681781"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072209031","display_name":"Jia-Wang Bian","orcid":"https://orcid.org/0000-0003-2046-3363","observed_orcids":["https://orcid.org/0000-0003-2046-3363"]},"institutions":[{"id":"https://openalex.org/I5681781","display_name":"The University of Adelaide","ror":"https://ror.org/00892tw58","country_code":"AU","type":"education","lineage":["https://openalex.org/I4405259444","https://openalex.org/I5681781"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Jia-Wang Bian","raw_affiliation_strings":["School of Computer Science, the University of Adelaide"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science, the University of Adelaide","institution_ids":["https://openalex.org/I5681781"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5089444805","display_name":"Ian D. Reid","orcid":"https://orcid.org/0000-0001-7790-6423","observed_orcids":["https://orcid.org/0000-0001-7790-6423"]},"institutions":[{"id":"https://openalex.org/I5681781","display_name":"The University of Adelaide","ror":"https://ror.org/00892tw58","country_code":"AU","type":"education","lineage":["https://openalex.org/I4405259444","https://openalex.org/I5681781"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Ian Reid","raw_affiliation_strings":["School of Computer Science, the University of Adelaide"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science, the University of Adelaide","institution_ids":["https://openalex.org/I5681781"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I5681781"],"apc_list":null,"apc_paid":null,"fwci":8.952,"has_fulltext":true,"cited_by_count":212,"citation_normalized_percentile":{"value":0.9806431,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":93,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"4203","last_page":"4210"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9945999979972839,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9945999979972839,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.004600000102072954,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.00019999999494757503,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/monocular-visual-odometry","display_name":"monocular visual odometry","score":0.9729999899864197},{"id":"https://openalex.org/keywords/scale-drift","display_name":"scale drift","score":0.7310000061988831},{"id":"https://openalex.org/keywords/single-view-depth-estimation","display_name":"single-view depth estimation","score":0.8259999752044678},{"id":"https://openalex.org/keywords/optical-flow","display_name":"optical flow","score":0.8450000286102295},{"id":"https://openalex.org/keywords/epipolar-geometry","display_name":"epipolar geometry","score":0.8619999885559082},{"id":"https://openalex.org/keywords/perspective-n-point","display_name":"perspective-n-point","score":0.8939999938011169},{"id":"https://openalex.org/keywords/convolutional-neural-networks","display_name":"convolutional neural networks","score":0.8629999756813049}],"concepts":[{"id":"https://openalex.org/C23379248","wikidata":"https://www.wikidata.org/wiki/Q200904","display_name":"Epipolar geometry","level":3,"score":0.8088611364364624},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7613279819488525},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7379668951034546},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.7299628853797913},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.6972543001174927},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6918818950653076},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.6717904806137085},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.6173995137214661},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5324690341949463},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.5098065733909607},{"id":"https://openalex.org/C3261483","wikidata":"https://www.wikidata.org/wiki/Q119565","display_name":"Frame rate","level":2,"score":0.45258837938308716},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.438078910112381},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.41281330585479736},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.17538753151893616},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.16424593329429626},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.11359214782714844},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra40945.2020.9197374","doi":"https://doi.org/10.1109/icra40945.2020.9197374","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197374","pdf_url":null,"source":{"id":"https://openalex.org/S4210217939","display_name":"Proceedings - IEEE International Conference on Robotics and Automation/Proceedings","issn_l":"1050-4729","issn":["1050-4729","2577-087X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1909.09803","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/1909.09803","pdf_url":"https://arxiv.org/pdf/1909.09803","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:digital.library.adelaide.edu.au:2440/134089","doi":null,"is_oa":false,"landing_page_url":"https://hdl.handle.net/2440/134089","pdf_url":null,"source":{"id":"https://openalex.org/S4306401835","display_name":"Adelaide Research & Scholarship (AR&S) (University of Adelaide)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I5681781","host_organization_name":"The University of Adelaide","host_organization_lineage":["https://openalex.org/I5681781"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://dx.doi.org/10.1109/icra40945.2020.9197374","raw_type":"Conference paper"},{"id":"doi:10.48550/arxiv.1909.09803","doi":"https://doi.org/10.48550/arxiv.1909.09803","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1909.09803","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"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"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1909.09803","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/1909.09803","pdf_url":"https://arxiv.org/pdf/1909.09803","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320331724","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3091687063.pdf","grobid_xml":"https://content.openalex.org/works/W3091687063.grobid-xml"},"referenced_works_count":67,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W764651262","https://openalex.org/W1520997877","https://openalex.org/W1522301498","https://openalex.org/W1612997784","https://openalex.org/W1803059841","https://openalex.org/W1901129140","https://openalex.org/W1970504153","https://openalex.org/W1997568160","https://openalex.org/W2015996585","https://openalex.org/W2033819227","https://openalex.org/W2034392969","https://openalex.org/W2108134361","https://openalex.org/W2115579991","https://openalex.org/W2117228865","https://openalex.org/W2125416623","https://openalex.org/W2128019145","https://openalex.org/W2138620157","https://openalex.org/W2142876261","https://openalex.org/W2150066425","https://openalex.org/W2151103935","https://openalex.org/W2151290401","https://openalex.org/W2164934677","https://openalex.org/W2165584048","https://openalex.org/W2168676389","https://openalex.org/W2171740948","https://openalex.org/W2200124539","https://openalex.org/W2209124607","https://openalex.org/W2300779272","https://openalex.org/W2409352305","https://openalex.org/W2474281075","https://openalex.org/W2520707372","https://openalex.org/W2535547924","https://openalex.org/W2556455135","https://openalex.org/W2560474170","https://openalex.org/W2561074213","https://openalex.org/W2564632156","https://openalex.org/W2598706937","https://openalex.org/W2600383743","https://openalex.org/W2606794968","https://openalex.org/W2609883120","https://openalex.org/W2754925132","https://openalex.org/W2768185495","https://openalex.org/W2798405286","https://openalex.org/W2804176584","https://openalex.org/W2830339951","https://openalex.org/W2884432280","https://openalex.org/W2887825894","https://openalex.org/W2890228252","https://openalex.org/W2899771611","https://openalex.org/W2962816904","https://openalex.org/W2963488291","https://openalex.org/W2963583471","https://openalex.org/W2963782415","https://openalex.org/W2963891416","https://openalex.org/W2964121744","https://openalex.org/W2964156315","https://openalex.org/W2964314455","https://openalex.org/W2967059695","https://openalex.org/W2967702344","https://openalex.org/W2968288611","https://openalex.org/W2970369664","https://openalex.org/W2996144174","https://openalex.org/W3022922398","https://openalex.org/W4238767840","https://openalex.org/W6684439383","https://openalex.org/W6730303213"],"related_works":["https://openalex.org/W3135038782","https://openalex.org/W7134978566","https://openalex.org/W2964314455","https://openalex.org/W2598706937","https://openalex.org/W2555820268","https://openalex.org/W4402352528","https://openalex.org/W3013072539","https://openalex.org/W3130443363","https://openalex.org/W3163520589","https://openalex.org/W4224313034"],"abstract_inverted_index":{"In":[0,72],"this":[1,73],"work":[2],"we":[3,75,98,120],"present":[4],"a":[5,122,152,170],"monocular":[6,41],"visual":[7],"odometry":[8],"(VO)":[9],"algorithm":[10,128],"which":[11,130],"leverages":[12],"geometry-based":[13,70,136],"methods":[14],"and":[15,29,81,93,109,135,169],"deep":[16,49,63,88,118,133],"learning.":[17],"Most":[18],"existing":[19],"VO/SLAM":[20],"systems":[21,42,64],"with":[22,90],"superior":[23],"performance":[24,60],"are":[25],"based":[26],"on":[27,160],"geometry":[28,92],"have":[30],"to":[31,69],"be":[32],"carefully":[33],"designed":[34],"for":[35,86,105],"different":[36,178],"application":[37],"scenarios.":[38],"Moreover,":[39],"most":[40],"suffer":[43,144],"from":[44,145],"scale-drift":[45,147],"issue.":[46],"Some":[47],"recent":[48],"learning":[50,89],"works":[51],"learn":[52],"VO":[53,80,127],"in":[54,180],"an":[55],"end-to-end":[56],"manner":[57],"but":[58,124],"the":[59,77,83,117,146,164,175],"of":[61,79,166,177],"these":[62],"is":[65,184],"still":[66],"not":[67,143],"comparable":[68],"methods.":[71,137],"work,":[74],"revisit":[76],"basics":[78],"explore":[82],"right":[84],"way":[85],"integrating":[87],"epipolar":[91],"Perspective-n-Point":[94],"(PnP)":[95],"method.":[96],"Specifically,":[97],"train":[99],"two":[100],"convolutional":[101],"neural":[102],"networks":[103],"(CNNs)":[104],"estimating":[106],"single-view":[107,155],"depths":[108],"two-view":[110],"optical":[111],"flows":[112],"as":[113],"intermediate":[114],"outputs.":[115],"With":[116],"predictions,":[119],"design":[121],"simple":[123],"robust":[125],"frame-to-frame":[126],"(DF-VO)":[129],"outperforms":[131],"pure":[132],"learning-based":[134],"More":[138],"importantly,":[139],"our":[140,167,181],"system":[141,168],"does":[142],"issue":[148],"being":[149],"aided":[150],"by":[151],"scale":[153],"consistent":[154],"depth":[156],"CNN.":[157],"Extensive":[158],"experiments":[159],"KITTI":[161],"dataset":[162],"shows":[163,174],"robustness":[165],"detailed":[171],"ablation":[172],"study":[173],"effect":[176],"factors":[179],"system.":[182],"Code":[183],"available":[185],"at":[186],"here:":[187],"DF-VO.":[188]},"counts_by_year":[{"year":2026,"cited_by_count":21},{"year":2025,"cited_by_count":30},{"year":2024,"cited_by_count":38},{"year":2023,"cited_by_count":38},{"year":2022,"cited_by_count":35},{"year":2021,"cited_by_count":32},{"year":2020,"cited_by_count":16},{"year":2019,"cited_by_count":2}],"updated_date":"2026-11-07T11:25:07.637180","created_date":"2020-10-08T00:00:00"}
