{"id":"https://openalex.org/W4385656150","doi":"https://doi.org/10.1109/ur57808.2023.10202307","title":"Optimizing Odometry Accuracy through Temporal Information in Self-Supervised Deep Networks","display_name":"Optimizing Odometry Accuracy through Temporal Information in Self-Supervised Deep Networks","publication_year":2023,"publication_date":"2023-06-25","ids":{"openalex":"https://openalex.org/W4385656150","doi":"https://doi.org/10.1109/ur57808.2023.10202307"},"language":"en","primary_location":{"id":"doi:10.1109/ur57808.2023.10202307","doi":"https://doi.org/10.1109/ur57808.2023.10202307","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/ur57808.2023.10202307","pdf_url":null,"source":{"id":"https://openalex.org/S7407089256","display_name":"International Conference on Ubiquitous Robots (UR)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 20th International Conference on Ubiquitous Robots (UR)","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","is_traditional":true,"indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5110747423","display_name":"Nazrul Ismail","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I189462010","display_name":"Universiti Brunei Darussalam","ror":"https://ror.org/02qnf3n86","country_code":"BN","type":"education","lineage":["https://openalex.org/I189462010"]}],"countries":["BN"],"is_corresponding":false,"raw_author_name":"Nazrul Ismail","raw_affiliation_strings":["School of Digital Science, Universiti Brunei Darussalam, Brunei Darussalam"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Digital Science, Universiti Brunei Darussalam, Brunei Darussalam","institution_ids":["https://openalex.org/I189462010"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007392788","display_name":"Wee-Hong Ong","orcid":"https://orcid.org/0000-0003-2667-1980","observed_orcids":["https://orcid.org/0000-0003-2667-1980"]},"institutions":[{"id":"https://openalex.org/I189462010","display_name":"Universiti Brunei Darussalam","ror":"https://ror.org/02qnf3n86","country_code":"BN","type":"education","lineage":["https://openalex.org/I189462010"]}],"countries":["BN"],"is_corresponding":false,"raw_author_name":"Ong Wee Hong","raw_affiliation_strings":["School of Digital Science, Universiti Brunei Darussalam, Brunei Darussalam"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Digital Science, Universiti Brunei Darussalam, Brunei Darussalam","institution_ids":["https://openalex.org/I189462010"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5007781856","display_name":"Owais Ahmed Malik","orcid":"https://orcid.org/0000-0002-4888-5448","observed_orcids":["https://orcid.org/0000-0002-4888-5448"]},"institutions":[{"id":"https://openalex.org/I189462010","display_name":"Universiti Brunei Darussalam","ror":"https://ror.org/02qnf3n86","country_code":"BN","type":"education","lineage":["https://openalex.org/I189462010"]}],"countries":["BN"],"is_corresponding":false,"raw_author_name":"Owais Ahmed Malik","raw_affiliation_strings":["School of Digital Science, Universiti Brunei Darussalam, Brunei Darussalam"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Digital Science, Universiti Brunei Darussalam, Brunei Darussalam","institution_ids":["https://openalex.org/I189462010"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I189462010"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.0,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"abs/2007.11898","issue":null,"first_page":"490","last_page":"495"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9990000128746033,"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":0.9990000128746033,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.0003000000142492354,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":9.999999747378752e-05,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/lidar-inertial-odometry","display_name":"LiDAR-inertial odometry","score":0.9490000009536743},{"id":"https://openalex.org/keywords/self-supervised-learning","display_name":"self-supervised learning","score":0.9459999799728394},{"id":"https://openalex.org/keywords/recurrent-convolutional-neural-network","display_name":"recurrent convolutional neural network","score":0.6740000247955322},{"id":"https://openalex.org/keywords/self-attention","display_name":"self-attention","score":0.9879999756813049},{"id":"https://openalex.org/keywords/temporal-information","display_name":"temporal information","score":0.9940000176429749},{"id":"https://openalex.org/keywords/sliding-window-optimization","display_name":"sliding window optimization","score":0.9449999928474426},{"id":"https://openalex.org/keywords/inertial-navigation","display_name":"inertial navigation","score":0.5389999747276306},{"id":"https://openalex.org/keywords/odometry-estimation","display_name":"odometry estimation","score":0.3869999945163727}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.9431426525115967},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.768115758895874},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7656445503234863},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.631580114364624},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.5716063976287842},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.5347930788993835},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.4592857360839844},{"id":"https://openalex.org/C102392041","wikidata":"https://www.wikidata.org/wiki/Q592860","display_name":"Sliding window protocol","level":3,"score":0.4561958909034729},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4349225163459778},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.4249754250049591},{"id":"https://openalex.org/C136389625","wikidata":"https://www.wikidata.org/wiki/Q334384","display_name":"Supervised learning","level":3,"score":0.41678738594055176},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.4102485775947571},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.34448760747909546},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.2718653678894043},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.27115142345428467},{"id":"https://openalex.org/C2778751112","wikidata":"https://www.wikidata.org/wiki/Q835016","display_name":"Window (computing)","level":2,"score":0.2113271951675415},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.12631553411483765},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.12492206692695618},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ur57808.2023.10202307","doi":"https://doi.org/10.1109/ur57808.2023.10202307","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/ur57808.2023.10202307","pdf_url":null,"source":{"id":"https://openalex.org/S7407089256","display_name":"International Conference on Ubiquitous Robots (UR)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 20th International Conference on Ubiquitous Robots (UR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W2049981393","https://openalex.org/W2150066425","https://openalex.org/W2194775991","https://openalex.org/W2296228853","https://openalex.org/W2626778328","https://openalex.org/W2779063719","https://openalex.org/W2805521962","https://openalex.org/W2909908358","https://openalex.org/W2932490017","https://openalex.org/W2934848969","https://openalex.org/W2962816904","https://openalex.org/W2983104849","https://openalex.org/W2990791152","https://openalex.org/W3035734863","https://openalex.org/W3043971245","https://openalex.org/W3101248344","https://openalex.org/W3198364910","https://openalex.org/W6795742097"],"related_works":["https://openalex.org/W4400945909","https://openalex.org/W3101248344","https://openalex.org/W4387713500","https://openalex.org/W3097717239","https://openalex.org/W4323824580","https://openalex.org/W4406267370","https://openalex.org/W3198364910","https://openalex.org/W2934848969","https://openalex.org/W2983104849","https://openalex.org/W4220903146"],"abstract_inverted_index":{"In":[0,23],"this":[1],"paper,":[2],"we":[3],"propose":[4],"a":[5,12],"self-supervised":[6,102],"deep":[7,90],"recurrent":[8],"convolutional":[9],"network":[10,30,54],"with":[11],"self-attention":[13],"pipeline":[14],"for":[15,43,46,82,92],"LiDAR-Inertial":[16,93],"odometry":[17,94],"estimation":[18],"that":[19,51,71],"leverages":[20],"temporal":[21,75,87],"information.":[22,76],"contrast":[24],"to":[25,57,62],"existing":[26],"learning-based":[27,69],"approaches,":[28],"our":[29,100],"does":[31],"not":[32,73],"require":[33],"expensive":[34],"ground":[35],"truth":[36],"and":[37,66,95],"it":[38],"utilizes":[39],"sliding":[40],"window":[41],"optimization":[42],"self-supervisory":[44],"signal":[45],"training.":[47],"The":[48],"results":[49],"indicate":[50],"the":[52,83,97],"proposed":[53,101],"is":[55],"able":[56],"achieve":[58],"accuracy":[59],"levels":[60],"comparable":[61],"conventional":[63],"model-based":[64],"methods":[65],"outperform":[67],"other":[68],"approaches":[70],"do":[72],"incorporate":[74],"Our":[77],"findings":[78],"provide":[79],"strong":[80],"evidence":[81],"potential":[84],"of":[85,99],"incorporating":[86],"information":[88],"in":[89],"networks":[91],"highlight":[96],"effectiveness":[98],"approach.":[103]},"counts_by_year":[],"updated_date":"2026-10-30T12:39:25.321706","created_date":"2023-08-09T00:00:00"}