{"id":"https://openalex.org/W4401357472","doi":"https://doi.org/10.1109/access.2024.3439529","title":"A Global Pose and Relative Pose Fusion Network for Monocular Visual Odometry","display_name":"A Global Pose and Relative Pose Fusion Network for Monocular Visual Odometry","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4401357472","doi":"https://doi.org/10.1109/access.2024.3439529"},"language":"en","primary_location":{"id":"doi:10.1109/access.2024.3439529","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3439529","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"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":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1109/access.2024.3439529","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101870104","display_name":"Bo Su","orcid":"https://orcid.org/0000-0002-5372-4454"},"institutions":[{"id":"https://openalex.org/I4210166499","display_name":"Henan Polytechnic University","ror":"https://ror.org/05vr1c885","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210166499"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Bo Su","raw_affiliation_strings":["School of Electrical Engineering and Automation, Henan Polytechnic University, Jiaozuo, China"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Automation, Henan Polytechnic University, Jiaozuo, China","institution_ids":["https://openalex.org/I4210166499"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5106329534","display_name":"Tianxiang Zang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210166499","display_name":"Henan Polytechnic University","ror":"https://ror.org/05vr1c885","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210166499"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tianxiang Zang","raw_affiliation_strings":["School of Electrical Engineering and Automation, Henan Polytechnic University, Jiaozuo, China"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Automation, Henan Polytechnic University, Jiaozuo, China","institution_ids":["https://openalex.org/I4210166499"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5101870104"],"corresponding_institution_ids":["https://openalex.org/I4210166499"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":2.2644,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.8844265,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":"12","issue":null,"first_page":"108863","last_page":"108875"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9991000294685364,"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/T12549","display_name":"Image and Object Detection Techniques","score":0.9944999814033508,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7843149900436401},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7323083281517029},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.6687266826629639},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.6255665421485901},{"id":"https://openalex.org/keywords/subnetwork","display_name":"Subnetwork","score":0.5014448165893555},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4977143108844757},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.4721280038356781},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.4630492031574249},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.45504653453826904},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.434714138507843},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3731452226638794},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.17883864045143127},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.12221810221672058}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7843149900436401},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7323083281517029},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.6687266826629639},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.6255665421485901},{"id":"https://openalex.org/C2780186347","wikidata":"https://www.wikidata.org/wiki/Q11414","display_name":"Subnetwork","level":2,"score":0.5014448165893555},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4977143108844757},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.4721280038356781},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.4630492031574249},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.45504653453826904},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.434714138507843},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3731452226638794},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.17883864045143127},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.12221810221672058},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2024.3439529","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3439529","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"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":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:82450c0bcef4483994e9ba8de203ae5f","is_oa":true,"landing_page_url":"https://doaj.org/article/82450c0bcef4483994e9ba8de203ae5f","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 12, Pp 108863-108875 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2024.3439529","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3439529","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"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":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6786981661","display_name":null,"funder_award_id":"212102210503","funder_id":"https://openalex.org/F4320336593","funder_display_name":"Henan Provincial Science and Technology Research Project"}],"funders":[{"id":"https://openalex.org/F4320336593","display_name":"Henan Provincial Science and Technology Research Project","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1970504153","https://openalex.org/W2150066425","https://openalex.org/W2168676389","https://openalex.org/W2200124539","https://openalex.org/W2396274919","https://openalex.org/W2535547924","https://openalex.org/W2598706937","https://openalex.org/W2765767940","https://openalex.org/W2955863859","https://openalex.org/W2968288611","https://openalex.org/W2969313387","https://openalex.org/W3015551381","https://openalex.org/W3102327032","https://openalex.org/W3106440972","https://openalex.org/W3118802333","https://openalex.org/W3126721948","https://openalex.org/W3135038782","https://openalex.org/W3148176530","https://openalex.org/W4312263092","https://openalex.org/W4312264830","https://openalex.org/W4312614039","https://openalex.org/W4313166619","https://openalex.org/W4383097497","https://openalex.org/W4383109324","https://openalex.org/W4385245566","https://openalex.org/W4386071703","https://openalex.org/W4386524116","https://openalex.org/W4390754052","https://openalex.org/W4390872552","https://openalex.org/W4392207722","https://openalex.org/W4393864956","https://openalex.org/W4402703124","https://openalex.org/W6767088534","https://openalex.org/W6785114638","https://openalex.org/W6791943169","https://openalex.org/W6842108812","https://openalex.org/W6860528185"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W3024737167","https://openalex.org/W2414561716","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W2312326526","https://openalex.org/W2412578866","https://openalex.org/W3105866016","https://openalex.org/W4312703710"],"abstract_inverted_index":{"Visual":[0],"odometry":[1,66],"(VO)":[2],"systems":[3],"typically":[4],"rely":[5],"on":[6,86,132,180],"stacked":[7],"convolutional":[8,23],"layers":[9],"and":[10,63,122,144,173,183],"Long":[11],"Short-Term":[12],"Memory":[13],"(LSTM)":[14],"units":[15],"to":[16,37,70,96,117,140,165],"capture":[17],"long-range":[18,142],"dependencies":[19,143],"within":[20,147],"sequences.":[21,149],"However,":[22],"neural":[24],"networks":[25],"are":[26],"relatively":[27],"weak":[28],"in":[29,113],"modeling":[30],"global":[31,128],"context":[32],"information,":[33],"making":[34],"them":[35],"ill-suited":[36],"addressing":[38],"trajectory":[39],"drift":[40],"issues":[41],"that":[42,187],"arise":[43],"during":[44],"long-term":[45],"navigation.":[46],"Furthermore,":[47],"their":[48],"inherent":[49],"locality":[50],"impedes":[51],"the":[52,87,108,114,156,181],"model":[53,116],"from":[54],"achieving":[55],"better":[56],"performance.":[57],"Therefore,":[58],"we":[59,151],"propose":[60],"a":[61],"transformer":[62],"cross-frame-based":[64],"visual":[65],"method,":[67],"named":[68],"TSCVO,":[69],"address":[71],"these":[72],"challenges.":[73],"TSCVO":[74,188],"consists":[75],"of":[76],"two":[77],"main":[78],"components:":[79],"1)":[80],"A":[81,127],"relative":[82,98],"pose":[83,129],"subnetwork":[84,130],"based":[85,131],"k-NN":[88,105],"Timeformer":[89,115],"model,":[90],"which":[91,135],"utilizes":[92,136],"divided":[93],"space-time":[94],"attention":[95,106],"estimate":[97],"poses":[99],"between":[100,170],"adjacent":[101,171],"frames.":[102],"It":[103],"substitutes":[104],"for":[107],"original":[109],"fully":[110],"connected":[111],"self-attention":[112],"ignore":[118],"irrelevant":[119],"token":[120],"information":[121],"reduce":[123],"computational":[124],"complexity.":[125],"2)":[126],"cross-frame":[133,137],"attention,":[134],"interaction":[138],"mechanisms":[139],"learn":[141],"internal":[145],"correlations":[146],"image":[148],"Additionally,":[150],"introduce":[152],"robust":[153],"-":[154],"as":[155],"foundational":[157],"loss":[158,164],"function,":[159],"supplemented":[160],"by":[161],"geometric":[162],"consistency":[163],"further":[166],"constrain":[167],"structural":[168],"similarity":[169],"frames":[172],"improve":[174],"prediction":[175],"accuracy.":[176],"The":[177],"evaluation":[178],"results":[179],"KITTI":[182],"EuRoC":[184],"datasets":[185],"indicate":[186],"outperforms":[189],"other":[190],"learning-based":[191],"methods.":[192]},"counts_by_year":[{"year":2025,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}