{"id":"https://openalex.org/W3009204925","doi":"https://doi.org/10.1109/globecom38437.2019.9013757","title":"LightVO: Lightweight Inertial-Assisted Monocular Visual Odometry with Dense Neural Networks","display_name":"LightVO: Lightweight Inertial-Assisted Monocular Visual Odometry with Dense Neural Networks","publication_year":2019,"publication_date":"2019-12-01","ids":{"openalex":"https://openalex.org/W3009204925","doi":"https://doi.org/10.1109/globecom38437.2019.9013757","mag":"3009204925"},"language":"en","primary_location":{"id":"doi:10.1109/globecom38437.2019.9013757","is_oa":false,"landing_page_url":"https://doi.org/10.1109/globecom38437.2019.9013757","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE Global Communications Conference (GLOBECOM)","raw_type":"proceedings-article"},"type":"article","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/A5102621190","display_name":"Zibin Guo","orcid":null},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zibin Guo","raw_affiliation_strings":["School of Communication Information Engineering, University of Electronic Science and Technology of China"],"affiliations":[{"raw_affiliation_string":"School of Communication Information Engineering, University of Electronic Science and Technology of China","institution_ids":["https://openalex.org/I150229711"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090804580","display_name":"Mingkun Yang","orcid":"https://orcid.org/0000-0001-7389-1842"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingkun Yang","raw_affiliation_strings":["School of Communication Information Engineering, University of Electronic Science and Technology of China"],"affiliations":[{"raw_affiliation_string":"School of Communication Information Engineering, University of Electronic Science and Technology of China","institution_ids":["https://openalex.org/I150229711"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082936682","display_name":"Ninghao Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ninghao Chen","raw_affiliation_strings":["School of Communication Information Engineering, University of Electronic Science and Technology of China"],"affiliations":[{"raw_affiliation_string":"School of Communication Information Engineering, University of Electronic Science and Technology of China","institution_ids":["https://openalex.org/I150229711"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103052017","display_name":"Zhuoling Xiao","orcid":"https://orcid.org/0000-0002-8118-2330"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhuoling Xiao","raw_affiliation_strings":["School of Communication Information Engineering, University of Electronic Science and Technology of China"],"affiliations":[{"raw_affiliation_string":"School of Communication Information Engineering, University of Electronic Science and Technology of China","institution_ids":["https://openalex.org/I150229711"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081115024","display_name":"Bo Yan","orcid":"https://orcid.org/0000-0003-0256-9682"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bo Yan","raw_affiliation_strings":["School of Communication Information Engineering, University of Electronic Science and Technology of China"],"affiliations":[{"raw_affiliation_string":"School of Communication Information Engineering, University of Electronic Science and Technology of China","institution_ids":["https://openalex.org/I150229711"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103251262","display_name":"Shuisheng Lin","orcid":"https://orcid.org/0000-0003-2296-8146"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuisheng Lin","raw_affiliation_strings":["School of Communication Information Engineering, University of Electronic Science and Technology of China"],"affiliations":[{"raw_affiliation_string":"School of Communication Information Engineering, University of Electronic Science and Technology of China","institution_ids":["https://openalex.org/I150229711"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101543507","display_name":"Liang Zhou","orcid":"https://orcid.org/0000-0002-5957-2674"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liang Zhou","raw_affiliation_strings":["School of Communication Information Engineering, University of Electronic Science and Technology of China"],"affiliations":[{"raw_affiliation_string":"School of Communication Information Engineering, University of Electronic Science and Technology of China","institution_ids":["https://openalex.org/I150229711"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5102621190"],"corresponding_institution_ids":["https://openalex.org/I150229711"],"apc_list":null,"apc_paid":null,"fwci":0.3967,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.76580598,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9986000061035156,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9958000183105469,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/odometry","display_name":"Odometry","score":0.8230829834938049},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7767759561538696},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.7563183307647705},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7456930875778198},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.7385191917419434},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6333677172660828},{"id":"https://openalex.org/keywords/optical-flow","display_name":"Optical flow","score":0.593734622001648},{"id":"https://openalex.org/keywords/translation","display_name":"Translation (biology)","score":0.5663106441497803},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.48868587613105774},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.48737627267837524},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.4690924882888794},{"id":"https://openalex.org/keywords/units-of-measurement","display_name":"Units of measurement","score":0.46818745136260986},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.4521215558052063},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.42313092947006226},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2089531123638153},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1679936945438385},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.13213413953781128},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.12456592917442322}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.8230829834938049},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7767759561538696},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.7563183307647705},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7456930875778198},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.7385191917419434},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6333677172660828},{"id":"https://openalex.org/C155542232","wikidata":"https://www.wikidata.org/wiki/Q736111","display_name":"Optical flow","level":3,"score":0.593734622001648},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.5663106441497803},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.48868587613105774},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.48737627267837524},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.4690924882888794},{"id":"https://openalex.org/C151233233","wikidata":"https://www.wikidata.org/wiki/Q47574","display_name":"Units of measurement","level":2,"score":0.46818745136260986},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.4521215558052063},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.42313092947006226},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2089531123638153},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1679936945438385},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.13213413953781128},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.12456592917442322},{"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/C105580179","wikidata":"https://www.wikidata.org/wiki/Q188928","display_name":"Messenger RNA","level":3,"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/globecom38437.2019.9013757","is_oa":false,"landing_page_url":"https://doi.org/10.1109/globecom38437.2019.9013757","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE Global Communications Conference (GLOBECOM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure","score":0.41999998688697815}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1578985305","https://openalex.org/W1970504153","https://openalex.org/W2015996585","https://openalex.org/W2035379092","https://openalex.org/W2091790851","https://openalex.org/W2150066425","https://openalex.org/W2168676389","https://openalex.org/W2200124539","https://openalex.org/W2220063164","https://openalex.org/W2400202024","https://openalex.org/W2474281075","https://openalex.org/W2511730936","https://openalex.org/W2535547924","https://openalex.org/W2560474170","https://openalex.org/W2598706937","https://openalex.org/W2612774882","https://openalex.org/W2745859992","https://openalex.org/W2794387644","https://openalex.org/W2795839309","https://openalex.org/W2909157769","https://openalex.org/W2909946115","https://openalex.org/W2951336016","https://openalex.org/W2952348863","https://openalex.org/W2963216700","https://openalex.org/W2963446712","https://openalex.org/W2963583471","https://openalex.org/W3102327032","https://openalex.org/W6742827162"],"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/W3105866016","https://openalex.org/W2412578866","https://openalex.org/W4312703710"],"abstract_inverted_index":{"Monocular":[0],"visual":[1],"odometry":[2],"(VO)":[3],"is":[4],"one":[5],"of":[6,69,75,131],"the":[7,35,92,100,107,116,121,132,143,151,162],"most":[8,68],"practical":[9],"ways":[10],"in":[11,23,52],"vehicle":[12,18],"autonomous":[13],"positioning,":[14],"through":[15],"which":[16],"a":[17,24,48,72,85],"can":[19,169],"automatically":[20],"locate":[21],"itself":[22],"completely":[25],"unknown":[26],"environment.":[27],"Although":[28],"some":[29],"existing":[30,56],"VO":[31,57,88],"algorithms":[32],"have":[33,135,148],"proved":[34],"superiority,":[36],"they":[37],"usually":[38],"need":[39],"another":[40],"precise":[41],"adjustment":[42],"to":[43,114],"operate":[44],"well":[45],"when":[46],"using":[47,120],"different":[49,53],"camera":[50],"or":[51],"environments.":[54],"The":[55,146],"methods":[58],"based":[59,90],"on":[60,91,142],"deep":[61,165],"learning":[62,166],"require":[63],"few":[64],"manual":[65],"calibration,":[66],"but":[67],"them":[70],"occupy":[71],"tremendous":[73],"amount":[74],"computing":[76],"resources":[77],"and":[78,95,111,118,124,128,140],"cannot":[79],"realize":[80],"real-time":[81,87],"VO.":[82,167],"We":[83,134],"propose":[84],"highly":[86],"system":[89,153],"optical":[93,108],"flow":[94,109],"DenseNet":[96,112],"structure":[97,113],"accompanied":[98],"with":[99],"inertial":[101],"measurement":[102],"unit":[103],"(IMU).":[104],"It":[105,168],"cascade":[106],"network":[110],"calculate":[115],"translation":[117,174],"rotation,":[119],"calculated":[122],"information":[123],"IMU":[125],"for":[126],"construction":[127],"self-":[129],"correction":[130],"map.":[133],"verified":[136],"its":[137],"computational":[138],"complexity":[139],"performance":[141],"KITTI":[144],"dataset.":[145],"experiments":[147],"shown":[149],"that":[150],"proposed":[152],"only":[154],"requires":[155],"less":[156],"than":[157,161],"50%":[158],"computation":[159],"power":[160],"main":[163],"stream":[164],"also":[170],"achieve":[171],"30%":[172],"higher":[173],"accuracy":[175],"as":[176],"well.":[177]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}