{"id":"https://openalex.org/W4378192393","doi":"https://doi.org/10.1109/icarsc58346.2023.10129564","title":"Dyna-DM: Dynamic Object-aware Self-supervised Monocular Depth Maps","display_name":"Dyna-DM: Dynamic Object-aware Self-supervised Monocular Depth Maps","publication_year":2023,"publication_date":"2023-04-26","ids":{"openalex":"https://openalex.org/W4378192393","doi":"https://doi.org/10.1109/icarsc58346.2023.10129564"},"language":"en","primary_location":{"id":"doi:10.1109/icarsc58346.2023.10129564","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarsc58346.2023.10129564","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5046952726","display_name":"Kieran Saunders","orcid":null},"institutions":[{"id":"https://openalex.org/I169199633","display_name":"Aston University","ror":"https://ror.org/05j0ve876","country_code":"GB","type":"education","lineage":["https://openalex.org/I169199633"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Kieran Saunders","raw_affiliation_strings":["Aston University,Department of Computer Science,Birmingham,United Kingdom","Department of Computer Science, Aston University, Birmingham, United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aston University,Department of Computer Science,Birmingham,United Kingdom","institution_ids":["https://openalex.org/I169199633"]},{"raw_affiliation_string":"Department of Computer Science, Aston University, Birmingham, United Kingdom","institution_ids":["https://openalex.org/I169199633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020722131","display_name":"George Vogiatzis","orcid":"https://orcid.org/0000-0002-3226-0603"},"institutions":[{"id":"https://openalex.org/I143804889","display_name":"Loughborough University","ror":"https://ror.org/04vg4w365","country_code":"GB","type":"education","lineage":["https://openalex.org/I143804889"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"George Vogiatzis","raw_affiliation_strings":["Loughborough University,Department of Computer Science,Leicestershire,United Kingdom","Department of Computer Science, Loughborough University, Leicestershire, United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Loughborough University,Department of Computer Science,Leicestershire,United Kingdom","institution_ids":["https://openalex.org/I143804889"]},{"raw_affiliation_string":"Department of Computer Science, Loughborough University, Leicestershire, United Kingdom","institution_ids":["https://openalex.org/I143804889"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5078013087","display_name":"Luis J. Manso","orcid":"https://orcid.org/0000-0003-2616-1120"},"institutions":[{"id":"https://openalex.org/I169199633","display_name":"Aston University","ror":"https://ror.org/05j0ve876","country_code":"GB","type":"education","lineage":["https://openalex.org/I169199633"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Luis J. Manso","raw_affiliation_strings":["Aston University,Department of Computer Science,Birmingham,United Kingdom","Department of Computer Science, Aston University, Birmingham, United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aston University,Department of Computer Science,Birmingham,United Kingdom","institution_ids":["https://openalex.org/I169199633"]},{"raw_affiliation_string":"Department of Computer Science, Aston University, Birmingham, United Kingdom","institution_ids":["https://openalex.org/I169199633"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8497,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.81227723,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"10","last_page":"16"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9998999834060669,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9998999834060669,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9973999857902527,"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/T13114","display_name":"Image Processing Techniques and Applications","score":0.9973999857902527,"subfield":{"id":"https://openalex.org/subfields/2214","display_name":"Media Technology"},"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/monocular","display_name":"Monocular","score":0.8251857757568359},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7840607762336731},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7505630850791931},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6276483535766602},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5759143829345703},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5484396815299988},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.45624178647994995},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3964710831642151},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3440520763397217}],"concepts":[{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.8251857757568359},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7840607762336731},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7505630850791931},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6276483535766602},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5759143829345703},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5484396815299988},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.45624178647994995},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3964710831642151},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3440520763397217},{"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/icarsc58346.2023.10129564","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarsc58346.2023.10129564","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W2115579991","https://openalex.org/W2340897893","https://openalex.org/W2520707372","https://openalex.org/W2560474170","https://openalex.org/W2609883120","https://openalex.org/W2899771611","https://openalex.org/W2951234442","https://openalex.org/W2962807143","https://openalex.org/W2962864875","https://openalex.org/W2963150697","https://openalex.org/W2963345294","https://openalex.org/W2963412495","https://openalex.org/W2963619659","https://openalex.org/W2964968086","https://openalex.org/W2971000934","https://openalex.org/W2982459941","https://openalex.org/W2985775862","https://openalex.org/W3034604951","https://openalex.org/W3107389224","https://openalex.org/W3118453581","https://openalex.org/W3173727695","https://openalex.org/W3174522583","https://openalex.org/W3176063055","https://openalex.org/W3188759926","https://openalex.org/W4214520160","https://openalex.org/W4221151965","https://openalex.org/W4226179628","https://openalex.org/W6685261749","https://openalex.org/W6756040250","https://openalex.org/W6767088534","https://openalex.org/W6786385858"],"related_works":["https://openalex.org/W1508899372","https://openalex.org/W200819717","https://openalex.org/W1991834176","https://openalex.org/W2012658348","https://openalex.org/W2039460805","https://openalex.org/W4250956039","https://openalex.org/W2032269556","https://openalex.org/W4240485100","https://openalex.org/W2056130799","https://openalex.org/W4287124629"],"abstract_inverted_index":{"Self-supervised":[0],"monocular":[1],"depth":[2,31,102],"estimation":[3,32],"has":[4],"been":[5],"a":[6],"subject":[7],"of":[8,15,24],"intense":[9],"study":[10],"in":[11,18,97],"recent":[12,26],"years,":[13],"because":[14],"its":[16],"applications":[17],"robotics":[19],"and":[20,69,95,99],"autonomous":[21],"driving.":[22],"Much":[23],"the":[25,49],"work":[27],"focuses":[28],"on":[29],"improving":[30,48],"by":[33,47,93],"increasing":[34,54],"architecture":[35],"complexity.":[36,56],"This":[37],"paper":[38],"shows":[39],"that":[40,86],"state-of-the-art":[41],"performance":[42],"can":[43],"also":[44],"be":[45],"achieved":[46],"learning":[50],"process":[51],"rather":[52],"than":[53],"model":[55],"More":[57],"specifically,":[58],"we":[59],"propose":[60],"(i)":[61],"disregarding":[62],"small":[63],"potentially":[64],"dynamic":[65,82],"objects":[66],"when":[67],"training,":[68],"(ii)":[70],"employing":[71],"an":[72],"appearance-based":[73],"approach":[74],"to":[75],"separately":[76],"estimate":[77],"object":[78],"pose":[79],"for":[80],"truly":[81],"objects.":[83],"We":[84],"demonstrate":[85],"these":[87],"simplifications":[88],"reduce":[89],"GPU":[90],"memory":[91],"usage":[92],"29%":[94],"result":[96],"qualitatively":[98],"quantitatively":[100],"improved":[101],"maps.":[103]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}