{"id":"https://openalex.org/W3090766144","doi":"https://doi.org/10.1109/icra40945.2020.9196900","title":"Metrically-Scaled Monocular SLAM using Learned Scale Factors","display_name":"Metrically-Scaled Monocular SLAM using Learned Scale Factors","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3090766144","doi":"https://doi.org/10.1109/icra40945.2020.9196900","mag":"3090766144"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9196900","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196900","pdf_url":null,"source":null,"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"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hdl.handle.net/1721.1/137312","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5063469179","display_name":"W. Nicholas Greene","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"W. Nicholas Greene","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA"],"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103263485","display_name":"Nicholas Roy","orcid":"https://orcid.org/0000-0001-9307-4196"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nicholas Roy","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA"],"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5063469179"],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":19.5302,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.98679706,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"43","last_page":"50"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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":0.9998000264167786,"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/T10638","display_name":"Optical measurement and interference techniques","score":0.9976999759674072,"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/epipolar-geometry","display_name":"Epipolar geometry","score":0.7686256766319275},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7008650302886963},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6885111331939697},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6618185043334961},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6493013501167297},{"id":"https://openalex.org/keywords/observability","display_name":"Observability","score":0.6162071228027344},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.5804049968719482},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.5488723516464233},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.5069730281829834},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4495863914489746},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.24390563368797302},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.18797767162322998},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.17114952206611633},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15486887097358704},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.11785447597503662}],"concepts":[{"id":"https://openalex.org/C23379248","wikidata":"https://www.wikidata.org/wiki/Q200904","display_name":"Epipolar geometry","level":3,"score":0.7686256766319275},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7008650302886963},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6885111331939697},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6618185043334961},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6493013501167297},{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.6162071228027344},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.5804049968719482},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.5488723516464233},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.5069730281829834},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4495863914489746},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.24390563368797302},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.18797767162322998},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.17114952206611633},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15486887097358704},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.11785447597503662},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra40945.2020.9196900","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196900","pdf_url":null,"source":null,"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:dspace.mit.edu:1721.1/137312","is_oa":true,"landing_page_url":"https://hdl.handle.net/1721.1/137312","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"MIT web domain","raw_type":"http://purl.org/eprint/type/ConferencePaper"}],"best_oa_location":{"id":"pmh:oai:dspace.mit.edu:1721.1/137312","is_oa":true,"landing_page_url":"https://hdl.handle.net/1721.1/137312","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"MIT web domain","raw_type":"http://purl.org/eprint/type/ConferencePaper"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.46000000834465027,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":60,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1522301498","https://openalex.org/W1612997784","https://openalex.org/W1665214252","https://openalex.org/W1803059841","https://openalex.org/W1951265541","https://openalex.org/W1970504153","https://openalex.org/W2021851106","https://openalex.org/W2035379092","https://openalex.org/W2087070363","https://openalex.org/W2091790851","https://openalex.org/W2113243634","https://openalex.org/W2117228865","https://openalex.org/W2118223742","https://openalex.org/W2118877769","https://openalex.org/W2130103520","https://openalex.org/W2132947399","https://openalex.org/W2150066425","https://openalex.org/W2151290401","https://openalex.org/W2171740948","https://openalex.org/W2194775991","https://openalex.org/W2214788824","https://openalex.org/W2474281075","https://openalex.org/W2520707372","https://openalex.org/W2535547924","https://openalex.org/W2559203616","https://openalex.org/W2598706937","https://openalex.org/W2606794968","https://openalex.org/W2609883120","https://openalex.org/W2745859992","https://openalex.org/W2754329383","https://openalex.org/W2830339951","https://openalex.org/W2934347061","https://openalex.org/W2950971522","https://openalex.org/W2951234442","https://openalex.org/W2952348863","https://openalex.org/W2963562098","https://openalex.org/W2964052474","https://openalex.org/W2964121744","https://openalex.org/W2964206229","https://openalex.org/W2964314455","https://openalex.org/W2999502853","https://openalex.org/W3029645440","https://openalex.org/W3099788636","https://openalex.org/W3102327032","https://openalex.org/W3103648783","https://openalex.org/W3106440972","https://openalex.org/W4301014524","https://openalex.org/W6618872416","https://openalex.org/W6631190155","https://openalex.org/W6637242042","https://openalex.org/W6638271744","https://openalex.org/W6677548441","https://openalex.org/W6677871018","https://openalex.org/W6679388247","https://openalex.org/W6679911085","https://openalex.org/W6685261749","https://openalex.org/W6721610202","https://openalex.org/W6742827162","https://openalex.org/W6744864977"],"related_works":["https://openalex.org/W2046459260","https://openalex.org/W2765830098","https://openalex.org/W132764016","https://openalex.org/W2148054235","https://openalex.org/W4251504644","https://openalex.org/W2967463586","https://openalex.org/W2132043085","https://openalex.org/W1971989957","https://openalex.org/W2517338020","https://openalex.org/W2980723633"],"abstract_inverted_index":{"We":[0,187],"propose":[1],"an":[2],"efficient":[3],"method":[4,161],"for":[5],"monocular":[6],"simultaneous":[7],"localization":[8],"and":[9,110,177],"mapping":[10],"(SLAM)":[11],"that":[12,67,93],"is":[13,162],"capable":[14],"of":[15,117],"estimating":[16],"metrically-scaled":[17],"motion":[18],"without":[19,140,169],"additional":[20,170],"sensors":[21],"or":[22,174,181],"hardware":[23,172],"acceleration":[24],"by":[25],"integrating":[26],"metric":[27,149],"depth":[28,60,74,118],"predictions":[29,75,133],"from":[30],"a":[31,35,97,156,202],"neural":[32],"network":[33,89,108],"into":[34],"geometric":[36],"SLAM":[37,43],"factor":[38],"graph.":[39,159],"Unlike":[40,57],"learned":[41,59,73,148],"end-to-end":[42],"systems,":[44],"ours":[45,63],"does":[46,178],"not":[47,179],"ignore":[48,180],"the":[49,55,65,91,115,147,183,192],"relative":[50],"geometry":[51],"directly":[52],"observable":[53,184],"in":[54,80,134,155,196],"images.":[56],"existing":[58],"estimation":[61],"approaches,":[62],"leverages":[64],"insight":[66],"when":[68,120],"used":[69],"to":[70,86,90,106,113,127,164,198],"estimate":[71,128],"scale,":[72],"need":[76],"only":[77,135],"be":[78],"coarse":[79,122],"image":[81],"space.":[82],"This":[83],"allows":[84,125],"us":[85,126],"shrink":[87],"our":[88,107],"point":[92],"performing":[94],"inference":[95],"on":[96,191],"standard":[98],"CPU":[99],"becomes":[100],"computationally":[101],"tractable.We":[102],"make":[103],"several":[104],"improvements":[105],"architecture":[109],"training":[111],"procedure":[112],"address":[114],"lack":[116],"observability":[119],"using":[121],"images,":[123],"which":[124],"spatially":[129],"coarse,":[130],"but":[131],"depth-accurate":[132],"30":[136],"ms":[137],"per":[138],"frame":[139],"GPU":[141],"acceleration.":[142],"At":[143],"runtime":[144],"we":[145],"incorporate":[146],"data":[150],"as":[151],"unary":[152],"scale":[153],"factors":[154],"Sim(3)":[157],"pose":[158],"Our":[160],"able":[163],"generate":[165],"accurate,":[166],"scaled":[167],"poses":[168],"sensors,":[171],"accelerators,":[173],"special":[175],"maneuvers":[176],"corrupt":[182],"epipolar":[185],"geometry.":[186],"show":[188],"compelling":[189],"results":[190],"KITTI":[193],"benchmark":[194],"dataset":[195],"addition":[197],"real-world":[199],"experiments":[200],"with":[201],"handheld":[203],"camera.":[204]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}