{"id":"https://openalex.org/W4285102420","doi":"https://doi.org/10.1109/icra46639.2022.9812374","title":"UFO Depth: Unsupervised learning with flow-based odometry optimization for metric depth estimation","display_name":"UFO Depth: Unsupervised learning with flow-based odometry optimization for metric depth estimation","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W4285102420","doi":"https://doi.org/10.1109/icra46639.2022.9812374"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9812374","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812374","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"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":"2022 International Conference on Robotics and Automation (ICRA)","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/A5050557327","display_name":"Vlad Lic\u0103re\u0163","orcid":null},"institutions":[{"id":"https://openalex.org/I61641377","display_name":"Universitatea Na\u021bional\u0103 de \u0218tiin\u021b\u0103 \u0219i Tehnologie Politehnica Bucure\u0219ti","ror":"https://ror.org/0558j5q12","country_code":"RO","type":"education","lineage":["https://openalex.org/I61641377"]}],"countries":["RO"],"is_corresponding":false,"raw_author_name":"Vlad Licaret","raw_affiliation_strings":["University Politehnica of Bucharest,Bucharest","University Politehnica of Bucharest, Bucharest"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University Politehnica of Bucharest,Bucharest","institution_ids":["https://openalex.org/I61641377"]},{"raw_affiliation_string":"University Politehnica of Bucharest, Bucharest","institution_ids":["https://openalex.org/I61641377"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017385719","display_name":"Victor Robu","orcid":null},"institutions":[{"id":"https://openalex.org/I33800924","display_name":"Academia Oamenilor de \u0218tiin\u021b\u0103 din Rom\u00e2nia","ror":"https://ror.org/04ybnj478","country_code":"RO","type":"facility","lineage":["https://openalex.org/I33800924"]},{"id":"https://openalex.org/I4210120266","display_name":"Czech Academy of Sciences, Institute of Mathematics","ror":"https://ror.org/02tv1yf50","country_code":"CZ","type":"facility","lineage":["https://openalex.org/I202391551","https://openalex.org/I4210120266"]},{"id":"https://openalex.org/I58077936","display_name":"Romanian Academy","ror":"https://ror.org/0561n6946","country_code":"RO","type":"archive","lineage":["https://openalex.org/I58077936"]}],"countries":["CZ","RO"],"is_corresponding":false,"raw_author_name":"Victor Robu","raw_affiliation_strings":["Institute of Mathematics of the Romanian Academy,Bucharest","Institute of Mathematics of the Romanian Academy, Bucharest"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Mathematics of the Romanian Academy,Bucharest","institution_ids":["https://openalex.org/I58077936","https://openalex.org/I33800924"]},{"raw_affiliation_string":"Institute of Mathematics of the Romanian Academy, Bucharest","institution_ids":["https://openalex.org/I58077936","https://openalex.org/I4210120266"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102972675","display_name":"Alina Marcu","orcid":"https://orcid.org/0000-0002-8534-3728"},"institutions":[{"id":"https://openalex.org/I4210120266","display_name":"Czech Academy of Sciences, Institute of Mathematics","ror":"https://ror.org/02tv1yf50","country_code":"CZ","type":"facility","lineage":["https://openalex.org/I202391551","https://openalex.org/I4210120266"]},{"id":"https://openalex.org/I58077936","display_name":"Romanian Academy","ror":"https://ror.org/0561n6946","country_code":"RO","type":"archive","lineage":["https://openalex.org/I58077936"]},{"id":"https://openalex.org/I61641377","display_name":"Universitatea Na\u021bional\u0103 de \u0218tiin\u021b\u0103 \u0219i Tehnologie Politehnica Bucure\u0219ti","ror":"https://ror.org/0558j5q12","country_code":"RO","type":"education","lineage":["https://openalex.org/I61641377"]}],"countries":["CZ","RO"],"is_corresponding":false,"raw_author_name":"Alina Marcu","raw_affiliation_strings":["University Politehnica of Bucharest,Bucharest","Institute of Mathematics of the Romanian Academy, Bucharest","University Politehnica of Bucharest, Bucharest"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University Politehnica of Bucharest,Bucharest","institution_ids":["https://openalex.org/I61641377"]},{"raw_affiliation_string":"Institute of Mathematics of the Romanian Academy, Bucharest","institution_ids":["https://openalex.org/I58077936","https://openalex.org/I4210120266"]},{"raw_affiliation_string":"University Politehnica of Bucharest, Bucharest","institution_ids":["https://openalex.org/I61641377"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080006097","display_name":"Drago\u015f Costea","orcid":"https://orcid.org/0000-0003-1411-1433"},"institutions":[{"id":"https://openalex.org/I4210120266","display_name":"Czech Academy of Sciences, Institute of Mathematics","ror":"https://ror.org/02tv1yf50","country_code":"CZ","type":"facility","lineage":["https://openalex.org/I202391551","https://openalex.org/I4210120266"]},{"id":"https://openalex.org/I58077936","display_name":"Romanian Academy","ror":"https://ror.org/0561n6946","country_code":"RO","type":"archive","lineage":["https://openalex.org/I58077936"]},{"id":"https://openalex.org/I61641377","display_name":"Universitatea Na\u021bional\u0103 de \u0218tiin\u021b\u0103 \u0219i Tehnologie Politehnica Bucure\u0219ti","ror":"https://ror.org/0558j5q12","country_code":"RO","type":"education","lineage":["https://openalex.org/I61641377"]}],"countries":["CZ","RO"],"is_corresponding":false,"raw_author_name":"Dragos Costea","raw_affiliation_strings":["University Politehnica of Bucharest,Bucharest","University Politehnica of Bucharest, Bucharest","Institute of Mathematics of the Romanian Academy, Bucharest"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University Politehnica of Bucharest,Bucharest","institution_ids":["https://openalex.org/I61641377"]},{"raw_affiliation_string":"University Politehnica of Bucharest, Bucharest","institution_ids":["https://openalex.org/I61641377"]},{"raw_affiliation_string":"Institute of Mathematics of the Romanian Academy, Bucharest","institution_ids":["https://openalex.org/I58077936","https://openalex.org/I4210120266"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034254754","display_name":"Emil Slu\u015fanschi","orcid":"https://orcid.org/0000-0003-0222-1002"},"institutions":[{"id":"https://openalex.org/I61641377","display_name":"Universitatea Na\u021bional\u0103 de \u0218tiin\u021b\u0103 \u0219i Tehnologie Politehnica Bucure\u0219ti","ror":"https://ror.org/0558j5q12","country_code":"RO","type":"education","lineage":["https://openalex.org/I61641377"]}],"countries":["RO"],"is_corresponding":false,"raw_author_name":"Emil Slusanschi","raw_affiliation_strings":["University Politehnica of Bucharest,Bucharest","University Politehnica of Bucharest, Bucharest"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University Politehnica of Bucharest,Bucharest","institution_ids":["https://openalex.org/I61641377"]},{"raw_affiliation_string":"University Politehnica of Bucharest, Bucharest","institution_ids":["https://openalex.org/I61641377"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066107323","display_name":"Rahul Sukthankar","orcid":null},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rahul Sukthankar","raw_affiliation_strings":["Google Research,Mountain View,CA,USA","Google Research, Mountain View, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Google Research,Mountain View,CA,USA","institution_ids":["https://openalex.org/I1291425158"]},{"raw_affiliation_string":"Google Research, Mountain View, CA, USA","institution_ids":["https://openalex.org/I1291425158"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086392501","display_name":"Marius Leordeanu","orcid":"https://orcid.org/0000-0001-8479-8758"},"institutions":[{"id":"https://openalex.org/I4210120266","display_name":"Czech Academy of Sciences, Institute of Mathematics","ror":"https://ror.org/02tv1yf50","country_code":"CZ","type":"facility","lineage":["https://openalex.org/I202391551","https://openalex.org/I4210120266"]},{"id":"https://openalex.org/I58077936","display_name":"Romanian Academy","ror":"https://ror.org/0561n6946","country_code":"RO","type":"archive","lineage":["https://openalex.org/I58077936"]},{"id":"https://openalex.org/I61641377","display_name":"Universitatea Na\u021bional\u0103 de \u0218tiin\u021b\u0103 \u0219i Tehnologie Politehnica Bucure\u0219ti","ror":"https://ror.org/0558j5q12","country_code":"RO","type":"education","lineage":["https://openalex.org/I61641377"]}],"countries":["CZ","RO"],"is_corresponding":false,"raw_author_name":"Marius Leordeanu","raw_affiliation_strings":["University Politehnica of Bucharest,Bucharest","University Politehnica of Bucharest, Bucharest","Institute of Mathematics of the Romanian Academy, Bucharest"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University Politehnica of Bucharest,Bucharest","institution_ids":["https://openalex.org/I61641377"]},{"raw_affiliation_string":"University Politehnica of Bucharest, Bucharest","institution_ids":["https://openalex.org/I61641377"]},{"raw_affiliation_string":"Institute of Mathematics of the Romanian Academy, Bucharest","institution_ids":["https://openalex.org/I58077936","https://openalex.org/I4210120266"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"6526","last_page":"6532"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":1.0,"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":1.0,"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":0.9994000196456909,"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":0.9980000257492065,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.76218581199646},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.6943714618682861},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6742188930511475},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.5837587118148804},{"id":"https://openalex.org/keywords/unsupervised-learning","display_name":"Unsupervised learning","score":0.5552225708961487},{"id":"https://openalex.org/keywords/optical-flow","display_name":"Optical flow","score":0.5454824566841125},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5110615491867065},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.48115837574005127},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.46293964982032776},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.35837915539741516},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.32207876443862915},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.21663299202919006},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.19122323393821716},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1485772430896759},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13655588030815125}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.76218581199646},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.6943714618682861},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6742188930511475},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.5837587118148804},{"id":"https://openalex.org/C8038995","wikidata":"https://www.wikidata.org/wiki/Q1152135","display_name":"Unsupervised learning","level":2,"score":0.5552225708961487},{"id":"https://openalex.org/C155542232","wikidata":"https://www.wikidata.org/wiki/Q736111","display_name":"Optical flow","level":3,"score":0.5454824566841125},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5110615491867065},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.48115837574005127},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.46293964982032776},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.35837915539741516},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.32207876443862915},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.21663299202919006},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.19122323393821716},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1485772430896759},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13655588030815125},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0},{"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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra46639.2022.9812374","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812374","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"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":"2022 International Conference on Robotics and Automation (ICRA)","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":35,"referenced_works":["https://openalex.org/W2033819227","https://openalex.org/W2063549868","https://openalex.org/W2100172545","https://openalex.org/W2544243493","https://openalex.org/W2953957675","https://openalex.org/W2955488403","https://openalex.org/W2962777203","https://openalex.org/W2971000934","https://openalex.org/W2982102242","https://openalex.org/W2985775862","https://openalex.org/W2999318879","https://openalex.org/W3000674297","https://openalex.org/W3009540265","https://openalex.org/W3028752951","https://openalex.org/W3034604951","https://openalex.org/W3048510980","https://openalex.org/W3091046528","https://openalex.org/W3093159043","https://openalex.org/W3109908659","https://openalex.org/W3110869204","https://openalex.org/W3141920857","https://openalex.org/W3164689507","https://openalex.org/W3172610252","https://openalex.org/W3173169233","https://openalex.org/W3174458495","https://openalex.org/W3176193798","https://openalex.org/W3180199962","https://openalex.org/W3202343472","https://openalex.org/W4214520160","https://openalex.org/W4312969460","https://openalex.org/W6767088534","https://openalex.org/W6775583579","https://openalex.org/W6783561433","https://openalex.org/W6784135534","https://openalex.org/W6799290349"],"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":{"We":[0,25,111,128],"propose":[1],"an":[2,30,72],"efficient":[3],"method":[4,76],"for":[5,100,107,166,178],"unsupervised":[6,104,142],"learning":[7,105],"of":[8,19,29,39,135],"metric":[9,108],"depth":[10,74,88,109],"estimation":[11,75],"from":[12,23,139],"a":[13,115,163],"single":[14],"image":[15],"in":[16,66],"the":[17,27,37,48,54,57,62,67,86],"context":[18],"unconstrained":[20],"videos":[21],"captured":[22],"UAVs.":[24],"combine":[26],"accuracy":[28],"analytical":[31,73,140],"solution":[32],"based":[33,77],"on":[34,78,114,159],"odometry":[35],"with":[36],"power":[38],"deep":[40],"learning.":[41],"First,":[42],"we":[43,70,120],"show":[44],"how":[45],"to":[46,144],"correct":[47],"noisy":[49],"odometric":[50],"measurements":[51],"by":[52,123,130],"optimizing":[53],"alignment":[55],"between":[56],"derotated":[58],"optical":[59,79],"flow":[60,80],"and":[61,81,89,141,151,175],"projected":[63],"linear":[64],"speed":[65],"image.":[68],"Then,":[69],"detail":[71],"corrected":[82],"camera":[83,90],"velocities.":[84],"Subsequently,":[85],"improved":[87],"veloc-ities":[91],"obtained":[92],"analytically":[93],"are":[94],"used,":[95],"as":[96,172],"additional":[97],"cost":[98],"terms,":[99],"training":[101],"our":[102],"novel":[103,126],"architecture":[106],"estimation.":[110],"extensively":[112],"test":[113],"recent":[116],"UAV":[117,179],"dataset,":[118],"which":[119],"significantly":[121],"extend":[122],"adding":[124],"completely":[125],"scenes.":[127],"outperform":[129],"significant":[131],"margins":[132],"different":[133],"kinds":[134],"state-of-the-art":[136],"approaches,":[137],"ranging":[138],"solutions":[143],"transformer-based":[145],"architectures":[146],"that":[147],"require":[148],"heavy":[149],"computation":[150],"pre-training.":[152],"The":[153],"resulting":[154],"algorithm":[155],"could":[156],"be":[157],"deployed":[158],"embedded":[160],"devices,":[161],"being":[162],"good":[164],"candidate":[165],"practical":[167],"robotics":[168],"use":[169],"cases,":[170],"such":[171],"obstacle":[173],"avoidance":[174],"safe":[176],"landing":[177],"s.":[180]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2023,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}