{"id":"https://openalex.org/W3207056648","doi":"https://doi.org/10.1109/icra48506.2021.9562012","title":"Toward Robust and Efficient Online Adaptation for Deep Stereo Depth Estimation","display_name":"Toward Robust and Efficient Online Adaptation for Deep Stereo Depth Estimation","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3207056648","doi":"https://doi.org/10.1109/icra48506.2021.9562012","mag":"3207056648"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9562012","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9562012","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hdl.handle.net/1721.1/145527","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5064378439","display_name":"Milo Knowles","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":false,"raw_author_name":"Milo Knowles","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory (CSAIL), Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory (CSAIL), Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047981770","display_name":"Valentin Peretroukhin","orcid":"https://orcid.org/0000-0002-0698-4755"},"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":"Valentin Peretroukhin","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory (CSAIL), Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory (CSAIL), Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","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":false,"raw_author_name":"W. Nicholas Greene","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory (CSAIL), Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory (CSAIL), Massachusetts Institute of Technology, Cambridge, MA, USA","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 (CSAIL), Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory (CSAIL), Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":0.191,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.51957841,"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":"12192","last_page":"12198"},"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/T11105","display_name":"Advanced Image Processing Techniques","score":0.9962000250816345,"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/T11019","display_name":"Image Enhancement Techniques","score":0.9958999752998352,"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":0.8618313074111938},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7185716032981873},{"id":"https://openalex.org/keywords/forgetting","display_name":"Forgetting","score":0.7092276215553284},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.6658564805984497},{"id":"https://openalex.org/keywords/deep-neural-networks","display_name":"Deep neural networks","score":0.5517940521240234},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.5077499151229858},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.4920477569103241},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.4907592236995697},{"id":"https://openalex.org/keywords/domain-adaptation","display_name":"Domain adaptation","score":0.47953104972839355},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.4405447244644165}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8618313074111938},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7185716032981873},{"id":"https://openalex.org/C7149132","wikidata":"https://www.wikidata.org/wiki/Q1377840","display_name":"Forgetting","level":2,"score":0.7092276215553284},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.6658564805984497},{"id":"https://openalex.org/C2984842247","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep neural networks","level":3,"score":0.5517940521240234},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.5077499151229858},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4920477569103241},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.4907592236995697},{"id":"https://openalex.org/C2776434776","wikidata":"https://www.wikidata.org/wiki/Q19246213","display_name":"Domain adaptation","level":3,"score":0.47953104972839355},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.4405447244644165},{"id":"https://openalex.org/C95623464","wikidata":"https://www.wikidata.org/wiki/Q1096149","display_name":"Classifier (UML)","level":2,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra48506.2021.9562012","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9562012","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:dspace.mit.edu:1721.1/145527","is_oa":true,"landing_page_url":"https://hdl.handle.net/1721.1/145527","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:1721.1/145527","is_oa":true,"landing_page_url":"https://hdl.handle.net/1721.1/145527","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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":51,"referenced_works":["https://openalex.org/W1522301498","https://openalex.org/W1570212358","https://openalex.org/W1682403713","https://openalex.org/W1929856797","https://openalex.org/W1955055330","https://openalex.org/W2104974755","https://openalex.org/W2115579991","https://openalex.org/W2116522068","https://openalex.org/W2119885577","https://openalex.org/W2133665775","https://openalex.org/W2141559645","https://openalex.org/W2144041313","https://openalex.org/W2173248099","https://openalex.org/W2219193941","https://openalex.org/W2440384215","https://openalex.org/W2520707372","https://openalex.org/W2560647685","https://openalex.org/W2604231069","https://openalex.org/W2604763608","https://openalex.org/W2734960757","https://openalex.org/W2788388592","https://openalex.org/W2889285628","https://openalex.org/W2899160681","https://openalex.org/W2904693122","https://openalex.org/W2924518260","https://openalex.org/W2939331721","https://openalex.org/W2950340156","https://openalex.org/W2963314874","https://openalex.org/W2963527685","https://openalex.org/W2963713828","https://openalex.org/W2963864421","https://openalex.org/W2963872790","https://openalex.org/W2964067969","https://openalex.org/W2964121744","https://openalex.org/W2964248288","https://openalex.org/W2985936292","https://openalex.org/W3015696844","https://openalex.org/W3032131819","https://openalex.org/W3033193681","https://openalex.org/W3098683888","https://openalex.org/W3100388886","https://openalex.org/W3176755188","https://openalex.org/W4234282793","https://openalex.org/W6631190155","https://openalex.org/W6640083356","https://openalex.org/W6677258307","https://openalex.org/W6684921986","https://openalex.org/W6736057607","https://openalex.org/W6757042666","https://openalex.org/W6761494965","https://openalex.org/W6775421375"],"related_works":["https://openalex.org/W4289718052","https://openalex.org/W2164121020","https://openalex.org/W2145559838","https://openalex.org/W3116498279","https://openalex.org/W4377865163","https://openalex.org/W2970987681","https://openalex.org/W3193857078","https://openalex.org/W2888956734","https://openalex.org/W4285236786","https://openalex.org/W3208304128"],"abstract_inverted_index":{"Although":[0],"deep":[1,88,176],"neural":[2],"networks":[3],"have":[4],"achieved":[5],"state-of-the-art":[6],"performance":[7,43,158],"for":[8,40,53,61,94,103,131],"stereo":[9,89,177],"depth":[10,75],"estimation,":[11],"they":[12],"can":[13,91,180],"suffer":[14],"from":[15,25,86],"a":[16,37,59,171],"significant":[17],"drop":[18],"in":[19,151,159],"accuracy":[20,150],"when":[21,113],"tested":[22],"on":[23],"images":[24],"novel":[26,63,160],"domains.":[27],"Recent":[28],"work":[29],"has":[30],"shown":[31],"that":[32,74,81,128,179],"self-supervised":[33],"online":[34,54,108],"adaptation":[35,69,112,133,143],"is":[36],"promising":[38],"approach":[39],"closing":[41],"this":[42,46],"gap.":[44],"In":[45,162],"work,":[47],"we":[48,57,106,126,147],"address":[49],"three":[50,165],"unsolved":[51],"challenges":[52],"adaptation.":[55,104],"First,":[56],"propose":[58],"method":[60],"detecting":[62],"environments,":[64],"allowing":[65,118],"us":[66,119],"to":[67,110,120,184],"trigger":[68],"and":[70,174,182],"notify":[71],"downstream":[72],"systems":[73],"predictions":[76],"are":[77],"unreliable.":[78],"We":[79],"find":[80],"the":[82,99,138,152,168],"feature":[83],"similarity":[84],"scores":[85],"our":[87],"network":[90],"be":[92],"leveraged":[93],"out-of-distribution":[95],"(OOD)":[96],"detection,":[97],"providing":[98],"necessary":[100],"starting":[101],"criterion":[102],"Next,":[105],"use":[107],"validation":[109],"terminate":[111],"it":[114],"stops":[115],"improving":[116,157],"performance,":[117],"free":[121],"up":[122],"computational":[123],"resources.":[124],"Finally,":[125],"demonstrate":[127],"existing":[129],"methods":[130],"continuous":[132],"cause":[134],"catastrophic":[135],"forgetting":[136],"of":[137,170],"training":[139,153],"domain.":[140],"By":[141],"augmenting":[142],"with":[144],"experience":[145],"replay,":[146],"retain":[148],"high":[149],"domain":[154],"while":[155],"rapidly":[156],"environments.":[161],"sum,":[163],"these":[164],"contributions":[166],"form":[167],"basis":[169],"more":[172],"robust":[173],"efficient":[175],"system":[178],"recognize":[181],"adapt":[183],"new":[185],"environments":[186],"without":[187],"forgetting.":[188]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
