{"id":"https://openalex.org/W3205067502","doi":"https://doi.org/10.1109/icra48506.2021.9562024","title":"ENCODE: a dEep poiNt Cloud ODometry nEtwork","display_name":"ENCODE: a dEep poiNt Cloud ODometry nEtwork","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3205067502","doi":"https://doi.org/10.1109/icra48506.2021.9562024","mag":"3205067502"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9562024","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9562024","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":"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/A5001434695","display_name":"Yihuan Zhang","orcid":"https://orcid.org/0000-0001-6341-4057"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yihuan Zhang","raw_affiliation_strings":["Intelligent Connected Vehicle Center, Tsinghua Automotive Research Institute, Suzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Connected Vehicle Center, Tsinghua Automotive Research Institute, Suzhou, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100456518","display_name":"Liang Wang","orcid":"https://orcid.org/0000-0002-3247-1080"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liang Wang","raw_affiliation_strings":["Intelligent Connected Vehicle Center, Tsinghua Automotive Research Institute, Suzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Connected Vehicle Center, Tsinghua Automotive Research Institute, Suzhou, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101472960","display_name":"Chen Fu","orcid":"https://orcid.org/0000-0001-6671-9534"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chen Fu","raw_affiliation_strings":["Robotic Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotic Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101422609","display_name":"Yifan Dai","orcid":"https://orcid.org/0000-0002-2065-3768"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yifan Dai","raw_affiliation_strings":["Intelligent Connected Vehicle Center, Tsinghua Automotive Research Institute, Suzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Connected Vehicle Center, Tsinghua Automotive Research Institute, Suzhou, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015076162","display_name":"John M. Dolan","orcid":"https://orcid.org/0000-0003-2062-100X"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"John M. Dolan","raw_affiliation_strings":["Robotic Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotic Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.40175144,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"14375","last_page":"14381"},"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":0.9993000030517578,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9976999759674072,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.8650035262107849},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.8062232732772827},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7962898015975952},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7814281582832336},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6713500022888184},{"id":"https://openalex.org/keywords/encode","display_name":"ENCODE","score":0.5605700612068176},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5272830128669739},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5021026134490967},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.49695447087287903},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.42520684003829956},{"id":"https://openalex.org/keywords/motion-estimation","display_name":"Motion estimation","score":0.4248894155025482},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.4231146275997162},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.4143671691417694},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.21570035815238953},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1775778830051422}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.8650035262107849},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.8062232732772827},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7962898015975952},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7814281582832336},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6713500022888184},{"id":"https://openalex.org/C66746571","wikidata":"https://www.wikidata.org/wiki/Q1134833","display_name":"ENCODE","level":3,"score":0.5605700612068176},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5272830128669739},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5021026134490967},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.49695447087287903},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.42520684003829956},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.4248894155025482},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.4231146275997162},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.4143671691417694},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.21570035815238953},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1775778830051422},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48506.2021.9562024","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9562024","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320322769","display_name":"Natural Science Foundation of Jiangsu Province","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":52,"referenced_works":["https://openalex.org/W2063549868","https://openalex.org/W2083624955","https://openalex.org/W2098764590","https://openalex.org/W2115579991","https://openalex.org/W2144491133","https://openalex.org/W2150066425","https://openalex.org/W2152864241","https://openalex.org/W2156307516","https://openalex.org/W2160821342","https://openalex.org/W2194775991","https://openalex.org/W2277848489","https://openalex.org/W2279098554","https://openalex.org/W2296228853","https://openalex.org/W2567552762","https://openalex.org/W2598706937","https://openalex.org/W2609883120","https://openalex.org/W2796347433","https://openalex.org/W2830339951","https://openalex.org/W2883357174","https://openalex.org/W2898693872","https://openalex.org/W2909908358","https://openalex.org/W2938818630","https://openalex.org/W2944796900","https://openalex.org/W2955307761","https://openalex.org/W2962816904","https://openalex.org/W2963264709","https://openalex.org/W2963995491","https://openalex.org/W2966072084","https://openalex.org/W2968917279","https://openalex.org/W2983104849","https://openalex.org/W2986382673","https://openalex.org/W2994689640","https://openalex.org/W3000359580","https://openalex.org/W3007240855","https://openalex.org/W3035490780","https://openalex.org/W3036919210","https://openalex.org/W3040008529","https://openalex.org/W3044144453","https://openalex.org/W3091486995","https://openalex.org/W3104408604","https://openalex.org/W3106440972","https://openalex.org/W3113378476","https://openalex.org/W3129245057","https://openalex.org/W4249866455","https://openalex.org/W4293584584","https://openalex.org/W6736677999","https://openalex.org/W6750227808","https://openalex.org/W6752865273","https://openalex.org/W6755791307","https://openalex.org/W6767164110","https://openalex.org/W6774320338","https://openalex.org/W6780901898"],"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":{"Ego-motion":[0],"estimation":[1],"is":[2,94,107,119,131,162],"a":[3,60,74,79,86,98,103,115,127,140],"key":[4],"requirement":[5],"for":[6],"the":[7,30,41,66,90,111,123,135,149,153],"simultaneous":[8],"localization":[9],"and":[10,23,52,63,114,138,161],"mapping":[11],"(SLAM)":[12],"problem.":[13],"The":[14],"traditional":[15],"pipeline":[16],"goes":[17],"through":[18],"feature":[19,21],"extraction,":[20],"matching":[22],"pose":[24,68],"estimation,":[25],"whose":[26],"performance":[27,43,155],"depends":[28],"on":[29,144],"manually":[31],"designed":[32],"features.":[33],"In":[34],"this":[35],"paper,":[36],"we":[37],"are":[38],"motivated":[39],"by":[40],"strong":[42],"of":[44,89,164,174],"deep":[45],"learning":[46],"methods":[47,160],"in":[48,156,171],"other":[49],"computer":[50],"vision":[51],"robotics":[53],"tasks.":[54],"We":[55],"replace":[56],"hand-crafted":[57],"features":[58,113],"with":[59,168],"neural":[61],"network":[62,105],"directly":[64],"estimate":[65,122],"relative":[67],"between":[69],"two":[70],"adjacent":[71],"scans":[72],"from":[73],"LiDAR":[75],"sensor":[76],"using":[77],"ENCODE:":[78],"dEep":[80],"poiNt":[81],"Cloud":[82],"ODometry":[83],"nEtwork.":[84],"Firstly,":[85],"spherical":[87],"projection":[88],"input":[91],"point":[92],"cloud":[93],"performed":[95],"to":[96,109,121,133,158],"acquire":[97],"multi-channel":[99],"vertex":[100],"map.":[101,142],"Then":[102],"multi-layer":[104],"backbone":[106],"applied":[108,132],"learn":[110],"abstracted":[112],"fully":[116],"connected":[117],"layer":[118],"adopted":[120],"6-DoF":[124],"ego-motion.":[125],"Additionally,":[126],"map-to-map":[128],"optimization":[129],"module":[130],"update":[134],"local":[136],"poses":[137,167],"output":[139],"smooth":[141],"Experiments":[143],"multiple":[145],"datasets":[146],"demonstrate":[147],"that":[148],"proposed":[150],"method":[151],"achieves":[152],"best":[154],"comparison":[157],"state-of-the-art":[159],"capable":[163],"providing":[165],"accurate":[166],"low":[169],"drift":[170],"various":[172],"kinds":[173],"scenarios.":[175]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
