{"id":"https://openalex.org/W3139469389","doi":"https://doi.org/10.1109/icra48506.2021.9562086","title":"What My Motion tells me about Your Pose: A Self-Supervised Monocular 3D Vehicle Detector","display_name":"What My Motion tells me about Your Pose: A Self-Supervised Monocular 3D Vehicle Detector","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3139469389","doi":"https://doi.org/10.1109/icra48506.2021.9562086","mag":"3139469389"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9562086","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9562086","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":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2007.14812","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5072889080","display_name":"C\u00e9dric Picron","orcid":"https://orcid.org/0000-0002-0602-6928"},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Cedric Picron","raw_affiliation_strings":["ESAT-PSI, KU Leuven","KU Leuven,ESAT-PSI"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ESAT-PSI, KU Leuven","institution_ids":["https://openalex.org/I99464096"]},{"raw_affiliation_string":"KU Leuven,ESAT-PSI","institution_ids":["https://openalex.org/I99464096"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045185635","display_name":"Punarjay Chakravarty","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Punarjay Chakravarty","raw_affiliation_strings":["Ford Greenfield Labs, Palo Alto (This Research was Conducted as Part of The Ford-KUL University Alliance Program)","Palo Alto (This Research was Conducted as Part of The Ford-KUL University Alliance Program),Ford Greenfield Labs"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ford Greenfield Labs, Palo Alto (This Research was Conducted as Part of The Ford-KUL University Alliance Program)","institution_ids":[]},{"raw_affiliation_string":"Palo Alto (This Research was Conducted as Part of The Ford-KUL University Alliance Program),Ford Greenfield Labs","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028133587","display_name":"Tom Roussel","orcid":null},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Tom Roussel","raw_affiliation_strings":["ESAT-PSI, KU Leuven","KU Leuven,ESAT-PSI"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ESAT-PSI, KU Leuven","institution_ids":["https://openalex.org/I99464096"]},{"raw_affiliation_string":"KU Leuven,ESAT-PSI","institution_ids":["https://openalex.org/I99464096"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074816094","display_name":"Tinne Tuytelaars","orcid":"https://orcid.org/0000-0003-3307-9723"},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Tinne Tuytelaars","raw_affiliation_strings":["ESAT-PSI, KU Leuven","KU Leuven,ESAT-PSI"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ESAT-PSI, KU Leuven","institution_ids":["https://openalex.org/I99464096"]},{"raw_affiliation_string":"KU Leuven,ESAT-PSI","institution_ids":["https://openalex.org/I99464096"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.1972,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.92260064,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"13293","last_page":"13300"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9997000098228455,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9988999962806702,"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/monocular","display_name":"Monocular","score":0.8450695276260376},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7977389097213745},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7505184412002563},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.7103250026702881},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6906770467758179},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.6626811027526855},{"id":"https://openalex.org/keywords/minimum-bounding-box","display_name":"Minimum bounding box","score":0.6560901403427124},{"id":"https://openalex.org/keywords/bounding-overwatch","display_name":"Bounding overwatch","score":0.5972124338150024},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.5753885507583618},{"id":"https://openalex.org/keywords/detector","display_name":"Detector","score":0.570429265499115},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.5356568694114685},{"id":"https://openalex.org/keywords/monocular-vision","display_name":"Monocular vision","score":0.48152026534080505},{"id":"https://openalex.org/keywords/block","display_name":"Block (permutation group theory)","score":0.45152631402015686},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.441893607378006},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2077811360359192},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17118534445762634},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.13659104704856873},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.11581489443778992}],"concepts":[{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.8450695276260376},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7977389097213745},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7505184412002563},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.7103250026702881},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6906770467758179},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.6626811027526855},{"id":"https://openalex.org/C147037132","wikidata":"https://www.wikidata.org/wiki/Q6865426","display_name":"Minimum bounding box","level":3,"score":0.6560901403427124},{"id":"https://openalex.org/C63584917","wikidata":"https://www.wikidata.org/wiki/Q333286","display_name":"Bounding overwatch","level":2,"score":0.5972124338150024},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.5753885507583618},{"id":"https://openalex.org/C94915269","wikidata":"https://www.wikidata.org/wiki/Q1834857","display_name":"Detector","level":2,"score":0.570429265499115},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.5356568694114685},{"id":"https://openalex.org/C158829959","wikidata":"https://www.wikidata.org/wiki/Q1640606","display_name":"Monocular vision","level":2,"score":0.48152026534080505},{"id":"https://openalex.org/C2777210771","wikidata":"https://www.wikidata.org/wiki/Q4927124","display_name":"Block (permutation group theory)","level":2,"score":0.45152631402015686},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.441893607378006},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2077811360359192},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17118534445762634},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.13659104704856873},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.11581489443778992},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/icra48506.2021.9562086","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9562086","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:arXiv.org:2007.14812","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2007.14812","pdf_url":"https://arxiv.org/pdf/2007.14812","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:lirias2repo.kuleuven.be:123456789/673734","is_oa":true,"landing_page_url":"https://lirias.kuleuven.be/handle/123456789/673734","pdf_url":"https://lirias.kuleuven.be/bitstream/123456789/673734/2/4626_arXiv.pdf","source":{"id":"https://openalex.org/S4306401954","display_name":"Lirias (KU Leuven)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I99464096","host_organization_name":"KU Leuven","host_organization_lineage":["https://openalex.org/I99464096"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE international conference on robotics and automation - ICRA 2021, Xi\u2019an, China, 30 May - 5 June 2021","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"doi:10.48550/arxiv.2007.14812","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2007.14812","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"},{"id":"mag:3139469389","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":null}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2007.14812","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2007.14812","pdf_url":"https://arxiv.org/pdf/2007.14812","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":64,"referenced_works":["https://openalex.org/W10195015","https://openalex.org/W219040644","https://openalex.org/W343636949","https://openalex.org/W612478963","https://openalex.org/W1520997877","https://openalex.org/W1612997784","https://openalex.org/W1731081199","https://openalex.org/W1836533770","https://openalex.org/W2101234009","https://openalex.org/W2127589108","https://openalex.org/W2148349024","https://openalex.org/W2150066425","https://openalex.org/W2155541015","https://openalex.org/W2171074980","https://openalex.org/W2198618282","https://openalex.org/W2321533354","https://openalex.org/W2397830550","https://openalex.org/W2468368736","https://openalex.org/W2487442924","https://openalex.org/W2535547924","https://openalex.org/W2549139847","https://openalex.org/W2560544142","https://openalex.org/W2575671312","https://openalex.org/W2605189827","https://openalex.org/W2609883120","https://openalex.org/W2756202949","https://openalex.org/W2786808285","https://openalex.org/W2798991696","https://openalex.org/W2799123546","https://openalex.org/W2883090707","https://openalex.org/W2913939497","https://openalex.org/W2949813473","https://openalex.org/W2962742544","https://openalex.org/W2963107255","https://openalex.org/W2963150697","https://openalex.org/W2963794551","https://openalex.org/W2964115968","https://openalex.org/W2969050719","https://openalex.org/W2972211064","https://openalex.org/W2981705647","https://openalex.org/W2981857055","https://openalex.org/W2989738721","https://openalex.org/W2989866772","https://openalex.org/W2990740643","https://openalex.org/W2999947750","https://openalex.org/W3034975685","https://openalex.org/W3035180028","https://openalex.org/W3035574168","https://openalex.org/W3090308608","https://openalex.org/W3102327032","https://openalex.org/W3103648783","https://openalex.org/W3106834807","https://openalex.org/W3132607695","https://openalex.org/W6600413851","https://openalex.org/W6618872416","https://openalex.org/W6637618735","https://openalex.org/W6638787248","https://openalex.org/W6675354045","https://openalex.org/W6682250724","https://openalex.org/W6712616374","https://openalex.org/W6736677999","https://openalex.org/W6747899497","https://openalex.org/W6763526485","https://openalex.org/W6770035820"],"related_works":["https://openalex.org/W3206335470","https://openalex.org/W3045694502","https://openalex.org/W2760477413","https://openalex.org/W3206151415","https://openalex.org/W3045795527","https://openalex.org/W3093910155","https://openalex.org/W3015992905","https://openalex.org/W3203314605","https://openalex.org/W2976566494","https://openalex.org/W3138365576","https://openalex.org/W2891001608","https://openalex.org/W3102636071","https://openalex.org/W2785503329","https://openalex.org/W2802115785","https://openalex.org/W3085759494","https://openalex.org/W2790548477","https://openalex.org/W2971028056","https://openalex.org/W3191238040","https://openalex.org/W3021168583","https://openalex.org/W3107156787"],"abstract_inverted_index":{"The":[0],"estimation":[1,73],"of":[2,5,60,68,94,97,115,124,140],"the":[3,58,65,95,116,122],"orientation":[4,72,119],"an":[6,11,20,105],"observed":[7,43],"vehicle":[8,44,118,131,147],"relative":[9],"to":[10,87,92,134],"Autonomous":[12],"Vehicle":[13],"(AV)":[14],"from":[15,82,137,144],"monocular":[16,61,107,141],"camera":[17,142],"data":[18,46,143],"is":[19],"important":[21],"building":[22],"block":[23],"in":[24],"estimating":[25],"its":[26],"6":[27],"DoF":[28],"pose.":[29],"Current":[30],"Deep":[31],"Learning":[32],"based":[33],"solutions":[34],"for":[35,64,71],"placing":[36],"a":[37,69,76,83,98],"3D":[38,108,130],"bounding":[39,109],"box":[40,110],"around":[41],"this":[42,54],"are":[45],"hungry":[47],"and":[48],"do":[49],"not":[50],"generalize":[51],"well.":[52],"In":[53],"paper,":[55],"we":[56,89],"demonstrate":[57,104],"use":[59],"visual":[62],"odometry":[63],"self-supervised":[66,117],"fine-tuning":[67],"model":[70],"pre-trained":[74],"on":[75,113],"reference":[77],"domain.":[78],"Specifically,":[79],"while":[80],"transitioning":[81],"virtual":[84],"dataset":[85],"(vKITTI)":[86],"nuScenes,":[88],"recover":[90],"up":[91],"70%":[93],"performance":[96],"fully":[99],"supervised":[100],"method.":[101],"We":[102],"subsequently":[103],"optimization-based":[106],"detector":[111],"built":[112],"top":[114],"estimator":[120],"without":[121],"requirement":[123],"expensive":[125],"labeled":[126],"data.":[127],"This":[128],"allows":[129],"detection":[132],"algorithms":[133],"be":[135],"self-trained":[136],"large":[138],"amounts":[139],"existing":[145],"commercial":[146],"fleets.":[148]},"counts_by_year":[{"year":2024,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}