{"id":"https://openalex.org/W4383097497","doi":"https://doi.org/10.1109/icra48891.2023.10160588","title":"MOFT: Monocular odometry based on deep depth and careful feature selection and tracking","display_name":"MOFT: Monocular odometry based on deep depth and careful feature selection and tracking","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383097497","doi":"https://doi.org/10.1109/icra48891.2023.10160588"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160588","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160588","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 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/A5043655190","display_name":"Karlo Koledi\u0107","orcid":null},"institutions":[{"id":"https://openalex.org/I181343428","display_name":"University of Zagreb","ror":"https://ror.org/00mv6sv71","country_code":"HR","type":"education","lineage":["https://openalex.org/I181343428"]}],"countries":["HR"],"is_corresponding":false,"raw_author_name":"Karlo Koledi\u0107","raw_affiliation_strings":["Systems and Mobile Robotics,University of Zagreb Faculty of Electrical Engineering and Computing, Laboratory for Autonomous,Zagreb,Croatia","University of Zagreb Faculty of Electrical Engineering and Computing, Laboratory for Autonomous, Systems and Mobile Robotics, Zagreb, Croatia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Systems and Mobile Robotics,University of Zagreb Faculty of Electrical Engineering and Computing, Laboratory for Autonomous,Zagreb,Croatia","institution_ids":["https://openalex.org/I181343428"]},{"raw_affiliation_string":"University of Zagreb Faculty of Electrical Engineering and Computing, Laboratory for Autonomous, Systems and Mobile Robotics, Zagreb, Croatia","institution_ids":["https://openalex.org/I181343428"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071910441","display_name":"Igor Cvi\u0161i\u0107","orcid":"https://orcid.org/0000-0003-1597-9066"},"institutions":[{"id":"https://openalex.org/I181343428","display_name":"University of Zagreb","ror":"https://ror.org/00mv6sv71","country_code":"HR","type":"education","lineage":["https://openalex.org/I181343428"]}],"countries":["HR"],"is_corresponding":false,"raw_author_name":"Igor Cvi\u0161i\u0107","raw_affiliation_strings":["Systems and Mobile Robotics,University of Zagreb Faculty of Electrical Engineering and Computing, Laboratory for Autonomous,Zagreb,Croatia","University of Zagreb Faculty of Electrical Engineering and Computing, Laboratory for Autonomous, Systems and Mobile Robotics, Zagreb, Croatia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Systems and Mobile Robotics,University of Zagreb Faculty of Electrical Engineering and Computing, Laboratory for Autonomous,Zagreb,Croatia","institution_ids":["https://openalex.org/I181343428"]},{"raw_affiliation_string":"University of Zagreb Faculty of Electrical Engineering and Computing, Laboratory for Autonomous, Systems and Mobile Robotics, Zagreb, Croatia","institution_ids":["https://openalex.org/I181343428"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035622961","display_name":"Ivan Markovi\u0107","orcid":"https://orcid.org/0000-0003-4138-1113"},"institutions":[{"id":"https://openalex.org/I181343428","display_name":"University of Zagreb","ror":"https://ror.org/00mv6sv71","country_code":"HR","type":"education","lineage":["https://openalex.org/I181343428"]}],"countries":["HR"],"is_corresponding":false,"raw_author_name":"Ivan Markovi\u0107","raw_affiliation_strings":["Systems and Mobile Robotics,University of Zagreb Faculty of Electrical Engineering and Computing, Laboratory for Autonomous,Zagreb,Croatia","University of Zagreb Faculty of Electrical Engineering and Computing, Laboratory for Autonomous, Systems and Mobile Robotics, Zagreb, Croatia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Systems and Mobile Robotics,University of Zagreb Faculty of Electrical Engineering and Computing, Laboratory for Autonomous,Zagreb,Croatia","institution_ids":["https://openalex.org/I181343428"]},{"raw_affiliation_string":"University of Zagreb Faculty of Electrical Engineering and Computing, Laboratory for Autonomous, Systems and Mobile Robotics, Zagreb, Croatia","institution_ids":["https://openalex.org/I181343428"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001473761","display_name":"Ivan Petrovi\u0107","orcid":"https://orcid.org/0000-0001-9961-5627"},"institutions":[{"id":"https://openalex.org/I181343428","display_name":"University of Zagreb","ror":"https://ror.org/00mv6sv71","country_code":"HR","type":"education","lineage":["https://openalex.org/I181343428"]}],"countries":["HR"],"is_corresponding":false,"raw_author_name":"Ivan Petrovi\u0107","raw_affiliation_strings":["Systems and Mobile Robotics,University of Zagreb Faculty of Electrical Engineering and Computing, Laboratory for Autonomous,Zagreb,Croatia","University of Zagreb Faculty of Electrical Engineering and Computing, Laboratory for Autonomous, Systems and Mobile Robotics, Zagreb, Croatia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Systems and Mobile Robotics,University of Zagreb Faculty of Electrical Engineering and Computing, Laboratory for Autonomous,Zagreb,Croatia","institution_ids":["https://openalex.org/I181343428"]},{"raw_affiliation_string":"University of Zagreb Faculty of Electrical Engineering and Computing, Laboratory for Autonomous, Systems and Mobile Robotics, Zagreb, Croatia","institution_ids":["https://openalex.org/I181343428"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I181343428"],"apc_list":null,"apc_paid":null,"fwci":7.6548,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.97798992,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"6175","last_page":"6181"},"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":0.9998000264167786,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9959999918937683,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.8609460592269897},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.744051456451416},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7313929200172424},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.7116240859031677},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.6887436509132385},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.6439885497093201},{"id":"https://openalex.org/keywords/reprojection-error","display_name":"Reprojection error","score":0.6419926881790161},{"id":"https://openalex.org/keywords/epipolar-geometry","display_name":"Epipolar geometry","score":0.613584578037262},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5575714707374573},{"id":"https://openalex.org/keywords/translation","display_name":"Translation (biology)","score":0.5514753460884094},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.47363653779029846},{"id":"https://openalex.org/keywords/bundle-adjustment","display_name":"Bundle adjustment","score":0.4155886769294739},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.41135403513908386},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3016831874847412},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1583368182182312},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.14423084259033203}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8609460592269897},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.744051456451416},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7313929200172424},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.7116240859031677},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.6887436509132385},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.6439885497093201},{"id":"https://openalex.org/C23903533","wikidata":"https://www.wikidata.org/wiki/Q17122739","display_name":"Reprojection error","level":3,"score":0.6419926881790161},{"id":"https://openalex.org/C23379248","wikidata":"https://www.wikidata.org/wiki/Q200904","display_name":"Epipolar geometry","level":3,"score":0.613584578037262},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5575714707374573},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.5514753460884094},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.47363653779029846},{"id":"https://openalex.org/C179458375","wikidata":"https://www.wikidata.org/wiki/Q1020763","display_name":"Bundle adjustment","level":3,"score":0.4155886769294739},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.41135403513908386},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3016831874847412},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1583368182182312},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.14423084259033203},{"id":"https://openalex.org/C105580179","wikidata":"https://www.wikidata.org/wiki/Q188928","display_name":"Messenger RNA","level":3,"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/icra48891.2023.10160588","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160588","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1612997784","https://openalex.org/W2031998160","https://openalex.org/W2115579991","https://openalex.org/W2151290401","https://openalex.org/W2218842719","https://openalex.org/W2474281075","https://openalex.org/W2535547924","https://openalex.org/W2598706937","https://openalex.org/W2606794968","https://openalex.org/W2609883120","https://openalex.org/W2794572859","https://openalex.org/W2830339951","https://openalex.org/W2899771611","https://openalex.org/W2928601293","https://openalex.org/W2946510960","https://openalex.org/W2951234442","https://openalex.org/W2963562098","https://openalex.org/W2964314455","https://openalex.org/W2968288611","https://openalex.org/W2981353488","https://openalex.org/W2985775862","https://openalex.org/W3034906411","https://openalex.org/W3035056458","https://openalex.org/W3036919210","https://openalex.org/W3084438944","https://openalex.org/W3091687063","https://openalex.org/W3099108553","https://openalex.org/W3102327032","https://openalex.org/W3106440972","https://openalex.org/W3126851256","https://openalex.org/W3129944514","https://openalex.org/W3176193798","https://openalex.org/W3176258611","https://openalex.org/W3203597819","https://openalex.org/W3208092997","https://openalex.org/W4286543692","https://openalex.org/W6618872416","https://openalex.org/W6679388247","https://openalex.org/W6685261749","https://openalex.org/W6780901898","https://openalex.org/W6785114638"],"related_works":["https://openalex.org/W2751063144","https://openalex.org/W2162931489","https://openalex.org/W2998947813","https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W3024737167","https://openalex.org/W2414561716","https://openalex.org/W2084446318","https://openalex.org/W3161199934","https://openalex.org/W3200674214"],"abstract_inverted_index":{"Autonomous":[0],"localization":[1],"in":[2,9,190],"unknown":[3],"environments":[4],"is":[5,96,130,178],"a":[6,24,69,77,83,99,159],"fundamental":[7],"problem":[8],"many":[10,19],"emerging":[11],"fields":[12],"and":[13,29,35,91,115,138,172,183,189,197],"the":[14,56,181],"monocular":[15,44,70,198],"visual":[16],"approach":[17,86,163,177],"offers":[18],"advantages,":[20],"due":[21],"to":[22],"being":[23],"rich":[25],"source":[26],"of":[27,118],"information":[28],"avoiding":[30],"comparatively":[31],"more":[32],"complicated":[33],"setups":[34],"multisensor":[36],"calibration.":[37],"Deep":[38],"learning":[39],"opened":[40],"new":[41],"venues":[42],"for":[43,125,136,150,166],"odometry":[45,71],"yielding":[46,82],"not":[47],"only":[48],"end-to-end":[49],"approaches":[50],"but":[51],"also":[52,157],"hybrid":[53],"methods":[54],"combining":[55],"well":[57],"studied":[58],"geometry":[59],"with":[60,87,102,106],"specific":[61],"deep":[62,74,107,144],"components.":[63],"In":[64],"this":[65],"paper":[66],"we":[67,156],"propose":[68],"that":[72,110,122,164],"leverages":[73],"depth":[75,108,145],"within":[76],"feature":[78,113],"based":[79,97,131],"geometrical":[80],"framework":[81],"lightweight":[84],"frame-to-frame":[85],"metrically":[88,151],"scaled":[89],"trajectories":[90],"state-of-the-art":[92,195],"accuracy.":[93],"The":[94,128,175],"front-end":[95],"on":[98,132,180],"multihypothesis":[100],"matcher":[101],"perspective":[103],"correction":[104],"coupled":[105],"predictions":[109],"enables":[111],"careful":[112],"selection":[114],"tracking;":[116],"especially":[117],"ground":[119],"plane":[120],"features":[121],"are":[123],"suitable":[124],"translation":[126,140,153],"estimation.":[127,154],"back-end":[129],"point-to-epipolar":[133],"line":[134],"minimization":[135,149],"rotation":[137],"unit":[139],"estimation,":[141],"followed":[142],"by":[143],"aided":[146],"reprojection":[147],"error":[148],"correct":[152],"Furthermore,":[155],"present":[158],"domain":[160],"shift":[161],"adaptation":[162],"allows":[165],"generalization":[167],"over":[168],"different":[169],"camera":[170],"intrinsic":[171],"extrinsic":[173],"setups.":[174],"proposed":[176],"evaluated":[179],"KITTI":[182],"KITTI-360":[184],"datasets,":[185],"showing":[186],"competitive":[187],"results":[188],"most":[191],"cases":[192],"outperforming":[193],"other":[194],"stereo":[196],"methods.":[199]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}