{"id":"https://openalex.org/W4413945973","doi":"https://doi.org/10.1109/icra55743.2025.11128482","title":"MAC-VO: Metrics-Aware Covariance for Learning-Based Stereo Visual Odometry mac-vo.github.io","display_name":"MAC-VO: Metrics-Aware Covariance for Learning-Based Stereo Visual Odometry mac-vo.github.io","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413945973","doi":"https://doi.org/10.1109/icra55743.2025.11128482"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128482","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128482","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5058419676","display_name":"Yuheng Qiu","orcid":"https://orcid.org/0000-0003-2966-8103"},"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":"Yuheng Qiu","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA,15213"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA,15213","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101904983","display_name":"Yutian Chen","orcid":"https://orcid.org/0009-0003-5202-0054"},"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":"Yutian Chen","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA,15213"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA,15213","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109495397","display_name":"Zihao Zhang","orcid":"https://orcid.org/0000-0002-0024-7308"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]},{"id":"https://openalex.org/I44675526","display_name":"Shanghai Ocean University","ror":"https://ror.org/04n40zv07","country_code":"CN","type":"education","lineage":["https://openalex.org/I44675526"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zihao Zhang","raw_affiliation_strings":["School of Ocean and Civil Engineering, Shanghai JiaoTong University,Shanghai,China,20024"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Ocean and Civil Engineering, Shanghai JiaoTong University,Shanghai,China,20024","institution_ids":["https://openalex.org/I44675526","https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072816908","display_name":"Wenshan Wang","orcid":null},"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":"Wenshan Wang","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA,15213"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA,15213","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032584934","display_name":"Sebastian Scherer","orcid":"https://orcid.org/0000-0002-8373-4688"},"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":"Sebastian Scherer","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA,15213"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA,15213","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3803","last_page":"3814"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9936000108718872,"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":0.9936000108718872,"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":0.9934999942779541,"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/T12549","display_name":"Image and Object Detection Techniques","score":0.9614999890327454,"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/visual-odometry","display_name":"Visual odometry","score":0.7958389520645142},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7517627477645874},{"id":"https://openalex.org/keywords/covariance","display_name":"Covariance","score":0.703855037689209},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6299718022346497},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5316425561904907},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.43294984102249146},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.13064566254615784},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10996285080909729},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.07722872495651245},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.07193389534950256}],"concepts":[{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.7958389520645142},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7517627477645874},{"id":"https://openalex.org/C178650346","wikidata":"https://www.wikidata.org/wiki/Q201984","display_name":"Covariance","level":2,"score":0.703855037689209},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6299718022346497},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5316425561904907},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.43294984102249146},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.13064566254615784},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10996285080909729},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.07722872495651245},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.07193389534950256}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11128482","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128482","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 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":41,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1612997784","https://openalex.org/W1979073566","https://openalex.org/W2085261163","https://openalex.org/W2117228865","https://openalex.org/W2118428504","https://openalex.org/W2150066425","https://openalex.org/W2151103935","https://openalex.org/W2151290401","https://openalex.org/W2220063164","https://openalex.org/W2396274919","https://openalex.org/W2606794968","https://openalex.org/W2609883120","https://openalex.org/W2745859992","https://openalex.org/W2884962765","https://openalex.org/W2938672559","https://openalex.org/W2963562098","https://openalex.org/W2963914998","https://openalex.org/W2964314455","https://openalex.org/W2964968086","https://openalex.org/W3034275286","https://openalex.org/W3035056458","https://openalex.org/W3038041713","https://openalex.org/W3043075211","https://openalex.org/W3109908659","https://openalex.org/W3132270109","https://openalex.org/W3147597595","https://openalex.org/W3159400523","https://openalex.org/W3167705651","https://openalex.org/W3176602998","https://openalex.org/W3194532238","https://openalex.org/W3202608587","https://openalex.org/W4200338016","https://openalex.org/W4312790276","https://openalex.org/W4312795764","https://openalex.org/W4361793541","https://openalex.org/W4386076077","https://openalex.org/W4386076541","https://openalex.org/W4393285927","https://openalex.org/W4402816534","https://openalex.org/W4413147031"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W2414561716","https://openalex.org/W3024737167","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],"propose":[1],"MAC-VO,":[2],"a":[3,13],"novel":[4],"learning-based":[5,60],"stereo":[6],"visual":[7],"odometry":[8],"(VO)":[9],"framework":[10],"that":[11,35,62,122],"trains":[12],"metrics-aware":[14,71],"uncertainty":[15,47,138],"model":[16,48,90],"to":[17,49,59],"serve":[18],"two":[19],"critical":[20],"functions:":[21],"selecting":[22],"keypoints":[23],"and":[24,83,99,113,128],"weighting":[25],"residuals":[26],"in":[27,80,101,105,133],"pose":[28,92,102],"graph":[29,93],"optimization.":[30],"Unlike":[31],"traditional":[32],"geometric":[33],"methods":[34],"favor":[36],"texture-rich":[37],"features":[38,52],"like":[39],"edges,":[40],"our":[41,70],"keypoint":[42,81],"selector":[43],"leverages":[44],"this":[45,88],"learned":[46,76],"eliminate":[50],"low-quality":[51],"based":[53],"on":[54,64,117],"global":[55],"inconsistency.":[56],"In":[57],"contrast":[58],"approaches":[61],"rely":[63],"scale-agnostic":[65],"weight":[66],"matrices":[67],"for":[68,143],"covariance,":[69],"covariance":[72],"modelderived":[73],"from":[74],"the":[75,137],"uncertaintycaptures":[77],"spatial":[78],"errors":[79],"registration":[82],"inter-axis":[84],"correlations.":[85],"By":[86],"embedding":[87],"co-variance":[89],"into":[91],"optimization,":[94],"MAC-VO":[95,123],"achieves":[96],"superior":[97],"robustness":[98],"accuracy":[100],"estimation,":[103],"excelling":[104],"challenging":[106],"environments":[107],"with":[108],"varying":[109],"illumination,":[110],"feature":[111],"density,":[112],"motion":[114],"patterns.":[115],"Evaluations":[116],"public":[118],"benchmark":[119],"datasets":[120],"demonstrate":[121],"surpasses":[124],"existing":[125],"VO":[126],"algorithms":[127],"even":[129],"some":[130],"SLAM":[131],"systems":[132],"difficult":[134],"scenarios.":[135],"Additionally,":[136],"map":[139],"offers":[140],"valuable":[141],"insights":[142],"decision-making.":[144]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}