{"id":"https://openalex.org/W2790845762","doi":"https://doi.org/10.1109/iros.2018.8593623","title":"Unsupervised Odometry and Depth Learning for Endoscopic Capsule Robots","display_name":"Unsupervised Odometry and Depth Learning for Endoscopic Capsule Robots","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2790845762","doi":"https://doi.org/10.1109/iros.2018.8593623","mag":"2790845762"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8593623","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593623","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5083273390","display_name":"Mehmet Turan","orcid":"https://orcid.org/0000-0002-0913-2531"},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Mehmet Turan","raw_affiliation_strings":["Mehmet Turan is with Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Germany"],"affiliations":[{"raw_affiliation_string":"Mehmet Turan is with Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Germany","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057089169","display_name":"Evin P\u0131nar \u00d6rnek","orcid":"https://orcid.org/0000-0003-1023-2852"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Evin Pinar Ornek","raw_affiliation_strings":["Informatics Faculty, Technical University of Muenich, Germany"],"affiliations":[{"raw_affiliation_string":"Informatics Faculty, Technical University of Muenich, Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051936833","display_name":"Nail Ibrahimli","orcid":"https://orcid.org/0000-0002-3252-121X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Nail Ibrahimli","raw_affiliation_strings":["Informatics Faculty, Technical University of Muenich, Germany"],"affiliations":[{"raw_affiliation_string":"Informatics Faculty, Technical University of Muenich, Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082465470","display_name":"Can Giracoglu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Can Giracoglu","raw_affiliation_strings":["Informatics Faculty, Technical University of Muenich, Germany"],"affiliations":[{"raw_affiliation_string":"Informatics Faculty, Technical University of Muenich, Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020331930","display_name":"Yasin Almal\u0131o\u011flu","orcid":"https://orcid.org/0000-0002-9251-7853"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Yasin Almalioglu","raw_affiliation_strings":["Computer Science Department, University of Oxford, Oxford, UK","[Computer Science Department, University of Oxford, Oxford, UK]"],"affiliations":[{"raw_affiliation_string":"Computer Science Department, University of Oxford, Oxford, UK","institution_ids":["https://openalex.org/I40120149"]},{"raw_affiliation_string":"[Computer Science Department, University of Oxford, Oxford, UK]","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032212627","display_name":"Mehmet Fatih Yanik","orcid":"https://orcid.org/0000-0002-8963-2893"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Mehmet Fatih Yanik","raw_affiliation_strings":["Department -of Information Technology and Electrical Engineering, Zurich, Switzerland","Department of Information Technology and Electrical Engineering, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Department -of Information Technology and Electrical Engineering, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Department of Information Technology and Electrical Engineering, Zurich, Switzerland","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079968392","display_name":"Metin Sitti","orcid":"https://orcid.org/0000-0001-8249-3854"},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Metin Sitti","raw_affiliation_strings":["Metin Sitti is with Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Germany"],"affiliations":[{"raw_affiliation_string":"Metin Sitti is with Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Germany","institution_ids":["https://openalex.org/I4210135521"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5083273390"],"corresponding_institution_ids":["https://openalex.org/I4210135521"],"apc_list":null,"apc_paid":null,"fwci":2.4061,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.88258683,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1801","last_page":"1807"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11378","display_name":"Gastrointestinal Bleeding Diagnosis and Treatment","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2715","display_name":"Gastroenterology"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},"topics":[{"id":"https://openalex.org/T11378","display_name":"Gastrointestinal Bleeding Diagnosis and Treatment","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2715","display_name":"Gastroenterology"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9950000047683716,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9902999997138977,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7251580953598022},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6748727560043335},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6606457233428955},{"id":"https://openalex.org/keywords/image-warping","display_name":"Image warping","score":0.597756028175354},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5929766893386841},{"id":"https://openalex.org/keywords/capsule","display_name":"Capsule","score":0.5798616409301758},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.5350483655929565},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.5284816026687622},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.5218743085861206},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.17272892594337463},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.09536266326904297}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7251580953598022},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6748727560043335},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6606457233428955},{"id":"https://openalex.org/C157202957","wikidata":"https://www.wikidata.org/wiki/Q1659609","display_name":"Image warping","level":2,"score":0.597756028175354},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5929766893386841},{"id":"https://openalex.org/C2778778583","wikidata":"https://www.wikidata.org/wiki/Q147768","display_name":"Capsule","level":2,"score":0.5798616409301758},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.5350483655929565},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.5284816026687622},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.5218743085861206},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.17272892594337463},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.09536266326904297},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":9,"locations":[{"id":"doi:10.1109/iros.2018.8593623","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593623","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:www.zora.uzh.ch:168596","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306401281","display_name":"Zurich Open Repository and Archive (University of Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I202697423","host_organization_name":"University of Zurich","host_organization_lineage":["https://openalex.org/I202697423"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"Turan, Mehmet; Ornek, Evin Pinar; Ibrahimli, Nail; Giracoglu, Can; Almalioglu, Yasin; Yanik, Mehmet Fatih; Sitti, Metin  (2018). Unsupervised Odometry and Depth Learning for Endoscopic Capsule Robots.  ArXiv.org 1803.01047, Cornell University.","raw_type":"Working Paper"},{"id":"pmh:oai:arXiv.org:1803.01047","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1803.01047","pdf_url":"https://arxiv.org/pdf/1803.01047","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":"","raw_type":"text"},{"id":"mag:2790845762","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/1803.01047","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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"pmh:oai:mediatum.ub.tum.de:node/1630491","is_oa":false,"landing_page_url":"https://mediatum.ub.tum.de/1630491","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"ConferencePaper"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1735878","is_oa":false,"landing_page_url":"https://mediatum.ub.tum.de/1735878","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"ConferencePaper"},{"id":"pmh:oai:pure.mpg.de:item_3051387","is_oa":false,"landing_page_url":"http://hdl.handle.net/21.11116/0000-0003-7E63-1","pdf_url":null,"source":{"id":"https://openalex.org/S4306400654","display_name":"MPG.PuRe (Max Planck Society)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I149899117","host_organization_name":"Max Planck Society","host_organization_lineage":["https://openalex.org/I149899117"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018)","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"doi:10.48550/arxiv.1803.01047","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1803.01047","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":"doi:10.5167/uzh-168596","is_oa":true,"landing_page_url":"https://doi.org/10.5167/uzh-168596","pdf_url":null,"source":{"id":"https://openalex.org/S7407051291","display_name":"Universit\u00e4t Z\u00fcrich, ZORA","issn_l":null,"issn":[],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"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-journal"}],"best_oa_location":{"id":"pmh:oai:www.zora.uzh.ch:168596","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306401281","display_name":"Zurich Open Repository and Archive (University of Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I202697423","host_organization_name":"University of Zurich","host_organization_lineage":["https://openalex.org/I202697423"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"Turan, Mehmet; Ornek, Evin Pinar; Ibrahimli, Nail; Giracoglu, Can; Almalioglu, Yasin; Yanik, Mehmet Fatih; Sitti, Metin  (2018). Unsupervised Odometry and Depth Learning for Endoscopic Capsule Robots.  ArXiv.org 1803.01047, Cornell University.","raw_type":"Working Paper"},"sustainable_development_goals":[{"score":0.8100000023841858,"display_name":"Good health and well-being","id":"https://metadata.un.org/sdg/3"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1612997784","https://openalex.org/W1776042733","https://openalex.org/W1973333926","https://openalex.org/W1976221960","https://openalex.org/W1992500828","https://openalex.org/W1996892953","https://openalex.org/W1999860606","https://openalex.org/W2007453190","https://openalex.org/W2016416397","https://openalex.org/W2042039410","https://openalex.org/W2043492189","https://openalex.org/W2049260679","https://openalex.org/W2059605601","https://openalex.org/W2071499765","https://openalex.org/W2079679611","https://openalex.org/W2115980364","https://openalex.org/W2122113012","https://openalex.org/W2148975763","https://openalex.org/W2609883120","https://openalex.org/W2614893532","https://openalex.org/W2614916698","https://openalex.org/W2615465674","https://openalex.org/W2616326146","https://openalex.org/W2745549613","https://openalex.org/W2751326577","https://openalex.org/W2755301019","https://openalex.org/W2762665892","https://openalex.org/W2951261569","https://openalex.org/W3100211012","https://openalex.org/W3103648783","https://openalex.org/W6637839385","https://openalex.org/W6704970058","https://openalex.org/W6736260464","https://openalex.org/W6737726746","https://openalex.org/W6738182151","https://openalex.org/W6744150049","https://openalex.org/W6744748483","https://openalex.org/W6785226069"],"related_works":["https://openalex.org/W2745549613","https://openalex.org/W2793158815","https://openalex.org/W2755301019","https://openalex.org/W2762665892","https://openalex.org/W2751326577","https://openalex.org/W2616326146","https://openalex.org/W2614893532","https://openalex.org/W3100211012","https://openalex.org/W3152803807","https://openalex.org/W3091221049","https://openalex.org/W3198356099","https://openalex.org/W2818886151","https://openalex.org/W3127501898","https://openalex.org/W3143447746","https://openalex.org/W2212883260","https://openalex.org/W2909309777","https://openalex.org/W2304006134","https://openalex.org/W2750669976","https://openalex.org/W2971108037","https://openalex.org/W2049690120"],"abstract_inverted_index":{"In":[0,48],"the":[1,45,68,76,80,101,113,116],"last":[2],"decade,":[3],"many":[4],"medical":[5],"companies":[6],"and":[7,20,41,58,74,90,97,123],"research":[8],"groups":[9],"have":[10],"tried":[11],"to":[12,79],"convert":[13],"passive":[14],"capsule":[15,29,64],"endoscopes":[16],"as":[17],"an":[18],"emerging":[19],"minimally":[21],"invasive":[22],"diagnostic":[23],"technology":[24],"into":[25],"actively":[26],"steerable":[27],"endoscopic":[28,63],"robots":[30],"which":[31,83],"will":[32],"provide":[33],"more":[34],"intuitive":[35],"disease":[36],"detection,":[37],"targeted":[38],"drug":[39],"delivery":[40],"biopsy-like":[42],"operations":[43],"in":[44,86,118],"gastrointestinal(GI)":[46],"tract.":[47],"this":[49],"study,":[50],"we":[51,84],"introduce":[52],"a":[53],"fully":[54],"unsupervised,":[55],"realtime":[56],"odometry":[57],"depth":[59,92,124],"learner":[60],"for":[61],"monocular":[62],"robots.":[65],"We":[66],"establish":[67],"supervision":[69],"by":[70],"warping":[71],"view":[72],"sequences":[73],"assigning":[75],"re-projection":[77],"minimization":[78],"loss":[81],"function,":[82],"adopt":[85],"multi-view":[87],"pose":[88],"estimation":[89,93,122],"single-view":[91],"network.":[94],"Detailed":[95],"quantitative":[96],"qualitative":[98],"analyses":[99],"of":[100,115,120],"proposed":[102],"framework":[103],"performed":[104],"on":[105],"non-rigidly":[106],"deformable":[107],"ex-vivo":[108],"porcine":[109],"stomach":[110],"datasets":[111],"proves":[112],"effectiveness":[114],"method":[117],"terms":[119],"motion":[121],"recovery.":[125]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":5}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
