{"id":"https://openalex.org/W2884431690","doi":"https://doi.org/10.1109/iros.2018.8594243","title":"CReaM: Condensed Real-time Models for Depth Prediction using Convolutional Neural Networks","display_name":"CReaM: Condensed Real-time Models for Depth Prediction using Convolutional Neural Networks","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2884431690","doi":"https://doi.org/10.1109/iros.2018.8594243","mag":"2884431690"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8594243","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594243","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":"https://arxiv.org/pdf/1807.08931","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5045069647","display_name":"Andrew Spek","orcid":null},"institutions":[{"id":"https://openalex.org/I56590836","display_name":"Monash University","ror":"https://ror.org/02bfwt286","country_code":"AU","type":"education","lineage":["https://openalex.org/I56590836"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Andrew Spek","raw_affiliation_strings":["Faculty of Electrical and Computer Systems Engineering, Monash University, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Electrical and Computer Systems Engineering, Monash University, Australia","institution_ids":["https://openalex.org/I56590836"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002514015","display_name":"Thanuja Dharmasiri","orcid":null},"institutions":[{"id":"https://openalex.org/I56590836","display_name":"Monash University","ror":"https://ror.org/02bfwt286","country_code":"AU","type":"education","lineage":["https://openalex.org/I56590836"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Thanuja Dharmasiri","raw_affiliation_strings":["Faculty of Electrical and Computer Systems Engineering, Monash University, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Electrical and Computer Systems Engineering, Monash University, Australia","institution_ids":["https://openalex.org/I56590836"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017469047","display_name":"Tom Drummond","orcid":"https://orcid.org/0000-0001-8204-5904"},"institutions":[{"id":"https://openalex.org/I56590836","display_name":"Monash University","ror":"https://ror.org/02bfwt286","country_code":"AU","type":"education","lineage":["https://openalex.org/I56590836"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Tom Drummond","raw_affiliation_strings":["Faculty of Electrical and Computer Systems Engineering, Monash University, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Electrical and Computer Systems Engineering, Monash University, Australia","institution_ids":["https://openalex.org/I56590836"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I56590836"],"apc_list":null,"apc_paid":null,"fwci":2.0599,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.93641309,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"540","last_page":"547"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9987999796867371,"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":0.9987999796867371,"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":0.9980999827384949,"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":0.9976000189781189,"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/convolutional-neural-network","display_name":"Convolutional neural network","score":0.7739826440811157},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.689530611038208},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6022395491600037},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5927257537841797},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.5193313360214233},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.5060679316520691},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.4475206732749939},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44455134868621826},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.37672168016433716},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11827704310417175}],"concepts":[{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.7739826440811157},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.689530611038208},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6022395491600037},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5927257537841797},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.5193313360214233},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.5060679316520691},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4475206732749939},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44455134868621826},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.37672168016433716},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11827704310417175},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/iros.2018.8594243","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594243","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:arXiv.org:1807.08931","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1807.08931","pdf_url":"https://arxiv.org/pdf/1807.08931","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"mag:2884431690","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/1807.08931.pdf","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":"doi:10.48550/arxiv.1807.08931","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1807.08931","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1807.08931","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1807.08931","pdf_url":"https://arxiv.org/pdf/1807.08931","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"score":0.7300000190734863,"id":"https://metadata.un.org/sdg/4","display_name":"Quality Education"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320331724","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2884431690.pdf","grobid_xml":"https://content.openalex.org/works/W2884431690.grobid-xml"},"referenced_works_count":40,"referenced_works":["https://openalex.org/W125693051","https://openalex.org/W1612997784","https://openalex.org/W1677182931","https://openalex.org/W1821462560","https://openalex.org/W1903029394","https://openalex.org/W1905829557","https://openalex.org/W2021851106","https://openalex.org/W2115579991","https://openalex.org/W2117248802","https://openalex.org/W2125416623","https://openalex.org/W2163605009","https://openalex.org/W2171740948","https://openalex.org/W2194775991","https://openalex.org/W2294370754","https://openalex.org/W2300779272","https://openalex.org/W2419448466","https://openalex.org/W2520707372","https://openalex.org/W2535547924","https://openalex.org/W2593414960","https://openalex.org/W2606794968","https://openalex.org/W2609883120","https://openalex.org/W2612445135","https://openalex.org/W2674324363","https://openalex.org/W2762439315","https://openalex.org/W2782278879","https://openalex.org/W2952150306","https://openalex.org/W2952696564","https://openalex.org/W2962809185","https://openalex.org/W2962811058","https://openalex.org/W2963446712","https://openalex.org/W2963591054","https://openalex.org/W2963840672","https://openalex.org/W2964121744","https://openalex.org/W2964217532","https://openalex.org/W2964299589","https://openalex.org/W3102327032","https://openalex.org/W3103648783","https://openalex.org/W6684191040","https://openalex.org/W6685261749","https://openalex.org/W6697658144"],"related_works":["https://openalex.org/W2795178741","https://openalex.org/W2893165708","https://openalex.org/W2414825695","https://openalex.org/W2970438463","https://openalex.org/W820638565","https://openalex.org/W3160676877","https://openalex.org/W2979872554","https://openalex.org/W3136701380","https://openalex.org/W2803787111","https://openalex.org/W3103940333","https://openalex.org/W2967057388","https://openalex.org/W2963188574","https://openalex.org/W2991997795","https://openalex.org/W3164356644","https://openalex.org/W2897364941","https://openalex.org/W2980051002","https://openalex.org/W2958518407","https://openalex.org/W3184145304","https://openalex.org/W2766839578","https://openalex.org/W2907717662"],"abstract_inverted_index":{"Since":[0],"the":[1,5,97,103],"resurgence":[2],"of":[3,13,32,60,99,106],"CNNs":[4],"robotic":[6,51,66],"vision":[7],"community":[8],"has":[9],"developed":[10],"a":[11,48,65,79,111,114,143],"range":[12],"algorithms":[14],"that":[15,85,123],"perform":[16],"classification,":[17],"semantic":[18],"segmentation":[19],"and":[20,39,70],"structure":[21,82],"prediction":[22,83],"(depths,":[23],"normals,":[24],"surface":[25],"curvature)":[26],"using":[27],"neural":[28,124],"networks.":[29],"While":[30],"some":[31],"these":[33,45],"models":[34,46],"achieve":[35],"state-of-the":[36],"art":[37],"results":[38],"super":[40],"human":[41],"level":[42],"performance,":[43],"deploying":[44],"in":[47,134,142],"time":[49,98],"critical":[50],"environment":[52],"remains":[53],"an":[54,94],"ongoing":[55],"challenge.":[56],"Real-time":[57],"frameworks":[58],"are":[59],"paramount":[61],"importance":[62],"to":[63,108,136,146],"build":[64],"society":[67],"where":[68],"humans":[69],"robots":[71],"integrate":[72],"seamlessly.":[73],"To":[74],"this":[75,101],"end,":[76],"we":[77],"present":[78],"novel":[80],"real-time":[81],"framework":[84],"predicts":[86],"depth":[87],"at":[88],"30":[89],"frames":[90],"per":[91],"second":[92],"on":[93,113],"NVIDIA-TX2.":[95],"At":[96],"writing,":[100],"is":[102],"first":[104],"piece":[105],"work":[107],"showcase":[109],"such":[110],"capability":[112],"mobile":[115],"platform.":[116],"We":[117],"also":[118],"demonstrate":[119],"with":[120,126],"extensive":[121],"experiments":[122],"networks":[125],"very":[127],"large":[128],"model":[129,140],"capacities":[130],"can":[131],"be":[132],"leveraged":[133],"order":[135],"train":[137],"accurate":[138],"condensed":[139],"architectures":[141],"\u201cfrom":[144],"teacher":[145],"student\u201d":[147],"style":[148],"knowledge":[149],"transfer.":[150]},"counts_by_year":[{"year":2018,"cited_by_count":1}],"updated_date":"2026-07-03T08:13:44.112507","created_date":"2025-10-10T00:00:00"}
