{"id":"https://openalex.org/W2966072084","doi":"https://doi.org/10.1109/iros40897.2019.8967756","title":"DeepPCO: End-to-End Point Cloud Odometry through Deep Parallel Neural Network","display_name":"DeepPCO: End-to-End Point Cloud Odometry through Deep Parallel Neural Network","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W2966072084","doi":"https://doi.org/10.1109/iros40897.2019.8967756","mag":"2966072084"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8967756","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8967756","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","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/A5100392058","display_name":"Wei Wang","orcid":"https://orcid.org/0000-0002-6992-8531"},"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"]},{"id":"https://openalex.org/I4210146410","display_name":"Science Oxford","ror":"https://ror.org/04j8yhy50","country_code":"GB","type":"nonprofit","lineage":["https://openalex.org/I4210146410"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Wei Wang","raw_affiliation_strings":["University of Oxford,Department of Computer Science,Oxford,United Kingdom,OX1 3QD","Department of Computer Science, University of Oxford, Oxford, United Kingdom"],"affiliations":[{"raw_affiliation_string":"University of Oxford,Department of Computer Science,Oxford,United Kingdom,OX1 3QD","institution_ids":["https://openalex.org/I40120149","https://openalex.org/I4210146410"]},{"raw_affiliation_string":"Department of Computer Science, University of Oxford, Oxford, United Kingdom","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030156598","display_name":"Muhamad Risqi U. Saputra","orcid":"https://orcid.org/0000-0001-6067-630X"},"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"]},{"id":"https://openalex.org/I4210146410","display_name":"Science Oxford","ror":"https://ror.org/04j8yhy50","country_code":"GB","type":"nonprofit","lineage":["https://openalex.org/I4210146410"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Muhamad Risqi U. Saputra","raw_affiliation_strings":["University of Oxford,Department of Computer Science,Oxford,United Kingdom,OX1 3QD","Department of Computer Science, University of Oxford, Oxford, United Kingdom"],"affiliations":[{"raw_affiliation_string":"University of Oxford,Department of Computer Science,Oxford,United Kingdom,OX1 3QD","institution_ids":["https://openalex.org/I40120149","https://openalex.org/I4210146410"]},{"raw_affiliation_string":"Department of Computer Science, University of Oxford, Oxford, United Kingdom","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101688277","display_name":"Peijun Zhao","orcid":"https://orcid.org/0000-0003-2843-6941"},"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"]},{"id":"https://openalex.org/I4210146410","display_name":"Science Oxford","ror":"https://ror.org/04j8yhy50","country_code":"GB","type":"nonprofit","lineage":["https://openalex.org/I4210146410"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Peijun Zhao","raw_affiliation_strings":["University of Oxford,Department of Computer Science,Oxford,United Kingdom,OX1 3QD","Department of Computer Science, University of Oxford, Oxford, United Kingdom"],"affiliations":[{"raw_affiliation_string":"University of Oxford,Department of Computer Science,Oxford,United Kingdom,OX1 3QD","institution_ids":["https://openalex.org/I40120149","https://openalex.org/I4210146410"]},{"raw_affiliation_string":"Department of Computer Science, University of Oxford, Oxford, United Kingdom","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077645636","display_name":"Pedro Gusmao","orcid":"https://orcid.org/0000-0002-7072-9898"},"institutions":[{"id":"https://openalex.org/I4210146410","display_name":"Science Oxford","ror":"https://ror.org/04j8yhy50","country_code":"GB","type":"nonprofit","lineage":["https://openalex.org/I4210146410"]},{"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":"Pedro Gusmao","raw_affiliation_strings":["University of Oxford,Department of Computer Science,Oxford,United Kingdom,OX1 3QD","Department of Computer Science, University of Oxford, Oxford, United Kingdom"],"affiliations":[{"raw_affiliation_string":"University of Oxford,Department of Computer Science,Oxford,United Kingdom,OX1 3QD","institution_ids":["https://openalex.org/I40120149","https://openalex.org/I4210146410"]},{"raw_affiliation_string":"Department of Computer Science, University of Oxford, Oxford, United Kingdom","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039611354","display_name":"Bo Yang","orcid":"https://orcid.org/0000-0002-2419-4140"},"institutions":[{"id":"https://openalex.org/I4210146410","display_name":"Science Oxford","ror":"https://ror.org/04j8yhy50","country_code":"GB","type":"nonprofit","lineage":["https://openalex.org/I4210146410"]},{"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":"Bo Yang","raw_affiliation_strings":["University of Oxford,Department of Computer Science,Oxford,United Kingdom,OX1 3QD","Department of Computer Science, University of Oxford, Oxford, United Kingdom"],"affiliations":[{"raw_affiliation_string":"University of Oxford,Department of Computer Science,Oxford,United Kingdom,OX1 3QD","institution_ids":["https://openalex.org/I40120149","https://openalex.org/I4210146410"]},{"raw_affiliation_string":"Department of Computer Science, University of Oxford, Oxford, United Kingdom","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101907748","display_name":"Changhao Chen","orcid":"https://orcid.org/0000-0002-3529-2600"},"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"]},{"id":"https://openalex.org/I4210146410","display_name":"Science Oxford","ror":"https://ror.org/04j8yhy50","country_code":"GB","type":"nonprofit","lineage":["https://openalex.org/I4210146410"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Changhao Chen","raw_affiliation_strings":["University of Oxford,Department of Computer Science,Oxford,United Kingdom,OX1 3QD","Department of Computer Science, University of Oxford, Oxford, United Kingdom"],"affiliations":[{"raw_affiliation_string":"University of Oxford,Department of Computer Science,Oxford,United Kingdom,OX1 3QD","institution_ids":["https://openalex.org/I40120149","https://openalex.org/I4210146410"]},{"raw_affiliation_string":"Department of Computer Science, University of Oxford, Oxford, United Kingdom","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060183988","display_name":"Andrew Markham","orcid":"https://orcid.org/0000-0001-5716-3941"},"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"]},{"id":"https://openalex.org/I4210146410","display_name":"Science Oxford","ror":"https://ror.org/04j8yhy50","country_code":"GB","type":"nonprofit","lineage":["https://openalex.org/I4210146410"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Andrew Markham","raw_affiliation_strings":["University of Oxford,Department of Computer Science,Oxford,United Kingdom,OX1 3QD","Department of Computer Science, University of Oxford, Oxford, United Kingdom"],"affiliations":[{"raw_affiliation_string":"University of Oxford,Department of Computer Science,Oxford,United Kingdom,OX1 3QD","institution_ids":["https://openalex.org/I40120149","https://openalex.org/I4210146410"]},{"raw_affiliation_string":"Department of Computer Science, University of Oxford, Oxford, United Kingdom","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010637110","display_name":"Niki Trigoni","orcid":"https://orcid.org/0000-0001-6236-9645"},"institutions":[{"id":"https://openalex.org/I4210146410","display_name":"Science Oxford","ror":"https://ror.org/04j8yhy50","country_code":"GB","type":"nonprofit","lineage":["https://openalex.org/I4210146410"]},{"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":"Niki Trigoni","raw_affiliation_strings":["University of Oxford,Department of Computer Science,Oxford,United Kingdom,OX1 3QD","Department of Computer Science, University of Oxford, Oxford, United Kingdom"],"affiliations":[{"raw_affiliation_string":"University of Oxford,Department of Computer Science,Oxford,United Kingdom,OX1 3QD","institution_ids":["https://openalex.org/I40120149","https://openalex.org/I4210146410"]},{"raw_affiliation_string":"Department of Computer Science, University of Oxford, Oxford, United Kingdom","institution_ids":["https://openalex.org/I40120149"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5100392058"],"corresponding_institution_ids":["https://openalex.org/I40120149","https://openalex.org/I4210146410"],"apc_list":null,"apc_paid":null,"fwci":14.2813,"has_fulltext":false,"cited_by_count":61,"citation_normalized_percentile":{"value":0.98916497,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"3248","last_page":"3254"},"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","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/visual-odometry","display_name":"Visual odometry","score":0.8719192147254944},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.8503503799438477},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.8156333565711975},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7654936909675598},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7493336200714111},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.6600788831710815},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5636019706726074},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.49338069558143616},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.490190327167511},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.4635208547115326},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.17392882704734802},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.12042668461799622},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07872596383094788}],"concepts":[{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.8719192147254944},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.8503503799438477},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.8156333565711975},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7654936909675598},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7493336200714111},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.6600788831710815},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5636019706726074},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.49338069558143616},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.490190327167511},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.4635208547115326},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.17392882704734802},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.12042668461799622},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07872596383094788},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros40897.2019.8967756","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8967756","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4699999988079071,"id":"https://metadata.un.org/sdg/4","display_name":"Quality Education"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320332178","display_name":"National Institute of Standards and Technology","ror":"https://ror.org/05xpvk416"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W764651262","https://openalex.org/W1522301498","https://openalex.org/W2049981393","https://openalex.org/W2150066425","https://openalex.org/W2194775991","https://openalex.org/W2200124539","https://openalex.org/W2296228853","https://openalex.org/W2415454270","https://openalex.org/W2461937780","https://openalex.org/W2559203616","https://openalex.org/W2560609797","https://openalex.org/W2598706937","https://openalex.org/W2612774882","https://openalex.org/W2755457237","https://openalex.org/W2788608285","https://openalex.org/W2798777114","https://openalex.org/W2830339951","https://openalex.org/W2919203733","https://openalex.org/W2948410735","https://openalex.org/W2952348863","https://openalex.org/W2963083779","https://openalex.org/W2963121367","https://openalex.org/W2964121744","https://openalex.org/W2964314455","https://openalex.org/W2971230666","https://openalex.org/W3099698729","https://openalex.org/W3106440972","https://openalex.org/W3124420883","https://openalex.org/W4249866455","https://openalex.org/W6631190155","https://openalex.org/W6752865273","https://openalex.org/W6760606512","https://openalex.org/W6763229141","https://openalex.org/W6763422710","https://openalex.org/W6764350350"],"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":{"Odometry":[0],"is":[1,14],"of":[2,10,20,123,164],"key":[3],"importance":[4],"for":[5],"localization":[6],"in":[7,17,27,91,162],"the":[8,18,114,156],"absence":[9],"a":[11,88,102,136],"map.":[12],"There":[13],"considerable":[15],"work":[16],"area":[19],"visual":[21],"odometry":[22,82],"(VO),":[23],"and":[24,52,131],"recent":[25],"advances":[26],"deep":[28,76,105],"learning":[29,77],"have":[30,47,58],"brought":[31],"novel":[32,103],"approaches":[33,46],"to":[34,49,63,74,78,127],"VO,":[35],"which":[36,84,111],"directly":[37],"learn":[38],"salient":[39],"features":[40],"from":[41],"raw":[42],"images.":[43],"These":[44],"learning-based":[45,97],"led":[48],"more":[50],"accurate":[51],"robust":[53],"VO":[54],"systems.":[55,98],"However,":[56],"they":[57],"not":[59],"been":[60],"well":[61],"applied":[62],"point":[64,80,92,119],"cloud":[65,81],"data":[66],"yet.":[67],"In":[68],"this":[69],"work,":[70],"we":[71,100],"investigate":[72],"how":[73],"exploit":[75],"estimate":[79,113,128],"(PCO),":[83],"may":[85],"serve":[86],"as":[87],"critical":[89],"component":[90],"cloud-based":[93],"downstream":[94],"tasks":[95],"or":[96],"Specifically,":[99],"propose":[101],"end-to-end":[104],"parallel":[106,125],"neural":[107,138],"network":[108],"called":[109],"DeepPCO,":[110],"can":[112],"6-DOF":[115],"poses":[116],"using":[117],"consecutive":[118],"clouds.":[120],"It":[121],"consists":[122],"two":[124],"sub-networks":[126],"3D":[129],"translation":[130],"orientation":[132],"respectively":[133],"rather":[134],"than":[135],"single":[137],"network.":[139],"We":[140],"validate":[141],"our":[142],"approach":[143,158],"on":[144],"KITTI":[145],"Visual":[146],"Odometry/SLAM":[147],"benchmark":[148],"dataset":[149],"with":[150],"different":[151],"baselines.":[152],"Experiments":[153],"demonstrate":[154],"that":[155],"proposed":[157],"achieves":[159],"good":[160],"performance":[161],"terms":[163],"pose":[165],"accuracy.":[166]},"counts_by_year":[{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":12},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":15},{"year":2020,"cited_by_count":12},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}