{"id":"https://openalex.org/W3043490722","doi":"https://doi.org/10.1109/iros45743.2020.9340732","title":"UnRectDepthNet: Self-Supervised Monocular Depth Estimation using a Generic Framework for Handling Common Camera Distortion Models","display_name":"UnRectDepthNet: Self-Supervised Monocular Depth Estimation using a Generic Framework for Handling Common Camera Distortion Models","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3043490722","doi":"https://doi.org/10.1109/iros45743.2020.9340732","mag":"3043490722"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9340732","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9340732","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2007.06676","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101831327","display_name":"Varun Ravi Kumar","orcid":"https://orcid.org/0000-0002-8596-7629"},"institutions":[{"id":"https://openalex.org/I119449181","display_name":"Technische Universit\u00e4t Ilmenau","ror":"https://ror.org/01weqhp73","country_code":"DE","type":"education","lineage":["https://openalex.org/I119449181"]},{"id":"https://openalex.org/I4210112099","display_name":"Valeo (Germany)","ror":"https://ror.org/01zkeq752","country_code":"DE","type":"company","lineage":["https://openalex.org/I220619192","https://openalex.org/I4210112099"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Varun Ravi Kumar","raw_affiliation_strings":["Technische Universit\u00e4t Ilmenau, Germany","Valeo DAR Kronach, Germany","Valeo DAR,Kronach,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technische Universit\u00e4t Ilmenau, Germany","institution_ids":["https://openalex.org/I119449181"]},{"raw_affiliation_string":"Valeo DAR Kronach, Germany","institution_ids":["https://openalex.org/I4210112099"]},{"raw_affiliation_string":"Valeo DAR,Kronach,Germany","institution_ids":["https://openalex.org/I4210112099"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014764449","display_name":"Senthil Yogamani","orcid":"https://orcid.org/0000-0003-3755-4245"},"institutions":[{"id":"https://openalex.org/I4210126639","display_name":"Valeo (Ireland)","ror":"https://ror.org/031sgpn76","country_code":"IE","type":"company","lineage":["https://openalex.org/I220619192","https://openalex.org/I4210126639"]}],"countries":["IE"],"is_corresponding":false,"raw_author_name":"Senthil Yogamani","raw_affiliation_strings":["Valeo Vision Systems, Ireland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Valeo Vision Systems, Ireland","institution_ids":["https://openalex.org/I4210126639"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018560178","display_name":"Markus Bach","orcid":null},"institutions":[{"id":"https://openalex.org/I4210112099","display_name":"Valeo (Germany)","ror":"https://ror.org/01zkeq752","country_code":"DE","type":"company","lineage":["https://openalex.org/I220619192","https://openalex.org/I4210112099"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Markus Bach","raw_affiliation_strings":["Valeo DAR Kronach, Germany","Valeo DAR,Kronach,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Valeo DAR Kronach, Germany","institution_ids":["https://openalex.org/I4210112099"]},{"raw_affiliation_string":"Valeo DAR,Kronach,Germany","institution_ids":["https://openalex.org/I4210112099"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079596203","display_name":"Christian Witt","orcid":null},"institutions":[{"id":"https://openalex.org/I4210112099","display_name":"Valeo (Germany)","ror":"https://ror.org/01zkeq752","country_code":"DE","type":"company","lineage":["https://openalex.org/I220619192","https://openalex.org/I4210112099"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christian Witt","raw_affiliation_strings":["Valeo DAR Kronach, Germany","Valeo DAR,Kronach,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Valeo DAR Kronach, Germany","institution_ids":["https://openalex.org/I4210112099"]},{"raw_affiliation_string":"Valeo DAR,Kronach,Germany","institution_ids":["https://openalex.org/I4210112099"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102933058","display_name":"Stefan Milz","orcid":"https://orcid.org/0000-0002-9326-3138"},"institutions":[{"id":"https://openalex.org/I119449181","display_name":"Technische Universit\u00e4t Ilmenau","ror":"https://ror.org/01weqhp73","country_code":"DE","type":"education","lineage":["https://openalex.org/I119449181"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Stefan Milz","raw_affiliation_strings":["Spleenlab GmbH, Germany","Technische Universit\u00e4t Ilmenau, Germany","Spleenlab GmbH,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Spleenlab GmbH, Germany","institution_ids":[]},{"raw_affiliation_string":"Technische Universit\u00e4t Ilmenau, Germany","institution_ids":["https://openalex.org/I119449181"]},{"raw_affiliation_string":"Spleenlab GmbH,Germany","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063243817","display_name":"Patrick M\u00e4der","orcid":"https://orcid.org/0000-0001-6871-2707"},"institutions":[{"id":"https://openalex.org/I119449181","display_name":"Technische Universit\u00e4t Ilmenau","ror":"https://ror.org/01weqhp73","country_code":"DE","type":"education","lineage":["https://openalex.org/I119449181"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Patrick Mader","raw_affiliation_strings":["Technische Universit\u00e4t Ilmenau, Germany","[Technische Universit\u00e4t, Ilmenau, Germany]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technische Universit\u00e4t Ilmenau, Germany","institution_ids":["https://openalex.org/I119449181"]},{"raw_affiliation_string":"[Technische Universit\u00e4t, Ilmenau, Germany]","institution_ids":["https://openalex.org/I119449181"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.598,"has_fulltext":true,"cited_by_count":7,"citation_normalized_percentile":{"value":0.74943955,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"8177","last_page":"8183"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9998999834060669,"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":0.9998999834060669,"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/T10638","display_name":"Optical measurement and interference techniques","score":0.9993000030517578,"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/T13114","display_name":"Image Processing Techniques and Applications","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2214","display_name":"Media Technology"},"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/image-rectification","display_name":"Image rectification","score":0.8195840120315552},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7415661811828613},{"id":"https://openalex.org/keywords/epipolar-geometry","display_name":"Epipolar geometry","score":0.7411940693855286},{"id":"https://openalex.org/keywords/rectification","display_name":"Rectification","score":0.7013009190559387},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6816468834877014},{"id":"https://openalex.org/keywords/distortion","display_name":"Distortion (music)","score":0.6794799566268921},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6367670297622681},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.5111873745918274},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.24741855263710022},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09566035866737366}],"concepts":[{"id":"https://openalex.org/C171614847","wikidata":"https://www.wikidata.org/wiki/Q1262415","display_name":"Image rectification","level":4,"score":0.8195840120315552},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7415661811828613},{"id":"https://openalex.org/C23379248","wikidata":"https://www.wikidata.org/wiki/Q200904","display_name":"Epipolar geometry","level":3,"score":0.7411940693855286},{"id":"https://openalex.org/C50942859","wikidata":"https://www.wikidata.org/wiki/Q4967193","display_name":"Rectification","level":3,"score":0.7013009190559387},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6816468834877014},{"id":"https://openalex.org/C126780896","wikidata":"https://www.wikidata.org/wiki/Q899871","display_name":"Distortion (music)","level":4,"score":0.6794799566268921},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6367670297622681},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.5111873745918274},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.24741855263710022},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09566035866737366},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C194257627","wikidata":"https://www.wikidata.org/wiki/Q211554","display_name":"Amplifier","level":3,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.0},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/iros45743.2020.9340732","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9340732","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2007.06676","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2007.06676","pdf_url":"https://arxiv.org/pdf/2007.06676","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2007.06676","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2007.06676","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":"Preprint"},{"id":"mag:3043490722","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":null}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2007.06676","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2007.06676","pdf_url":"https://arxiv.org/pdf/2007.06676","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W3043490722.pdf"},"referenced_works_count":66,"referenced_works":["https://openalex.org/W172887045","https://openalex.org/W603908379","https://openalex.org/W1538077222","https://openalex.org/W1905829557","https://openalex.org/W2011713758","https://openalex.org/W2033819227","https://openalex.org/W2040013490","https://openalex.org/W2113640817","https://openalex.org/W2115579991","https://openalex.org/W2120664169","https://openalex.org/W2133665775","https://openalex.org/W2150066425","https://openalex.org/W2171740948","https://openalex.org/W2249194483","https://openalex.org/W2322553306","https://openalex.org/W2476548250","https://openalex.org/W2520707372","https://openalex.org/W2535388113","https://openalex.org/W2609883120","https://openalex.org/W2734957715","https://openalex.org/W2738738435","https://openalex.org/W2749581528","https://openalex.org/W2798405286","https://openalex.org/W2884532224","https://openalex.org/W2890949887","https://openalex.org/W2899771611","https://openalex.org/W2903872112","https://openalex.org/W2909393256","https://openalex.org/W2928601293","https://openalex.org/W2938544580","https://openalex.org/W2942874149","https://openalex.org/W2963265330","https://openalex.org/W2963316641","https://openalex.org/W2963412495","https://openalex.org/W2963499229","https://openalex.org/W2963583471","https://openalex.org/W2963587345","https://openalex.org/W2963654727","https://openalex.org/W2963906250","https://openalex.org/W2964089273","https://openalex.org/W2964153283","https://openalex.org/W2970803838","https://openalex.org/W2971344836","https://openalex.org/W2979318013","https://openalex.org/W2985775862","https://openalex.org/W2989598987","https://openalex.org/W2990874363","https://openalex.org/W2994689640","https://openalex.org/W3004734937","https://openalex.org/W3034604951","https://openalex.org/W3103824264","https://openalex.org/W6618372016","https://openalex.org/W6639633739","https://openalex.org/W6685261749","https://openalex.org/W6729060410","https://openalex.org/W6740873641","https://openalex.org/W6754824001","https://openalex.org/W6755644832","https://openalex.org/W6756040250","https://openalex.org/W6757193880","https://openalex.org/W6761098735","https://openalex.org/W6766196973","https://openalex.org/W6767164110","https://openalex.org/W6767359532","https://openalex.org/W6769158440","https://openalex.org/W6770831807"],"related_works":["https://openalex.org/W3130567435","https://openalex.org/W3110028706","https://openalex.org/W3205183770","https://openalex.org/W2889830544","https://openalex.org/W2964020152","https://openalex.org/W2989922503","https://openalex.org/W2954307577","https://openalex.org/W2967389308","https://openalex.org/W3117012253","https://openalex.org/W2972529580","https://openalex.org/W3127104920","https://openalex.org/W2292391751","https://openalex.org/W3043519395","https://openalex.org/W3203373359","https://openalex.org/W2890195581","https://openalex.org/W2890169999","https://openalex.org/W2999318879","https://openalex.org/W3089993621","https://openalex.org/W3117461703","https://openalex.org/W3173805712"],"abstract_inverted_index":{"In":[0,72],"classical":[1],"computer":[2],"vision,":[3],"rectification":[4,17,39,120,154],"is":[5,204],"an":[6,192],"integral":[7],"part":[8],"of":[9,48,65,99,147,164,179],"multi-view":[10],"depth":[11,26],"estimation.":[12],"It":[13],"typically":[14],"includes":[15],"epipolar":[16],"and":[18,29,53,87,149,194,197,212],"lens":[19],"distortion":[20,67,108,133,189],"correction.":[21],"This":[22],"process":[23],"simplifies":[24],"the":[25,102,111,119,127,132,161,165,187,208],"estimation":[27],"significantly,":[28],"thus":[30],"it":[31,170],"has":[32,40],"been":[33],"adopted":[34],"in":[35,63,186],"CNN":[36,128],"approaches.":[37],"However,":[38],"several":[41],"side":[42],"effects,":[43],"including":[44],"a":[45,77,96,144,228],"reduced":[46,145],"field":[47,146,178],"view":[49,148],"(FOV),":[50],"resampling":[51],"distortion,":[52],"sensitivity":[54],"to":[55,110,171],"calibration":[56],"errors.":[57],"The":[58,115,181,201],"effects":[59],"are":[60],"particularly":[61],"pronounced":[62],"case":[64],"significant":[66],"(e.g.,":[68],"wide-angle":[69,172],"fisheye":[70,173],"cameras).":[71],"this":[73],"paper,":[74],"we":[75,168,213],"propose":[76],"generic":[78],"scale-aware":[79],"self-supervised":[80],"pipeline":[81],"for":[82,153],"estimating":[83],"depth,":[84],"euclidean":[85],"distance,":[86],"visual":[88],"odometry":[89],"from":[90,143],"unrectified":[91,103],"monocular":[92],"videos.":[93],"We":[94],"demonstrate":[95],"similar":[97],"level":[98],"precision":[100],"on":[101,207,227],"KITTI":[104,113,209],"dataset":[105],"with":[106,175],"barrel":[107],"comparable":[109],"rectified":[112,210],"dataset.":[114],"intuition":[116],"being":[117],"that":[118,217],"step":[121],"can":[122],"be":[123],"implicitly":[124],"absorbed":[125],"within":[126],"model,":[129],"which":[130],"learns":[131],"model":[134,190],"without":[135],"increasing":[136],"complexity.":[137],"Our":[138],"approach":[139],"does":[140],"not":[141],"suffer":[142],"avoids":[150],"computational":[151],"costs":[152],"at":[155],"inference":[156],"time.":[157],"To":[158],"further":[159,206],"illustrate":[160],"general":[162],"applicability":[163],"proposed":[166,202],"framework,":[167],"apply":[169],"cameras":[174],"190\u00b0":[176],"horizontal":[177],"view.":[180],"training":[182],"framework":[183],"UnRectDepthNet":[184],"takes":[185],"camera":[188],"as":[191],"argument":[193],"adapts":[195],"projection":[196],"unprojection":[198],"functions":[199],"accordingly.":[200],"algorithm":[203],"evaluated":[205],"dataset,":[211],"achieve":[214],"state-of-the-art":[215],"results":[216,226],"improve":[218],"upon":[219],"our":[220],"previous":[221],"work":[222],"FisheyeDistanceNet":[223],"[1].":[224],"Qualitative":[225],"distorted":[229],"test":[230],"scene":[231],"video":[232],"sequence":[233],"indicate":[234],"excellent":[235],"performance1.":[236]},"counts_by_year":[{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":3}],"updated_date":"2026-08-05T07:39:15.569665","created_date":"2025-10-10T00:00:00"}