{"id":"https://openalex.org/W3208212378","doi":"https://doi.org/10.1109/iros51168.2021.9635912","title":"Monocular Teach-and-Repeat Navigation using a Deep Steering Network with Scale Estimation","display_name":"Monocular Teach-and-Repeat Navigation using a Deep Steering Network with Scale Estimation","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W3208212378","doi":"https://doi.org/10.1109/iros51168.2021.9635912","mag":"3208212378"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9635912","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9635912","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://eprints.whiterose.ac.uk/172958/1/TRN_ScaleEstimation_new.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5077789334","display_name":"Cheng Zhao","orcid":"https://orcid.org/0000-0001-8502-3233"},"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":"Cheng Zhao","raw_affiliation_strings":["University of Oxford, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Oxford, UK","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101629398","display_name":"Li Sun","orcid":"https://orcid.org/0000-0002-0393-8665"},"institutions":[{"id":"https://openalex.org/I91136226","display_name":"University of Sheffield","ror":"https://ror.org/05krs5044","country_code":"GB","type":"education","lineage":["https://openalex.org/I91136226"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Li Sun","raw_affiliation_strings":["Visual Computing Group, University of Sheffield, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Visual Computing Group, University of Sheffield, UK","institution_ids":["https://openalex.org/I91136226"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082772824","display_name":"Tom\u00e1\u0161 Krajn\u00edk","orcid":"https://orcid.org/0000-0002-4408-7916"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Tomas Krajnik","raw_affiliation_strings":["AI Center, Czech Technical University in Prague, Czechia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"AI Center, Czech Technical University in Prague, Czechia","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088202291","display_name":"Tom Duckett","orcid":"https://orcid.org/0000-0003-2971-7905"},"institutions":[{"id":"https://openalex.org/I51532219","display_name":"University of Lincoln","ror":"https://ror.org/03yeq9x20","country_code":"GB","type":"education","lineage":["https://openalex.org/I51532219"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Tom Duckett","raw_affiliation_strings":["Lincoln Centre for Autonomous Systems, University of Lincoln, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lincoln Centre for Autonomous Systems, University of Lincoln, UK","institution_ids":["https://openalex.org/I51532219"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008360393","display_name":"Zhi Yan","orcid":"https://orcid.org/0000-0001-8251-9786"},"institutions":[{"id":"https://openalex.org/I177064439","display_name":"Universit\u00e9 de Bourgogne","ror":"https://ror.org/03k1bsr36","country_code":"FR","type":"education","lineage":["https://openalex.org/I177064439"]},{"id":"https://openalex.org/I37553959","display_name":"Universit\u00e9 de technologie de belfort-montb\u00e9liard","ror":"https://ror.org/05bn3m307","country_code":"FR","type":"education","lineage":["https://openalex.org/I37553959"]},{"id":"https://openalex.org/I4387153146","display_name":"Connaissance & Intelligence Artificielle Distribu\u00e9es","ror":"https://ror.org/01ch21j41","country_code":"FR","type":"facility","lineage":["https://openalex.org/I37553959","https://openalex.org/I4387153146","https://openalex.org/I4405253280"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Zhi Yan","raw_affiliation_strings":["CIAD UMR7533, Univ. Bourgogne Franche-Comt\u00e9, UTBM, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CIAD UMR7533, Univ. Bourgogne Franche-Comt\u00e9, UTBM, France","institution_ids":["https://openalex.org/I177064439","https://openalex.org/I37553959","https://openalex.org/I4387153146"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.4967,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.89521815,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"2613","last_page":"2619"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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":0.9998999834060669,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9991999864578247,"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/computer-science","display_name":"Computer science","score":0.7435486316680908},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7206444144248962},{"id":"https://openalex.org/keywords/visual-servoing","display_name":"Visual servoing","score":0.684760332107544},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6566726565361023},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.5837538242340088},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5086806416511536},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4988527297973633},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.48594391345977783},{"id":"https://openalex.org/keywords/node","display_name":"Node (physics)","score":0.4563210606575012},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.43203508853912354},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10081100463867188}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7435486316680908},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7206444144248962},{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.684760332107544},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6566726565361023},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.5837538242340088},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5086806416511536},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4988527297973633},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.48594391345977783},{"id":"https://openalex.org/C62611344","wikidata":"https://www.wikidata.org/wiki/Q1062658","display_name":"Node (physics)","level":2,"score":0.4563210606575012},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.43203508853912354},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10081100463867188},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros51168.2021.9635912","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9635912","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:eprints.whiterose.ac.uk:172958","is_oa":true,"landing_page_url":null,"pdf_url":"https://eprints.whiterose.ac.uk/172958/1/TRN_ScaleEstimation_new.pdf","source":{"id":"https://openalex.org/S4306400854","display_name":"White Rose Research Online (University of Leeds, The University of Sheffield, University of York)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2800616092","host_organization_name":"White Rose University Consortium","host_organization_lineage":["https://openalex.org/I2800616092"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Proceedings Paper"}],"best_oa_location":{"id":"pmh:oai:eprints.whiterose.ac.uk:172958","is_oa":true,"landing_page_url":null,"pdf_url":"https://eprints.whiterose.ac.uk/172958/1/TRN_ScaleEstimation_new.pdf","source":{"id":"https://openalex.org/S4306400854","display_name":"White Rose Research Online (University of Leeds, The University of Sheffield, University of York)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2800616092","host_organization_name":"White Rose University Consortium","host_organization_lineage":["https://openalex.org/I2800616092"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Proceedings Paper"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W3208212378.pdf"},"referenced_works_count":38,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1612997784","https://openalex.org/W2003919215","https://openalex.org/W2102127923","https://openalex.org/W2114766649","https://openalex.org/W2160685053","https://openalex.org/W2161808137","https://openalex.org/W2338554534","https://openalex.org/W2560609797","https://openalex.org/W2598706937","https://openalex.org/W2609883120","https://openalex.org/W2745859992","https://openalex.org/W2765767940","https://openalex.org/W2921593300","https://openalex.org/W2947311533","https://openalex.org/W2962816904","https://openalex.org/W2962891637","https://openalex.org/W2963318716","https://openalex.org/W2963341249","https://openalex.org/W2963384393","https://openalex.org/W2963583471","https://openalex.org/W2964021598","https://openalex.org/W2964314455","https://openalex.org/W3034275286","https://openalex.org/W3043075211","https://openalex.org/W3083391807","https://openalex.org/W3090766144","https://openalex.org/W3106440972","https://openalex.org/W3206222126","https://openalex.org/W4230475428","https://openalex.org/W4289147137","https://openalex.org/W4385245566","https://openalex.org/W6618872416","https://openalex.org/W6739901393","https://openalex.org/W6754571906","https://openalex.org/W6760539135","https://openalex.org/W6763422710","https://openalex.org/W6802691246"],"related_works":["https://openalex.org/W2126852585","https://openalex.org/W2367086100","https://openalex.org/W2352270872","https://openalex.org/W1520171478","https://openalex.org/W2386520554","https://openalex.org/W4317830657","https://openalex.org/W2127866683","https://openalex.org/W3024380338","https://openalex.org/W2065095941","https://openalex.org/W110066474"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,30,42,48,95,143,151],"novel":[4,49,77],"monocular":[5,122],"teach-and-repeat":[6,111],"navigation":[7,27,61,115,149],"system":[8,140],"with":[9],"the":[10,16,26,60,65,84,88,121],"capability":[11],"of":[12,32,97],"scale":[13,70,86,125],"awareness,":[14],"i.e.":[15],"absolute":[17,85],"distance":[18],"between":[19,87],"observation":[20,89],"and":[21,69,90,117],"goal":[22,91],"images.":[23],"It":[24],"decomposes":[25],"task":[28],"into":[29,137],"sequence":[31],"visual":[33,73],"servoing":[34,74],"sub-tasks":[35],"to":[36,58,64,82,101,146],"approach":[37],"consecutive":[38],"goal/node":[39],"images":[40],"in":[41,150],"topological":[43],"map.":[44],"To":[45],"be":[46,158],"specific,":[47],"hybrid":[50],"model,":[51],"named":[52],"deep":[53,99],"steering":[54],"network":[55,134],"is":[56,80,135],"proposed":[57,133],"infer":[59],"primitives":[62],"according":[63],"learned":[66],"local":[67],"feature":[68],"for":[71],"each":[72],"sub-task.":[75],"A":[76,154],"architecture,":[78],"Scale-Transformer,":[79],"developed":[81],"estimate":[83],"image":[92],"pair":[93],"from":[94],"set":[96],"matched":[98],"representations":[100],"assist":[102],"repeating":[103],"navigation.":[104],"The":[105,132],"experiments":[106],"demonstrate":[107],"that":[108],"our":[109],"scale-aware":[110],"method":[112],"achieves":[113],"satisfying":[114],"accuracy,":[116],"converges":[118],"faster":[119],"than":[120],"methods":[123],"without":[124],"correction":[126],"given":[127],"an":[128,138],"inaccurate":[129],"initial":[130],"pose.":[131],"integrated":[136],"onboard":[139],"deployed":[141],"on":[142],"real":[144,152],"robot":[145],"achieve":[147],"real-time":[148],"environment.":[153],"demonstration":[155],"video":[156],"can":[157],"found":[159],"online:":[160],"https://youtu.be/ctlwDaMKnHw":[161]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}