{"id":"https://openalex.org/W3190598446","doi":"https://doi.org/10.1109/iros51168.2021.9636508","title":"Joint Depth and Normal Estimation from Real-world Time-of-flight Raw Data","display_name":"Joint Depth and Normal Estimation from Real-world Time-of-flight Raw Data","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W3190598446","doi":"https://doi.org/10.1109/iros51168.2021.9636508","mag":"3190598446"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9636508","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636508","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":"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/A5101470618","display_name":"Rongrong Gao","orcid":"https://orcid.org/0000-0002-2979-9632"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":true,"raw_author_name":"Rongrong Gao","raw_affiliation_strings":["HKUST"],"affiliations":[{"raw_affiliation_string":"HKUST","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091403118","display_name":"Na Fan","orcid":null},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Na Fan","raw_affiliation_strings":["HKUST"],"affiliations":[{"raw_affiliation_string":"HKUST","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100700196","display_name":"Changlin Li","orcid":"https://orcid.org/0009-0007-8208-4517"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Changlin Li","raw_affiliation_strings":["HKUST"],"affiliations":[{"raw_affiliation_string":"HKUST","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100451376","display_name":"Wentao Liu","orcid":"https://orcid.org/0000-0001-6587-9878"},"institutions":[{"id":"https://openalex.org/I4210128910","display_name":"Group Sense (China)","ror":"https://ror.org/036wd5777","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210128910"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wentao Liu","raw_affiliation_strings":["Sensetime"],"affiliations":[{"raw_affiliation_string":"Sensetime","institution_ids":["https://openalex.org/I4210128910"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100719529","display_name":"Qifeng Chen","orcid":"https://orcid.org/0000-0003-2199-3948"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Qifeng Chen","raw_affiliation_strings":["HKUST"],"affiliations":[{"raw_affiliation_string":"HKUST","institution_ids":["https://openalex.org/I200769079"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5101470618"],"corresponding_institution_ids":["https://openalex.org/I200769079"],"apc_list":null,"apc_paid":null,"fwci":0.8308,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.72340426,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"71","last_page":"78"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/3105","display_name":"Instrumentation"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/3105","display_name":"Instrumentation"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9987999796867371,"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":0.9972000122070312,"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":0.7518128156661987},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.6935408711433411},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.692011833190918},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6677318811416626},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5570531487464905},{"id":"https://openalex.org/keywords/raw-data","display_name":"Raw data","score":0.4695202708244324},{"id":"https://openalex.org/keywords/depth-map","display_name":"Depth map","score":0.4339311122894287},{"id":"https://openalex.org/keywords/high-resolution","display_name":"High resolution","score":0.4336432218551636},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3739285469055176},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.2892032861709595},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.20130491256713867},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.12233814597129822},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.07253250479698181}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7518128156661987},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.6935408711433411},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.692011833190918},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6677318811416626},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5570531487464905},{"id":"https://openalex.org/C132964779","wikidata":"https://www.wikidata.org/wiki/Q2110223","display_name":"Raw data","level":2,"score":0.4695202708244324},{"id":"https://openalex.org/C141268832","wikidata":"https://www.wikidata.org/wiki/Q2940499","display_name":"Depth map","level":3,"score":0.4339311122894287},{"id":"https://openalex.org/C3020199158","wikidata":"https://www.wikidata.org/wiki/Q210521","display_name":"High resolution","level":2,"score":0.4336432218551636},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3739285469055176},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.2892032861709595},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.20130491256713867},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.12233814597129822},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.07253250479698181},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C170154142","wikidata":"https://www.wikidata.org/wiki/Q150737","display_name":"Architectural engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros51168.2021.9636508","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636508","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:repository.ust.hk:1783.1-116007","is_oa":false,"landing_page_url":"http://www.scopus.com/record/display.url?eid=2-s2.0-85124366317&origin=inward","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":56,"referenced_works":["https://openalex.org/W134016981","https://openalex.org/W1522301498","https://openalex.org/W1527354995","https://openalex.org/W1826919311","https://openalex.org/W1901129140","https://openalex.org/W1905829557","https://openalex.org/W1937534317","https://openalex.org/W1983193557","https://openalex.org/W2023021573","https://openalex.org/W2028868706","https://openalex.org/W2061325611","https://openalex.org/W2069695851","https://openalex.org/W2104620097","https://openalex.org/W2112585141","https://openalex.org/W2124907686","https://openalex.org/W2142190190","https://openalex.org/W2146814781","https://openalex.org/W2148821982","https://openalex.org/W2151047074","https://openalex.org/W2164900058","https://openalex.org/W2290804905","https://openalex.org/W2314059154","https://openalex.org/W2319307120","https://openalex.org/W2520340802","https://openalex.org/W2550402137","https://openalex.org/W2738545246","https://openalex.org/W2749560817","https://openalex.org/W2768145272","https://openalex.org/W2768431869","https://openalex.org/W2787942540","https://openalex.org/W2798927139","https://openalex.org/W2799224898","https://openalex.org/W2799265886","https://openalex.org/W2806819122","https://openalex.org/W2879448883","https://openalex.org/W2884480653","https://openalex.org/W2912555761","https://openalex.org/W2914535147","https://openalex.org/W2948497665","https://openalex.org/W2954174912","https://openalex.org/W2954563178","https://openalex.org/W2959581809","https://openalex.org/W2962874294","https://openalex.org/W2964121744","https://openalex.org/W2989809735","https://openalex.org/W3010577160","https://openalex.org/W3034653753","https://openalex.org/W3102597069","https://openalex.org/W3106403396","https://openalex.org/W3129602731","https://openalex.org/W6631190155","https://openalex.org/W6678569853","https://openalex.org/W6689185339","https://openalex.org/W6729541841","https://openalex.org/W6758693029","https://openalex.org/W6758912383"],"related_works":["https://openalex.org/W2047973478","https://openalex.org/W4295532600","https://openalex.org/W2063823869","https://openalex.org/W2067569035","https://openalex.org/W2090985514","https://openalex.org/W2012837507","https://openalex.org/W2885323543","https://openalex.org/W2145649715","https://openalex.org/W1996130883","https://openalex.org/W3202440119"],"abstract_inverted_index":{"We":[0],"present":[1],"a":[2,65,77],"novel":[3],"approach":[4],"to":[5,18,83],"joint":[6,71],"depth":[7,22,52,58,72,101],"and":[8,23,49,73,102,105],"normal":[9,24,74,103],"estimation":[10],"for":[11,70],"time-of-flight":[12],"(ToF)":[13],"sensors.":[14],"Our":[15,90],"model":[16],"learns":[17],"predict":[19],"the":[20,38,85],"high-quality":[21],"maps":[25,53,104],"jointly":[26],"from":[27],"ToF":[28,47],"raw":[29,46],"sensor":[30],"data.":[31],"To":[32],"achieve":[33],"this,":[34],"we":[35,62],"meticulously":[36],"constructed":[37],"first":[39],"large-scale":[40],"dataset":[41],"(named":[42],"ToF-100)":[43],"with":[44],"paired":[45],"data":[48],"ground-truth":[50],"high-resolution":[51,100],"provided":[54],"by":[55],"an":[56],"industrial":[57],"camera.":[59],"In":[60],"addition,":[61],"also":[63],"design":[64],"simple":[66],"but":[67],"effective":[68],"framework":[69],"estimation,":[75],"applying":[76],"robust":[78],"Chamfer":[79],"loss":[80],"via":[81],"jittering":[82],"improve":[84],"performance":[86],"of":[87],"our":[88,94],"model.":[89],"experiments":[91],"demonstrate":[92],"that":[93],"proposed":[95],"method":[96],"can":[97],"efficiently":[98],"reconstruct":[99],"significantly":[106],"outperforms":[107],"state-of-the-art":[108],"approaches.":[109]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2022,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}