{"id":"https://openalex.org/W4405786178","doi":"https://doi.org/10.1109/iros58592.2024.10801997","title":"Exploring Few-Beam LiDAR Assistance in Self-Supervised Multi-Frame Depth Estimation","display_name":"Exploring Few-Beam LiDAR Assistance in Self-Supervised Multi-Frame Depth Estimation","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405786178","doi":"https://doi.org/10.1109/iros58592.2024.10801997"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10801997","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801997","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5111024137","display_name":"Rizhao Fan","orcid":null},"institutions":[{"id":"https://openalex.org/I4210165649","display_name":"China Coal Research Institute (China)","ror":"https://ror.org/05dy2c135","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210165649"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rizhao Fan","raw_affiliation_strings":["Research Institute of Mine Artificial Intelligence, China Coal Research Institute"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Institute of Mine Artificial Intelligence, China Coal Research Institute","institution_ids":["https://openalex.org/I4210165649"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036563362","display_name":"Matteo Poggi","orcid":"https://orcid.org/0000-0002-3337-2236"},"institutions":[{"id":"https://openalex.org/I9360294","display_name":"University of Bologna","ror":"https://ror.org/01111rn36","country_code":"IT","type":"education","lineage":["https://openalex.org/I9360294"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Matteo Poggi","raw_affiliation_strings":["University of Bologna"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Bologna","institution_ids":["https://openalex.org/I9360294"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5072569849","display_name":"Stefano Mattoccia","orcid":"https://orcid.org/0000-0002-3681-7704"},"institutions":[{"id":"https://openalex.org/I9360294","display_name":"University of Bologna","ror":"https://ror.org/01111rn36","country_code":"IT","type":"education","lineage":["https://openalex.org/I9360294"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Stefano Mattoccia","raw_affiliation_strings":["University of Bologna"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Bologna","institution_ids":["https://openalex.org/I9360294"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2770","last_page":"2777"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10638","display_name":"Optical measurement and interference techniques","score":0.9976999759674072,"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/T10638","display_name":"Optical measurement and interference techniques","score":0.9976999759674072,"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/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.994700014591217,"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/T13114","display_name":"Image Processing Techniques and Applications","score":0.9900000095367432,"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/lidar","display_name":"Lidar","score":0.7374313473701477},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.634824812412262},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5964900851249695},{"id":"https://openalex.org/keywords/estimation","display_name":"Estimation","score":0.5588551163673401},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.44242948293685913},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4268261790275574},{"id":"https://openalex.org/keywords/beam","display_name":"Beam (structure)","score":0.4159466028213501},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.35585513710975647},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.2946696877479553},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.20881319046020508},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13107997179031372},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.11545923352241516},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06962618231773376}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7374313473701477},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.634824812412262},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5964900851249695},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.5588551163673401},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.44242948293685913},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4268261790275574},{"id":"https://openalex.org/C168834538","wikidata":"https://www.wikidata.org/wiki/Q3705329","display_name":"Beam (structure)","level":2,"score":0.4159466028213501},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.35585513710975647},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.2946696877479553},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.20881319046020508},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13107997179031372},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.11545923352241516},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06962618231773376},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros58592.2024.10801997","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801997","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:cris.unibo.it:11585/1010350","is_oa":false,"landing_page_url":"https://ieeexplore.ieee.org/document/10801997","pdf_url":null,"source":{"id":"https://openalex.org/S4306402579","display_name":"Archivio istituzionale della ricerca (Alma Mater Studiorum Universit\u00e0 di Bologna)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210117483","host_organization_name":"Istituto di Ematologia di Bologna","host_organization_lineage":["https://openalex.org/I4210117483"],"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":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320322725","display_name":"China Scholarship Council","ror":"https://ror.org/04atp4p48"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":48,"referenced_works":["https://openalex.org/W2150066425","https://openalex.org/W2194775991","https://openalex.org/W2300779272","https://openalex.org/W2520707372","https://openalex.org/W2609883120","https://openalex.org/W2961926014","https://openalex.org/W2963045776","https://openalex.org/W2963316641","https://openalex.org/W2964052474","https://openalex.org/W2969202876","https://openalex.org/W2985775862","https://openalex.org/W3003796433","https://openalex.org/W3034428934","https://openalex.org/W3034604951","https://openalex.org/W3060975791","https://openalex.org/W3107156787","https://openalex.org/W3107389224","https://openalex.org/W3120407065","https://openalex.org/W3146873565","https://openalex.org/W3171953850","https://openalex.org/W3175682855","https://openalex.org/W3176027594","https://openalex.org/W3194533273","https://openalex.org/W3198721070","https://openalex.org/W3205269569","https://openalex.org/W3205553412","https://openalex.org/W4226416363","https://openalex.org/W4308480793","https://openalex.org/W4312253171","https://openalex.org/W4312386157","https://openalex.org/W4312398233","https://openalex.org/W4312572946","https://openalex.org/W4312788296","https://openalex.org/W4321512633","https://openalex.org/W4360770819","https://openalex.org/W4382239999","https://openalex.org/W4386233594","https://openalex.org/W4388185446","https://openalex.org/W4389459276","https://openalex.org/W6631190155","https://openalex.org/W6685261749","https://openalex.org/W6769011798","https://openalex.org/W6771531989","https://openalex.org/W6801113489","https://openalex.org/W6802066719","https://openalex.org/W6860070242","https://openalex.org/W6992521003","https://openalex.org/W7008556438"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W2351984678","https://openalex.org/W2140032575","https://openalex.org/W2011860471","https://openalex.org/W2012196540","https://openalex.org/W3011451421"],"abstract_inverted_index":{"Self-supervised":[0],"multi-frame":[1,55,94,102],"depth":[2,56,79,95,106,111,152],"estimation":[3,57,112,153],"methods":[4,15,142],"only":[5],"require":[6],"unlabeled":[7],"monocular":[8],"videos":[9],"for":[10,81,147],"training.":[11],"However,":[12],"most":[13],"existing":[14,141],"face":[16],"challenges,":[17],"including":[18],"accuracy":[19],"degradation":[20],"caused":[21],"by":[22,58],"moving":[23,74,118],"objects":[24,119],"in":[25,115],"dynamic":[26],"scenes":[27],"and":[28,104,120,143,150],"scale":[29],"ambiguity":[30],"due":[31],"to":[32,50,136],"the":[33,41,48,52,64,68,86,125,138,145],"absence":[34],"of":[35,43,54,88,127,140],"real-world":[36],"references.":[37],"In":[38],"this":[39,156],"field,":[40],"emergence":[42],"low-cost":[44],"LiDAR":[45,69,90],"sensors":[46],"highlights":[47],"potential":[49,135],"improve":[51],"robustness":[53],"exploiting":[59],"accurate":[60],"sparse":[61,105],"measurements":[62],"at":[63],"correct":[65],"scale.":[66],"Moreover,":[67],"ranging":[70],"points":[71],"often":[72],"intersect":[73],"objects,":[75],"providing":[76],"more":[77,148],"precise":[78],"cues":[80],"them.":[82],"This":[83],"paper":[84],"explores":[85],"impact":[87],"few-beam":[89],"data":[91],"on":[92,155],"self-supervised":[93],"estimation,":[96],"proposing":[97],"a":[98],"method":[99],"that":[100],"fuses":[101],"matching":[103],"features.":[107],"It":[108],"significantly":[109],"enhances":[110],"robustness,":[113],"particularly":[114],"scenarios":[116],"involving":[117],"textureless":[121],"backgrounds.":[122],"We":[123],"demonstrate":[124],"effectiveness":[126],"our":[128],"approach":[129],"through":[130],"comprehensive":[131],"experiments,":[132],"showcasing":[133],"its":[134],"address":[137],"limitations":[139],"paving":[144],"way":[146],"robust":[149],"reliable":[151],"based":[154],"paradigm.":[157]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}