{"id":"https://openalex.org/W4416749710","doi":"https://doi.org/10.1109/iros60139.2025.11246123","title":"Self-supervised Monocular Depth Estimation for Dynamic Objects with Ground Propagation","display_name":"Self-supervised Monocular Depth Estimation for Dynamic Objects with Ground Propagation","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416749710","doi":"https://doi.org/10.1109/iros60139.2025.11246123"},"language":"en","primary_location":{"id":"doi:10.1109/iros60139.2025.11246123","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246123","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5100319244","display_name":"Huan Li","orcid":"https://orcid.org/0000-0003-1204-8370"},"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":true,"raw_author_name":"Huan Li","raw_affiliation_strings":["University of Bologna,Italy"],"affiliations":[{"raw_affiliation_string":"University of Bologna,Italy","institution_ids":["https://openalex.org/I9360294"]}]},{"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,Italy"],"affiliations":[{"raw_affiliation_string":"University of Bologna,Italy","institution_ids":["https://openalex.org/I9360294"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025804456","display_name":"Fabio Tosi","orcid":"https://orcid.org/0000-0002-6276-5282"},"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":"Fabio Tosi","raw_affiliation_strings":["University of Bologna,Italy"],"affiliations":[{"raw_affiliation_string":"University of Bologna,Italy","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,Italy"],"affiliations":[{"raw_affiliation_string":"University of Bologna,Italy","institution_ids":["https://openalex.org/I9360294"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100319244"],"corresponding_institution_ids":["https://openalex.org/I9360294"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.40189412,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2384","last_page":"2391"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.5465999841690063,"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":0.5465999841690063,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.13259999454021454,"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.08049999922513962,"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/monocular","display_name":"Monocular","score":0.6432999968528748},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.5965999960899353},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.5073999762535095},{"id":"https://openalex.org/keywords/code","display_name":"Code (set theory)","score":0.4900999963283539},{"id":"https://openalex.org/keywords/training","display_name":"Training (meteorology)","score":0.4146000146865845},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.39169999957084656},{"id":"https://openalex.org/keywords/depth-perception","display_name":"Depth perception","score":0.353300005197525}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6837000250816345},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6707000136375427},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6456000208854675},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.6432999968528748},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.5965999960899353},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.5073999762535095},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.4900999963283539},{"id":"https://openalex.org/C2777211547","wikidata":"https://www.wikidata.org/wiki/Q17141490","display_name":"Training (meteorology)","level":2,"score":0.4146000146865845},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.39169999957084656},{"id":"https://openalex.org/C52672216","wikidata":"https://www.wikidata.org/wiki/Q1749840","display_name":"Depth perception","level":3,"score":0.353300005197525},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3158999979496002},{"id":"https://openalex.org/C155032097","wikidata":"https://www.wikidata.org/wiki/Q798503","display_name":"Backpropagation","level":3,"score":0.30869999527931213},{"id":"https://openalex.org/C43126263","wikidata":"https://www.wikidata.org/wiki/Q128751","display_name":"Source code","level":2,"score":0.2870999872684479},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.28040000796318054},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.27619999647140503},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.2667999863624573},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.2538999915122986},{"id":"https://openalex.org/C200873422","wikidata":"https://www.wikidata.org/wiki/Q5448821","display_name":"Filling-in","level":2,"score":0.250900000333786}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros60139.2025.11246123","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246123","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:cris.unibo.it:11585/1049057","is_oa":false,"landing_page_url":"https://hdl.handle.net/11585/1049057","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":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W1905829557","https://openalex.org/W2115579991","https://openalex.org/W2194775991","https://openalex.org/W2300779272","https://openalex.org/W2520707372","https://openalex.org/W2609883120","https://openalex.org/W2897203992","https://openalex.org/W2934279571","https://openalex.org/W2948384918","https://openalex.org/W2955639361","https://openalex.org/W2962816904","https://openalex.org/W2963316641","https://openalex.org/W2963412495","https://openalex.org/W2963583471","https://openalex.org/W2963591054","https://openalex.org/W2964052474","https://openalex.org/W2967115342","https://openalex.org/W2981518351","https://openalex.org/W2985775862","https://openalex.org/W3034428934","https://openalex.org/W3034604951","https://openalex.org/W3035434014","https://openalex.org/W3107156787","https://openalex.org/W3176063055","https://openalex.org/W3180199962","https://openalex.org/W3203073814","https://openalex.org/W3203887644","https://openalex.org/W4214520160","https://openalex.org/W4312253171","https://openalex.org/W4312398233","https://openalex.org/W4312819733","https://openalex.org/W4321512633","https://openalex.org/W4378192393","https://openalex.org/W4386076206","https://openalex.org/W4386723894","https://openalex.org/W4387415226","https://openalex.org/W4390871919","https://openalex.org/W4390872059","https://openalex.org/W4390872147","https://openalex.org/W4390873005","https://openalex.org/W4390873808","https://openalex.org/W4390874218","https://openalex.org/W4402727359","https://openalex.org/W4402753888","https://openalex.org/W4402779285","https://openalex.org/W4403908351","https://openalex.org/W4415798746"],"related_works":[],"abstract_inverted_index":{"Self-supervised":[0],"single-view":[1],"depth":[2,44,67,99],"estimation,":[3],"trained":[4],"on":[5],"video":[6],"sequences,":[7],"faces":[8],"significant":[9],"challenges":[10],"when":[11,97],"dynamic":[12,69,101],"objects":[13,47,102],"are":[14],"present":[15],"in":[16,61],"the":[17,23,40,43,66,77],"training":[18,79,86],"data,":[19],"as":[20],"they":[21],"violate":[22],"basic":[24],"multi-view":[25],"geometry":[26],"assumptions":[27],"used":[28],"to":[29,58,108],"compute":[30],"photometric":[31],"losses.":[32],"We":[33],"propose":[34],"a":[35],"novel":[36],"approach":[37],"that":[38,91],"leverages":[39],"relationship":[41],"between":[42],"of":[45,68],"moving":[46,59],"and":[48,103],"their":[49],"ground":[50,56],"contact":[51],"points.":[52],"By":[53],"iteratively":[54],"propagating":[55],"features":[57],"targets":[60],"perceptual":[62],"layers,":[63],"we":[64],"recalibrate":[65],"entities":[70],"while":[71],"preserving":[72],"details.":[73],"Our":[74,88],"method":[75,93],"maintains":[76],"end-to-end":[78],"paradigm":[80],"without":[81],"additional":[82],"networks":[83],"or":[84],"complex":[85],"procedures.":[87],"experiments":[89],"demonstrate":[90],"our":[92],"achieves":[94],"state-of-the-art":[95],"performance":[96],"estimating":[98],"for":[100],"attains":[104],"superior":[105],"generalization":[106],"compared":[107],"existing":[109],"approaches.":[110],"The":[111],"relevant":[112],"experimental":[113],"code":[114],"can":[115],"be":[116],"accessed":[117],"at:":[118],"https://github.com/LiHuanLi/GroundMono":[119]},"counts_by_year":[],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-11-28T00:00:00"}