{"id":"https://openalex.org/W3209714413","doi":"https://doi.org/10.1109/itsc48978.2021.9565079","title":"Multi-Camera Sensor Fusion for Visual Odometry using Deep Uncertainty Estimation","display_name":"Multi-Camera Sensor Fusion for Visual Odometry using Deep Uncertainty Estimation","publication_year":2021,"publication_date":"2021-09-19","ids":{"openalex":"https://openalex.org/W3209714413","doi":"https://doi.org/10.1109/itsc48978.2021.9565079","mag":"3209714413"},"language":"en","primary_location":{"id":"doi:10.1109/itsc48978.2021.9565079","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc48978.2021.9565079","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Intelligent Transportation Systems Conference (ITSC)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2112.12818","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5020235851","display_name":"Nimet Kaygusuz","orcid":null},"institutions":[{"id":"https://openalex.org/I28290843","display_name":"University of Surrey","ror":"https://ror.org/00ks66431","country_code":"GB","type":"education","lineage":["https://openalex.org/I28290843"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Nimet Kaygusuz","raw_affiliation_strings":["University of Surrey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Surrey","institution_ids":["https://openalex.org/I28290843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033644268","display_name":"Oscar M\u00e9ndez","orcid":"https://orcid.org/0000-0003-4904-4349"},"institutions":[{"id":"https://openalex.org/I28290843","display_name":"University of Surrey","ror":"https://ror.org/00ks66431","country_code":"GB","type":"education","lineage":["https://openalex.org/I28290843"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Oscar Mendez","raw_affiliation_strings":["University of Surrey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Surrey","institution_ids":["https://openalex.org/I28290843"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044490167","display_name":"Richard Bowden","orcid":"https://orcid.org/0000-0003-3285-8020"},"institutions":[{"id":"https://openalex.org/I28290843","display_name":"University of Surrey","ror":"https://ror.org/00ks66431","country_code":"GB","type":"education","lineage":["https://openalex.org/I28290843"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Richard Bowden","raw_affiliation_strings":["University of Surrey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Surrey","institution_ids":["https://openalex.org/I28290843"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I28290843"],"apc_list":null,"apc_paid":null,"fwci":5.8257,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.96423502,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"2944","last_page":"2949"},"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":0.9994000196456909,"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/T12549","display_name":"Image and Object Detection Techniques","score":0.9988999962806702,"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/visual-odometry","display_name":"Visual odometry","score":0.7482892274856567},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7478395700454712},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7042741775512695},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.6282655000686646},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.6271423101425171},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6151896715164185},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.506948709487915},{"id":"https://openalex.org/keywords/estimation","display_name":"Estimation","score":0.4485706388950348},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.16062262654304504},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1379050612449646},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.13429021835327148}],"concepts":[{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.7482892274856567},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7478395700454712},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7042741775512695},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.6282655000686646},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.6271423101425171},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6151896715164185},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.506948709487915},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.4485706388950348},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.16062262654304504},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1379050612449646},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.13429021835327148},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/itsc48978.2021.9565079","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc48978.2021.9565079","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Intelligent Transportation Systems Conference (ITSC)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2112.12818","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2112.12818","pdf_url":"https://arxiv.org/pdf/2112.12818","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":"pmh:oai:alma.44SUR_INST:11154770590002346","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4210197018","display_name":"View","issn_l":"2688-268X","issn":["2688-268X","2688-3988"],"is_oa":false,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2112.12818","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2112.12818","pdf_url":"https://arxiv.org/pdf/2112.12818","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":[{"display_name":"Life in Land","id":"https://metadata.un.org/sdg/15","score":0.5099999904632568}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W764651262","https://openalex.org/W1522301498","https://openalex.org/W1533861849","https://openalex.org/W1579853615","https://openalex.org/W1612997784","https://openalex.org/W1836465849","https://openalex.org/W2015996585","https://openalex.org/W2042154170","https://openalex.org/W2064675550","https://openalex.org/W2095705004","https://openalex.org/W2108134361","https://openalex.org/W2127752689","https://openalex.org/W2128019145","https://openalex.org/W2152671441","https://openalex.org/W2163178251","https://openalex.org/W2296267969","https://openalex.org/W2474281075","https://openalex.org/W2555820268","https://openalex.org/W2598706937","https://openalex.org/W2609883120","https://openalex.org/W2765767940","https://openalex.org/W2889869786","https://openalex.org/W2899771611","https://openalex.org/W2919203733","https://openalex.org/W2962816904","https://openalex.org/W2964121744","https://openalex.org/W2964314455","https://openalex.org/W3035056458","https://openalex.org/W3035574168","https://openalex.org/W3036919210","https://openalex.org/W3045897451","https://openalex.org/W3103648783","https://openalex.org/W3106440972","https://openalex.org/W4297780676","https://openalex.org/W6631190155","https://openalex.org/W6631943919","https://openalex.org/W6638667902","https://openalex.org/W6674330103","https://openalex.org/W6679281759","https://openalex.org/W6730099391","https://openalex.org/W6780901898"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W3024737167","https://openalex.org/W2414561716","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W2312326526","https://openalex.org/W2412578866","https://openalex.org/W3105866016","https://openalex.org/W4312703710"],"abstract_inverted_index":{"Visual":[0],"Odometry":[1],"(VO)":[2],"estimation":[3,13],"is":[4],"an":[5],"important":[6],"source":[7],"of":[8,33,45,89,115],"information":[9],"for":[10],"vehicle":[11,69,142],"state":[12],"and":[14,74,117,156,160],"autonomous":[15,141],"driving.":[16],"Recently,":[17],"deep":[18,63],"learning":[19],"based":[20,37],"approaches":[21,38],"have":[22],"begun":[23],"to":[24,42,50,107,121,164],"appear":[25],"in":[26,30],"the":[27,31,109,123,136,149,154],"literature.":[28],"However,":[29],"context":[32],"driving,":[34],"single":[35],"sensor":[36,64],"are":[39],"often":[40],"prone":[41],"failure":[43],"because":[44],"degraded":[46],"image":[47],"quality":[48],"due":[49],"environmental":[51],"factors,":[52],"camera":[53],"placement,":[54],"etc.":[55],"To":[56],"address":[57],"this":[58],"issue,":[59],"we":[60],"propose":[61],"a":[62,87,93,102,113,118],"fusion":[65,119,151],"framework":[66],"which":[67],"estimates":[68,159],"motion":[70],"using":[71,92,126],"both":[72],"pose":[73,111,125],"uncertainty":[75],"estimations":[76],"from":[77,86,129],"multiple":[78],"onboard":[79],"cameras.":[80],"We":[81,99,131],"extract":[82],"spatio-temporal":[83],"feature":[84],"representations":[85],"set":[88],"consecutive":[90],"images":[91],"hybrid":[94],"CNN":[95],"-":[96],"RNN":[97],"model.":[98],"then":[100],"utilise":[101],"Mixture":[103],"Density":[104],"Network":[105],"(MDN)":[106],"estimate":[108,122],"6-DoF":[110],"as":[112],"mixture":[114],"distributions":[116],"module":[120],"final":[124],"MDN":[127],"outputs":[128],"multi-cameras.":[130],"evaluate":[132],"our":[133],"approach":[134,152],"on":[135],"publicly":[137],"available,":[138],"large":[139],"scale":[140],"dataset,":[143],"nuScenes.":[144],"The":[145],"results":[146],"show":[147],"that":[148],"proposed":[150],"surpasses":[153],"state-of-the-art,":[155],"provides":[157],"robust":[158],"accurate":[161],"trajectories":[162],"compared":[163],"individual":[165],"camera-based":[166],"estimations.":[167]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
