{"id":"https://openalex.org/W4308080813","doi":"https://doi.org/10.1109/itsc55140.2022.9921796","title":"Drift Reduction for Monocular Visual Odometry of Intelligent Vehicles Using Feedforward Neural Networks","display_name":"Drift Reduction for Monocular Visual Odometry of Intelligent Vehicles Using Feedforward Neural Networks","publication_year":2022,"publication_date":"2022-10-08","ids":{"openalex":"https://openalex.org/W4308080813","doi":"https://doi.org/10.1109/itsc55140.2022.9921796"},"language":"en","primary_location":{"id":"doi:10.1109/itsc55140.2022.9921796","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc55140.2022.9921796","pdf_url":null,"source":{"id":"https://openalex.org/S4363607737","display_name":"2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)","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":"2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://repository.tudelft.nl/file/File_78652b3a-e19b-4a14-a78e-131735f647b9","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5021613061","display_name":"Hassan Wagih","orcid":null},"institutions":[{"id":"https://openalex.org/I107720978","display_name":"Ain Shams University","ror":"https://ror.org/00cb9w016","country_code":"EG","type":"education","lineage":["https://openalex.org/I107720978"]}],"countries":["EG"],"is_corresponding":true,"raw_author_name":"Hassan Wagih","raw_affiliation_strings":["Ain Shams University,Mechatronics Department,Cairo,Egypt,11566"],"affiliations":[{"raw_affiliation_string":"Ain Shams University,Mechatronics Department,Cairo,Egypt,11566","institution_ids":["https://openalex.org/I107720978"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089891435","display_name":"Mostafa Osman","orcid":null},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Mostafa Osman","raw_affiliation_strings":["Delft University of Technology,Mechanical, Materials, and Maritime Engineering,Delft,The Netherlands","Mechanical, Materials, and Maritime Engineering, Delft University of Technology, Delft, The Netherlands"],"affiliations":[{"raw_affiliation_string":"Delft University of Technology,Mechanical, Materials, and Maritime Engineering,Delft,The Netherlands","institution_ids":["https://openalex.org/I98358874"]},{"raw_affiliation_string":"Mechanical, Materials, and Maritime Engineering, Delft University of Technology, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069985186","display_name":"Mohammed I. Awad","orcid":"https://orcid.org/0000-0002-0367-0187"},"institutions":[{"id":"https://openalex.org/I107720978","display_name":"Ain Shams University","ror":"https://ror.org/00cb9w016","country_code":"EG","type":"education","lineage":["https://openalex.org/I107720978"]}],"countries":["EG"],"is_corresponding":false,"raw_author_name":"Mohammed I. Awad","raw_affiliation_strings":["Ain Shams University,Mechatronics Department,Cairo,Egypt,11566"],"affiliations":[{"raw_affiliation_string":"Ain Shams University,Mechatronics Department,Cairo,Egypt,11566","institution_ids":["https://openalex.org/I107720978"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043365142","display_name":"Sherif Hammad","orcid":"https://orcid.org/0000-0001-8869-5967"},"institutions":[{"id":"https://openalex.org/I107720978","display_name":"Ain Shams University","ror":"https://ror.org/00cb9w016","country_code":"EG","type":"education","lineage":["https://openalex.org/I107720978"]}],"countries":["EG"],"is_corresponding":false,"raw_author_name":"Sherif Hammad","raw_affiliation_strings":["Ain Shams University,Mechatronics Department,Cairo,Egypt,11566"],"affiliations":[{"raw_affiliation_string":"Ain Shams University,Mechatronics Department,Cairo,Egypt,11566","institution_ids":["https://openalex.org/I107720978"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5021613061"],"corresponding_institution_ids":["https://openalex.org/I107720978"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.18673344,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1356","last_page":"1361"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9998000264167786,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9987000226974487,"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":0.8745015263557434},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7732838988304138},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7389528155326843},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6764829754829407},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.6454049944877625},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.6043633222579956},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5833783745765686},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.5339537858963013},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.5211724638938904},{"id":"https://openalex.org/keywords/motion-estimation","display_name":"Motion estimation","score":0.49898600578308105},{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.48583242297172546},{"id":"https://openalex.org/keywords/feedforward-neural-network","display_name":"Feedforward neural network","score":0.46390077471733093},{"id":"https://openalex.org/keywords/reduction","display_name":"Reduction (mathematics)","score":0.42895251512527466},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.20720484852790833},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16464799642562866},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1594289243221283},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13098987936973572}],"concepts":[{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.8745015263557434},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7732838988304138},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7389528155326843},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6764829754829407},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.6454049944877625},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.6043633222579956},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5833783745765686},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.5339537858963013},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.5211724638938904},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.49898600578308105},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.48583242297172546},{"id":"https://openalex.org/C47702885","wikidata":"https://www.wikidata.org/wiki/Q5441227","display_name":"Feedforward neural network","level":3,"score":0.46390077471733093},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.42895251512527466},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.20720484852790833},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16464799642562866},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1594289243221283},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13098987936973572},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/itsc55140.2022.9921796","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc55140.2022.9921796","pdf_url":null,"source":{"id":"https://openalex.org/S4363607737","display_name":"2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)","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":"2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"},{"id":"pmh:oai:tudelft.nl:uuid:faa36bcd-1cfe-4064-8df0-0b4350c56fd1","is_oa":true,"landing_page_url":"http://resolver.tudelft.nl/uuid:faa36bcd-1cfe-4064-8df0-0b4350c56fd1","pdf_url":"https://repository.tudelft.nl/file/File_78652b3a-e19b-4a14-a78e-131735f647b9","source":{"id":"https://openalex.org/S4306400906","display_name":"Research Repository (Delft University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98358874","host_organization_name":"Delft University of Technology","host_organization_lineage":["https://openalex.org/I98358874"],"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":{"id":"pmh:oai:tudelft.nl:uuid:faa36bcd-1cfe-4064-8df0-0b4350c56fd1","is_oa":true,"landing_page_url":"http://resolver.tudelft.nl/uuid:faa36bcd-1cfe-4064-8df0-0b4350c56fd1","pdf_url":"https://repository.tudelft.nl/file/File_78652b3a-e19b-4a14-a78e-131735f647b9","source":{"id":"https://openalex.org/S4306400906","display_name":"Research Repository (Delft University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98358874","host_organization_name":"Delft University of Technology","host_organization_lineage":["https://openalex.org/I98358874"],"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"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4308080813.pdf"},"referenced_works_count":29,"referenced_works":["https://openalex.org/W1484387568","https://openalex.org/W1627400044","https://openalex.org/W1990129270","https://openalex.org/W1992989752","https://openalex.org/W2015996585","https://openalex.org/W2021851106","https://openalex.org/W2046434485","https://openalex.org/W2091790851","https://openalex.org/W2107093743","https://openalex.org/W2109635530","https://openalex.org/W2115579991","https://openalex.org/W2129745818","https://openalex.org/W2134742282","https://openalex.org/W2155482699","https://openalex.org/W2166132830","https://openalex.org/W2296228853","https://openalex.org/W2315625130","https://openalex.org/W2336416123","https://openalex.org/W2343812707","https://openalex.org/W2544243493","https://openalex.org/W2548459939","https://openalex.org/W2559650674","https://openalex.org/W2785990312","https://openalex.org/W2897735336","https://openalex.org/W2963233640","https://openalex.org/W2990468808","https://openalex.org/W2991061502","https://openalex.org/W3188380977","https://openalex.org/W4205563028"],"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":{"In":[0],"this":[1],"paper,":[2],"an":[3],"approach":[4,145],"for":[5],"reducing":[6,98,125,147,156],"the":[7,27,31,34,44,47,54,57,61,66,84,88,106,111,133,137,140,143,148,151,157,161],"drift":[8,97,124],"in":[9,56,68,110,146,150,160],"monocular":[10],"visual":[11,23],"odometry":[12,24],"algorithms":[13],"is":[14,128],"proposed":[15,50,123,144],"based":[16,104],"on":[17,105],"a":[18],"feedforward":[19],"neural":[20,51,99,126],"network.":[21],"A":[22],"algorithm":[25],"computes":[26],"incremental":[28,119,152],"motion":[29,85,107,120],"of":[30,46,60,87,93,108,142],"vehicle":[32,62,89],"between":[33],"successive":[35,112],"camera":[36,73,113],"frames,":[37],"then":[38],"integrates":[39],"these":[40],"increments":[41],"to":[42,83,116],"determine":[43],"pose":[45,58,162],"vehicle.":[48],"The":[49,96,122],"network":[52,100,127],"reduces":[53],"errors":[55,103,149],"estimation":[59,86,94],"which":[63],"results":[64,138],"from":[65],"inaccuracies":[67,80],"features":[69,109],"detection":[70],"and":[71,76,130,136],"matching,":[72],"intrinsic":[74],"parameters,":[75],"so":[77],"on.":[78],"These":[79],"are":[81],"propagated":[82],"causing":[90],"larger":[91],"amounts":[92],"errors.":[95],"identifies":[101],"such":[102],"frames":[114],"leading":[115],"more":[117],"accurate":[118],"estimates.":[121],"trained":[129],"validated":[131],"using":[132],"KITTI":[134],"dataset":[135],"show":[139],"efficacy":[141],"orientation":[153],"estimation,":[154],"thus":[155],"overall":[158],"error":[159],"estimation.":[163]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
