{"id":"https://openalex.org/W3003796433","doi":"https://doi.org/10.1109/lra.2020.2969938","title":"Unsupervised Depth Completion From Visual Inertial Odometry","display_name":"Unsupervised Depth Completion From Visual Inertial Odometry","publication_year":2020,"publication_date":"2020-01-28","ids":{"openalex":"https://openalex.org/W3003796433","doi":"https://doi.org/10.1109/lra.2020.2969938","mag":"3003796433"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.2969938","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2969938","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5069083901","display_name":"Alex Wong","orcid":"https://orcid.org/0000-0002-3157-6016"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]},{"id":"https://openalex.org/I4210140243","display_name":"Samueli Institute","ror":"https://ror.org/03teef091","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I4210140243"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alex Wong","raw_affiliation_strings":["Samueli School of Engineering, Computer Science Department, University of California, Los Angeles, USA"],"raw_orcid":"https://orcid.org/0000-0002-3157-6016","affiliations":[{"raw_affiliation_string":"Samueli School of Engineering, Computer Science Department, University of California, Los Angeles, USA","institution_ids":["https://openalex.org/I4210140243","https://openalex.org/I161318765"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087030407","display_name":"Xiaohan Fei","orcid":"https://orcid.org/0000-0002-1030-2286"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]},{"id":"https://openalex.org/I4210140243","display_name":"Samueli Institute","ror":"https://ror.org/03teef091","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I4210140243"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xiaohan Fei","raw_affiliation_strings":["Samueli School of Engineering, Computer Science Department, University of California, Los Angeles, USA"],"raw_orcid":"https://orcid.org/0000-0002-1030-2286","affiliations":[{"raw_affiliation_string":"Samueli School of Engineering, Computer Science Department, University of California, Los Angeles, USA","institution_ids":["https://openalex.org/I4210140243","https://openalex.org/I161318765"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051364336","display_name":"Stephanie Tsuei","orcid":null},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]},{"id":"https://openalex.org/I4210140243","display_name":"Samueli Institute","ror":"https://ror.org/03teef091","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I4210140243"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Stephanie Tsuei","raw_affiliation_strings":["Samueli School of Engineering, Computer Science Department, University of California, Los Angeles, USA"],"raw_orcid":"https://orcid.org/0000-0003-2033-5249","affiliations":[{"raw_affiliation_string":"Samueli School of Engineering, Computer Science Department, University of California, Los Angeles, USA","institution_ids":["https://openalex.org/I4210140243","https://openalex.org/I161318765"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5038328783","display_name":"Stefano Soatto","orcid":"https://orcid.org/0000-0003-2902-6362"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]},{"id":"https://openalex.org/I4210140243","display_name":"Samueli Institute","ror":"https://ror.org/03teef091","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I4210140243"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Stefano Soatto","raw_affiliation_strings":["Samueli School of Engineering, Computer Science Department, University of California, Los Angeles, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Samueli School of Engineering, Computer Science Department, University of California, Los Angeles, USA","institution_ids":["https://openalex.org/I4210140243","https://openalex.org/I161318765"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.5165,"has_fulltext":false,"cited_by_count":121,"citation_normalized_percentile":{"value":0.97513822,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"5","issue":"2","first_page":"1899","last_page":"1906"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9991999864578247,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9990000128746033,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.8257027864456177},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7586938142776489},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.7294418215751648},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7103870511054993},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.6664624214172363},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6573820114135742},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.5922489166259766},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.47300177812576294},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.47146159410476685},{"id":"https://openalex.org/keywords/piecewise","display_name":"Piecewise","score":0.46088480949401855},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.4542430639266968},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.4232720136642456},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3173357844352722},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18290433287620544},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.120606929063797},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.11905184388160706},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.11419707536697388},{"id":"https://openalex.org/keywords/geodesy","display_name":"Geodesy","score":0.0715779960155487}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.8257027864456177},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7586938142776489},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.7294418215751648},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7103870511054993},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.6664624214172363},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6573820114135742},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5922489166259766},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.47300177812576294},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.47146159410476685},{"id":"https://openalex.org/C164660894","wikidata":"https://www.wikidata.org/wiki/Q2037833","display_name":"Piecewise","level":2,"score":0.46088480949401855},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.4542430639266968},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.4232720136642456},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3173357844352722},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18290433287620544},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.120606929063797},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.11905184388160706},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.11419707536697388},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0715779960155487},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2020.2969938","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2969938","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.550000011920929,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W125693051","https://openalex.org/W1522301498","https://openalex.org/W1984190176","https://openalex.org/W1984406695","https://openalex.org/W1991544872","https://openalex.org/W2027661541","https://openalex.org/W2034043440","https://openalex.org/W2055904838","https://openalex.org/W2085261163","https://openalex.org/W2118223742","https://openalex.org/W2133665775","https://openalex.org/W2153504150","https://openalex.org/W2200124539","https://openalex.org/W2402144811","https://openalex.org/W2512689497","https://openalex.org/W2609883120","https://openalex.org/W2738820790","https://openalex.org/W2794739174","https://openalex.org/W2797395780","https://openalex.org/W2805646839","https://openalex.org/W2883362496","https://openalex.org/W2886851716","https://openalex.org/W2887240211","https://openalex.org/W2953384591","https://openalex.org/W2961926014","https://openalex.org/W2963316641","https://openalex.org/W2963417597","https://openalex.org/W2963583471","https://openalex.org/W2963654727","https://openalex.org/W2964110533","https://openalex.org/W2964121744","https://openalex.org/W2969202876","https://openalex.org/W2991593752","https://openalex.org/W2998293366","https://openalex.org/W3098486636","https://openalex.org/W6631190155","https://openalex.org/W6713134421","https://openalex.org/W6749851757","https://openalex.org/W6751382148","https://openalex.org/W6754164750"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W3024737167","https://openalex.org/W2414561716","https://openalex.org/W2998370018","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W3125052734","https://openalex.org/W3123982513","https://openalex.org/W2312326526"],"abstract_inverted_index":{"We":[0,76,101],"describe":[1],"a":[2,17,53,78],"method":[3,50,130],"to":[4,37,42,64,83,131],"infer":[5,65],"dense":[6,66],"depth":[7,13,67,108,139],"from":[8,27],"camera":[9],"motion":[10],"and":[11,60,93,124],"sparse":[12,74,98],"as":[14],"estimated":[15],"using":[16,24,68],"visual-inertial":[18,106],"odometry":[19],"system.":[20],"Unlike":[21],"other":[22],"scenarios":[23],"point":[25,99],"clouds":[26],"lidar":[28],"or":[29],"structured":[30],"light":[31],"sensors,":[32],"we":[33,111,134,143],"have":[34],"few":[35,38],"hundreds":[36],"thousand":[39],"points,":[40],"insufficient":[41],"inform":[43],"the":[44,47,58,69,73,97,104,119,136],"topology":[45],"of":[46,57,122],"scene.":[48],"Our":[49],"first":[51,105],"constructs":[52],"piecewise":[54],"planar":[55],"scaffolding":[56],"scene,":[59],"then":[61],"uses":[62],"it":[63],"image":[70],"along":[71],"with":[72,96],"points.":[75],"use":[77],"predictive":[79],"cross-modal":[80],"criterion,":[81],"akin":[82],"\u201cself-supervision,\u201d":[84],"measuring":[85],"photometric":[86],"consistency":[87],"across":[88],"time,":[89],"forward-backward":[90],"pose":[91],"consistency,":[92],"geometric":[94],"compatibility":[95],"cloud.":[100],"also":[102],"present":[103],"+":[107],"dataset,":[109],"which":[110],"hope":[112],"will":[113],"foster":[114],"additional":[115],"exploration":[116],"into":[117],"combining":[118],"complementary":[120],"strengths":[121],"visual":[123],"inertial":[125],"sensors.":[126],"To":[127],"compare":[128],"our":[129],"prior":[132],"work,":[133],"adopt":[135],"unsupervised":[137],"KITTI":[138],"completion":[140],"benchmark,":[141],"where":[142],"achieve":[144],"state-of-the-art":[145],"performance.":[146]},"counts_by_year":[{"year":2026,"cited_by_count":8},{"year":2025,"cited_by_count":18},{"year":2024,"cited_by_count":27},{"year":2023,"cited_by_count":24},{"year":2022,"cited_by_count":18},{"year":2021,"cited_by_count":20},{"year":2020,"cited_by_count":6}],"updated_date":"2026-07-14T08:27:34.040176","created_date":"2025-10-10T00:00:00"}