{"id":"https://openalex.org/W3043648455","doi":"https://doi.org/10.1109/lra.2020.3009067","title":"Learning Depth With Very Sparse Supervision","display_name":"Learning Depth With Very Sparse Supervision","publication_year":2020,"publication_date":"2020-07-14","ids":{"openalex":"https://openalex.org/W3043648455","doi":"https://doi.org/10.1109/lra.2020.3009067","mag":"3043648455"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.3009067","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.3009067","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":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5075873122","display_name":"Antonio Loquercio","orcid":"https://orcid.org/0000-0002-8410-3933"},"institutions":[{"id":"https://openalex.org/I202697423","display_name":"University of Zurich","ror":"https://ror.org/02crff812","country_code":"CH","type":"education","lineage":["https://openalex.org/I202697423"]},{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Antonio Loquercio","raw_affiliation_strings":["Department of Informatics, University of Zurich, Z\u00fcrich, Switzerland","Department of Neuroinformatics, University of Zurich and ETH Zurich, Z\u00fcrich, Switzerland","Dep. of Informatics, University of Zurich, and Dep. of Neuroinformatics, University of Zurich and","ETH Zurich, Switzerland","Zurich Open Repository and Archive University of Zurich University Library Strickhofstrasse 39 CH-8057 Zurich"],"affiliations":[{"raw_affiliation_string":"Department of Informatics, University of Zurich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I202697423"]},{"raw_affiliation_string":"Department of Neuroinformatics, University of Zurich and ETH Zurich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I202697423","https://openalex.org/I35440088"]},{"raw_affiliation_string":"Dep. of Informatics, University of Zurich, and Dep. of Neuroinformatics, University of Zurich and","institution_ids":["https://openalex.org/I202697423"]},{"raw_affiliation_string":"ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Zurich Open Repository and Archive University of Zurich University Library Strickhofstrasse 39 CH-8057 Zurich","institution_ids":["https://openalex.org/I202697423"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090113830","display_name":"Alexey Dosovitskiy","orcid":"https://orcid.org/0000-0003-1851-0976"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Alexey Dosovitskiy","raw_affiliation_strings":["Google Research, Berlin, Germany"],"affiliations":[{"raw_affiliation_string":"Google Research, Berlin, Germany","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057116316","display_name":"Davide Scaramuzza","orcid":"https://orcid.org/0000-0002-3831-6778"},"institutions":[{"id":"https://openalex.org/I202697423","display_name":"University of Zurich","ror":"https://ror.org/02crff812","country_code":"CH","type":"education","lineage":["https://openalex.org/I202697423"]},{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Davide Scaramuzza","raw_affiliation_strings":["Department of Informatics, University of Zurich, Z\u00fcrich, Switzerland","Department of Neuroinformatics, University of Zurich and ETH Zurich, Z\u00fcrich, Switzerland","ETH Zurich, Switzerland","Zurich Open Repository and Archive University of Zurich University Library Strickhofstrasse 39 CH-8057 Zurich","Dep. of Informatics, University of Zurich, and Dep. of Neuroinformatics, University of Zurich and"],"affiliations":[{"raw_affiliation_string":"Department of Informatics, University of Zurich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I202697423"]},{"raw_affiliation_string":"Department of Neuroinformatics, University of Zurich and ETH Zurich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I202697423","https://openalex.org/I35440088"]},{"raw_affiliation_string":"ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Zurich Open Repository and Archive University of Zurich University Library Strickhofstrasse 39 CH-8057 Zurich","institution_ids":["https://openalex.org/I202697423"]},{"raw_affiliation_string":"Dep. of Informatics, University of Zurich, and Dep. of Neuroinformatics, University of Zurich and","institution_ids":["https://openalex.org/I202697423"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5075873122"],"corresponding_institution_ids":["https://openalex.org/I202697423","https://openalex.org/I35440088"],"apc_list":null,"apc_paid":null,"fwci":0.1966,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.4947,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"5","issue":"4","first_page":"5542","last_page":"5549"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":1.0,"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":1.0,"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":0.9987000226974487,"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/T10638","display_name":"Optical measurement and interference techniques","score":0.9983999729156494,"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/computer-science","display_name":"Computer science","score":0.719658613204956},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6635305881500244},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.5687393546104431},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.5620126128196716},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5332692861557007},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.521794319152832},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5089061260223389},{"id":"https://openalex.org/keywords/pixel","display_name":"Pixel","score":0.5057306289672852},{"id":"https://openalex.org/keywords/depth-map","display_name":"Depth map","score":0.5028168559074402},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.47087132930755615},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.46447622776031494},{"id":"https://openalex.org/keywords/depth-perception","display_name":"Depth perception","score":0.4157339334487915},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4120400547981262},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.3970983624458313},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11948668956756592}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.719658613204956},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6635305881500244},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.5687393546104431},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5620126128196716},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5332692861557007},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.521794319152832},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5089061260223389},{"id":"https://openalex.org/C160633673","wikidata":"https://www.wikidata.org/wiki/Q355198","display_name":"Pixel","level":2,"score":0.5057306289672852},{"id":"https://openalex.org/C141268832","wikidata":"https://www.wikidata.org/wiki/Q2940499","display_name":"Depth map","level":3,"score":0.5028168559074402},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.47087132930755615},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.46447622776031494},{"id":"https://openalex.org/C52672216","wikidata":"https://www.wikidata.org/wiki/Q1749840","display_name":"Depth perception","level":3,"score":0.4157339334487915},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4120400547981262},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.3970983624458313},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11948668956756592},{"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/lra.2020.3009067","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.3009067","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"},{"id":"pmh:oai:www.zora.uzh.ch:197708","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306401281","display_name":"Zurich Open Repository and Archive (University of Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I202697423","host_organization_name":"University of Zurich","host_organization_lineage":["https://openalex.org/I202697423"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"Loquercio, Antonio; Dosovitskiy, Alexey; Scaramuzza, Davide  (2020). Learning Depth With Very Sparse Supervision.  IEEE Robotics and Automation Letters, 5(4):5542-5549.","raw_type":"info:eu-repo/semantics/acceptedVersion"},{"id":"pmh:oai:arXiv.org:2003.00752","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2003.00752","pdf_url":"https://arxiv.org/pdf/2003.00752","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":"doi:10.5167/uzh-197708","is_oa":true,"landing_page_url":"https://doi.org/10.5167/uzh-197708","pdf_url":null,"source":{"id":"https://openalex.org/S7407051291","display_name":"Universit\u00e4t Z\u00fcrich, ZORA","issn_l":null,"issn":[],"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":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:www.zora.uzh.ch:197708","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306401281","display_name":"Zurich Open Repository and Archive (University of Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I202697423","host_organization_name":"University of Zurich","host_organization_lineage":["https://openalex.org/I202697423"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"Loquercio, Antonio; Dosovitskiy, Alexey; Scaramuzza, Davide  (2020). Learning Depth With Very Sparse Supervision.  IEEE Robotics and Automation Letters, 5(4):5542-5549.","raw_type":"info:eu-repo/semantics/acceptedVersion"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320307102","display_name":"Intel Corporation","ror":"https://ror.org/01ek73717"},{"id":"https://openalex.org/F4320320924","display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung","ror":"https://ror.org/00yjd3n13"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":66,"referenced_works":["https://openalex.org/W1489405158","https://openalex.org/W1522301498","https://openalex.org/W1598123022","https://openalex.org/W1612997784","https://openalex.org/W1933657216","https://openalex.org/W1985238052","https://openalex.org/W2003478444","https://openalex.org/W2021851106","https://openalex.org/W2033819227","https://openalex.org/W2041880269","https://openalex.org/W2052461224","https://openalex.org/W2102481828","https://openalex.org/W2108134361","https://openalex.org/W2117248802","https://openalex.org/W2118428504","https://openalex.org/W2124313187","https://openalex.org/W2128357735","https://openalex.org/W2171740948","https://openalex.org/W2190691619","https://openalex.org/W2259424905","https://openalex.org/W2300779272","https://openalex.org/W2471962767","https://openalex.org/W2495603374","https://openalex.org/W2499198525","https://openalex.org/W2520707372","https://openalex.org/W2560474170","https://openalex.org/W2561074213","https://openalex.org/W2609883120","https://openalex.org/W2698857938","https://openalex.org/W2766641657","https://openalex.org/W2769990600","https://openalex.org/W2808492412","https://openalex.org/W2887825894","https://openalex.org/W2909953480","https://openalex.org/W2951234442","https://openalex.org/W2962912205","https://openalex.org/W2963317244","https://openalex.org/W2963412495","https://openalex.org/W2963527086","https://openalex.org/W2963591054","https://openalex.org/W2963623257","https://openalex.org/W2963730200","https://openalex.org/W2963782415","https://openalex.org/W2963891416","https://openalex.org/W2963906250","https://openalex.org/W2964121028","https://openalex.org/W2964121744","https://openalex.org/W2981762858","https://openalex.org/W2982102242","https://openalex.org/W3081167590","https://openalex.org/W3098490553","https://openalex.org/W3100388886","https://openalex.org/W3103648783","https://openalex.org/W4243886855","https://openalex.org/W4250666038","https://openalex.org/W4285886409","https://openalex.org/W4297692481","https://openalex.org/W4394671432","https://openalex.org/W6631190155","https://openalex.org/W6685261749","https://openalex.org/W6687484953","https://openalex.org/W6719936175","https://openalex.org/W6739954837","https://openalex.org/W6745858788","https://openalex.org/W6753441378","https://openalex.org/W6782298681"],"related_works":["https://openalex.org/W2074216034","https://openalex.org/W2073100926","https://openalex.org/W1976277412","https://openalex.org/W2785517206","https://openalex.org/W4213085014","https://openalex.org/W2066222094","https://openalex.org/W4225386930","https://openalex.org/W2017236227","https://openalex.org/W2051061664","https://openalex.org/W2031714422"],"abstract_inverted_index":{"Motivated":[0],"by":[1,11,85],"the":[2,18,28,33,82,111,119,145,148,177],"astonishing":[3],"capabilities":[4],"of":[5,27,44,51,67,108,118,144],"natural":[6],"intelligent":[7],"agents":[8],"and":[9,92,121,124],"inspired":[10],"theories":[12],"from":[13],"psychology,":[14],"this":[15,168],"paper":[16,56],"explores":[17,57],"idea":[19],"that":[20,77,167],"perception":[21,64],"gets":[22],"coupled":[23],"to":[24,61,98,158,172,179,190],"3D":[25],"properties":[26],"world":[29],"via":[30],"interaction":[31],"with":[32,81,182],"environment.":[34],"Existing":[35],"works":[36],"for":[37,141],"depth":[38,63,95,127,155,181],"estimation":[39,156],"require":[40],"either":[41],"massive":[42],"amounts":[43],"annotated":[45],"training":[46],"data":[47,83],"or":[48,198],"some":[49],"form":[50],"hard-coded":[52],"geometrical":[53],"constraint.":[54],"This":[55],"a":[58,72,86,100,106,115,125],"new":[59],"approach":[60],"learning":[62],"requiring":[65],"neither":[66],"those.":[68],"Specifically,":[69],"we":[70],"propose":[71],"novel":[73],"global-local":[74],"network":[75,113,150],"architecture":[76],"can":[78,151,187],"be":[79,188],"trained":[80],"observed":[84],"robot":[87],"exploring":[88],"an":[89],"environment:":[90],"images":[91],"extremely":[93,183],"sparse":[94,184],"measurements,":[96],"down":[97],"even":[99,140],"single":[101],"pixel":[102],"per":[103],"image.":[104],"From":[105],"pair":[107],"consecutive":[109],"images,":[110],"proposed":[112,149],"outputs":[114],"latent":[116],"representation":[117],"camera's":[120],"scene's":[122],"parameters,":[123],"dense":[126,154],"map.":[128],"Experiments":[129],"on":[130],"several":[131],"datasets":[132],"show":[133],"that,":[134],"when":[135],"ground":[136],"truth":[137],"is":[138],"available":[139],"just":[142],"one":[143],"image":[146],"pixels,":[147],"learn":[152,180],"monocular":[153],"up":[157],"22.5%":[159],"more":[160],"accurately":[161],"than":[162],"state-of-the-art":[163],"approaches.":[164],"We":[165],"believe":[166],"work,":[169],"in":[170],"addition":[171],"its":[173],"scientific":[174],"interest,":[175],"lays":[176],"foundations":[178],"supervision,":[185],"which":[186],"valuable":[189],"all":[191],"robotic":[192],"systems":[193],"acting":[194],"under":[195],"severe":[196],"bandwidth":[197],"sensing":[199],"constraints.":[200]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-04-03T22:45:19.894376","created_date":"2025-10-10T00:00:00"}
