{"id":"https://openalex.org/W3137106869","doi":"https://doi.org/10.1109/lra.2021.3068108","title":"PVStereo: Pyramid Voting Module for End-to-End Self-Supervised Stereo Matching","display_name":"PVStereo: Pyramid Voting Module for End-to-End Self-Supervised Stereo Matching","publication_year":2021,"publication_date":"2021-03-23","ids":{"openalex":"https://openalex.org/W3137106869","doi":"https://doi.org/10.1109/lra.2021.3068108","mag":"3137106869"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3068108","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3068108","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2103.07094","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Hengli Wang","orcid":"https://orcid.org/0000-0002-7515-9759"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Hengli Wang","raw_affiliation_strings":["Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology, Kowloon, Hong Kong SAR, China"],"raw_orcid":"https://orcid.org/0000-0002-7515-9759","affiliations":[{"raw_affiliation_string":"Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology, Kowloon, Hong Kong SAR, China","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Rui Fan","orcid":"https://orcid.org/0000-0003-2593-6596"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rui Fan","raw_affiliation_strings":["Department of Computer Science and Engineering and the Department of Ophthalmology, The University of California San Diego, La Jolla, CA, USA"],"raw_orcid":"https://orcid.org/0000-0003-2593-6596","affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering and the Department of Ophthalmology, The University of California San Diego, La Jolla, CA, USA","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Peide Cai","orcid":"https://orcid.org/0000-0002-9759-2991"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Peide Cai","raw_affiliation_strings":["Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology, Kowloon, Hong Kong SAR, China"],"raw_orcid":"https://orcid.org/0000-0002-9759-2991","affiliations":[{"raw_affiliation_string":"Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology, Kowloon, Hong Kong SAR, China","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"last","author":{"id":null,"display_name":"Ming Liu","orcid":"https://orcid.org/0000-0002-4500-238X"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Ming Liu","raw_affiliation_strings":["Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology, Kowloon, Hong Kong SAR, China"],"raw_orcid":"https://orcid.org/0000-0002-4500-238X","affiliations":[{"raw_affiliation_string":"Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology, Kowloon, Hong Kong SAR, China","institution_ids":["https://openalex.org/I200769079"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.8968,"has_fulltext":false,"cited_by_count":86,"citation_normalized_percentile":{"value":0.97465473,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"6","issue":"3","first_page":"4353","last_page":"4360"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9902999997138977,"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":0.9902999997138977,"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":0.0034000000450760126,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.0017999999690800905,"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/pyramid","display_name":"Pyramid (geometry)","score":0.73580002784729},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.6243000030517578},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.5426999926567078},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.4876999855041504},{"id":"https://openalex.org/keywords/voting","display_name":"Voting","score":0.4733000099658966},{"id":"https://openalex.org/keywords/stereopsis","display_name":"Stereopsis","score":0.4106000065803528},{"id":"https://openalex.org/keywords/stereo-cameras","display_name":"Stereo cameras","score":0.4050000011920929},{"id":"https://openalex.org/keywords/computer-stereo-vision","display_name":"Computer stereo vision","score":0.3691999912261963}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7818999886512756},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7526999711990356},{"id":"https://openalex.org/C142575187","wikidata":"https://www.wikidata.org/wiki/Q3358290","display_name":"Pyramid (geometry)","level":2,"score":0.73580002784729},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.6243000030517578},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6054999828338623},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.5426999926567078},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.4876999855041504},{"id":"https://openalex.org/C520049643","wikidata":"https://www.wikidata.org/wiki/Q189760","display_name":"Voting","level":3,"score":0.4733000099658966},{"id":"https://openalex.org/C68537008","wikidata":"https://www.wikidata.org/wiki/Q247932","display_name":"Stereopsis","level":2,"score":0.4106000065803528},{"id":"https://openalex.org/C35861506","wikidata":"https://www.wikidata.org/wiki/Q17141434","display_name":"Stereo cameras","level":3,"score":0.4050000011920929},{"id":"https://openalex.org/C31451488","wikidata":"https://www.wikidata.org/wiki/Q5157586","display_name":"Computer stereo vision","level":3,"score":0.3691999912261963},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.3571000099182129},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.35019999742507935},{"id":"https://openalex.org/C153668964","wikidata":"https://www.wikidata.org/wiki/Q27636","display_name":"Majority rule","level":2,"score":0.3449999988079071},{"id":"https://openalex.org/C136389625","wikidata":"https://www.wikidata.org/wiki/Q334384","display_name":"Supervised learning","level":3,"score":0.33880001306533813},{"id":"https://openalex.org/C2986492983","wikidata":"https://www.wikidata.org/wiki/Q861092","display_name":"Image matching","level":3,"score":0.26420000195503235},{"id":"https://openalex.org/C61265191","wikidata":"https://www.wikidata.org/wiki/Q767770","display_name":"Scale-invariant feature transform","level":3,"score":0.25999999046325684},{"id":"https://openalex.org/C23379248","wikidata":"https://www.wikidata.org/wiki/Q200904","display_name":"Epipolar geometry","level":3,"score":0.25440001487731934},{"id":"https://openalex.org/C160920958","wikidata":"https://www.wikidata.org/wiki/Q7662746","display_name":"Synthetic data","level":2,"score":0.25029999017715454}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/lra.2021.3068108","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3068108","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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:arXiv.org:2103.07094","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2103.07094","pdf_url":"https://arxiv.org/pdf/2103.07094","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:repository.hkust.edu.hk:1783.1-109216","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-109216","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"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":"Article"},{"id":"pmh:oai:repository.ust.hk:1783.1-109216","is_oa":false,"landing_page_url":"http://repository.ust.hk/ir/Record/1783.1-109216","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2103.07094","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2103.07094","pdf_url":"https://arxiv.org/pdf/2103.07094","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":[],"awards":[{"id":"https://openalex.org/G2023148988","display_name":"\u4eff\u4eba\u673a\u5668\u4eba\u9002\u5e94\u6027\u884c\u8d70\u7684\u751f\u6210\u673a\u7406\u53ca\u81ea\u4e3b\u5b66\u4e60\u8fdb\u5316\u673a\u5236","funder_award_id":"U1713211","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W1772650917","https://openalex.org/W1921093919","https://openalex.org/W2006943762","https://openalex.org/W2062860282","https://openalex.org/W2120657032","https://openalex.org/W2128357735","https://openalex.org/W2133665775","https://openalex.org/W2143516773","https://openalex.org/W2150066425","https://openalex.org/W2157331557","https://openalex.org/W2194775991","https://openalex.org/W2520707372","https://openalex.org/W2559827556","https://openalex.org/W2738441955","https://openalex.org/W2774796680","https://openalex.org/W2792796963","https://openalex.org/W2795023265","https://openalex.org/W2963617879","https://openalex.org/W2963619659","https://openalex.org/W2966865642","https://openalex.org/W2968164956","https://openalex.org/W2991171715","https://openalex.org/W2997575304","https://openalex.org/W3010405043","https://openalex.org/W3034308492","https://openalex.org/W3034896357","https://openalex.org/W3111807772","https://openalex.org/W3134257222","https://openalex.org/W3138423360","https://openalex.org/W4249736682","https://openalex.org/W6631190155","https://openalex.org/W6683951949","https://openalex.org/W6743438356","https://openalex.org/W6745935785","https://openalex.org/W6766322783","https://openalex.org/W6775583579","https://openalex.org/W6781347459","https://openalex.org/W6782917812","https://openalex.org/W6786682762","https://openalex.org/W6788701300","https://openalex.org/W6790911194"],"related_works":["https://openalex.org/W2391245565","https://openalex.org/W1974878844","https://openalex.org/W1995188412","https://openalex.org/W2128391139","https://openalex.org/W2077406767","https://openalex.org/W2154631645","https://openalex.org/W1996490590","https://openalex.org/W2577364290","https://openalex.org/W2991860602","https://openalex.org/W2053675109"],"abstract_inverted_index":{"Supervised":[0],"learning":[1],"with":[2,21],"deep":[3],"convolutional":[4],"neural":[5],"networks":[6],"(DCNNs)":[7],"has":[8],"seen":[9],"huge":[10],"adoption":[11],"in":[12,37],"stereo":[13,50,117,140,162],"matching.":[14],"However,":[15],"the":[16,111,133,144],"acquisition":[17],"of":[18,54,137],"large-scale":[19,115],"datasets":[20],"well-labeled":[22],"ground":[23],"truth":[24],"is":[25,168],"cumbersome":[26],"and":[27,47,60,77,123,135,148],"labor-intensive,":[28],"making":[29],"supervised":[30],"learning-based":[31],"approaches":[32],"often":[33],"hard":[34],"to":[35,66,83,104],"implement":[36],"practice.":[38],"To":[39],"overcome":[40],"this":[41],"drawback,":[42],"we":[43,109],"propose":[44],"a":[45,55,61,80,114],"robust":[46],"effective":[48],"self-supervised":[49,139,161],"matching":[51,141,163],"approach,":[52],"consisting":[53],"pyramid":[56],"voting":[57],"module":[58],"(PVM)":[59],"novel":[62],"DCNN":[63],"architecture,":[64],"referred":[65],"as":[67],"OptStereo.":[68],"Specifically,":[69],"our":[70,92,138,149,153],"OptStereo":[71,106],"first":[72],"builds":[73],"multi-scale":[74],"cost":[75],"volumes,":[76],"then":[78],"adopts":[79],"recurrent":[81],"unit":[82],"iteratively":[84],"update":[85],"disparity":[86,98],"estimations":[87],"at":[88],"high":[89],"resolution;":[90],"while":[91],"PVM":[93],"can":[94,101],"generate":[95],"reliable":[96],"semi-dense":[97],"images,":[99],"which":[100],"be":[102],"employed":[103],"supervise":[105],"training.":[107],"Furthermore,":[108],"publish":[110],"HKUST-Drive":[112,150],"dataset,":[113,118],"synthetic":[116],"collected":[119],"under":[120],"different":[121],"illumination":[122],"weather":[124],"conditions":[125],"for":[126],"research":[127],"purposes.":[128],"Extensive":[129],"experimental":[130],"results":[131],"demonstrate":[132],"effectiveness":[134],"efficiency":[136],"approach":[142],"on":[143],"KITTI":[145],"Stereo":[146],"benchmarks":[147],"dataset.":[151],"PVStereo,":[152],"best-performing":[154],"implementation,":[155],"greatly":[156],"outperforms":[157],"all":[158],"other":[159],"state-of-the-art":[160],"approaches.":[164],"Our":[165],"project":[166],"page":[167],"available":[169],"atsites.google.com/view/pvstereo.":[170]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":18},{"year":2024,"cited_by_count":15},{"year":2023,"cited_by_count":28},{"year":2022,"cited_by_count":13},{"year":2021,"cited_by_count":9}],"updated_date":"2026-08-10T07:06:39.071514","created_date":"2021-03-29T00:00:00"}
