{"id":"https://openalex.org/W4407781896","doi":"https://doi.org/10.1109/lra.2025.3544521","title":"Spatiotemporal Dual-Stream Network for Visual Odometry","display_name":"Spatiotemporal Dual-Stream Network for Visual Odometry","publication_year":2025,"publication_date":"2025-02-20","ids":{"openalex":"https://openalex.org/W4407781896","doi":"https://doi.org/10.1109/lra.2025.3544521"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3544521","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3544521","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":["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/A5100571664","display_name":"Chang Xu","orcid":"https://orcid.org/0000-0001-5517-4700"},"institutions":[{"id":"https://openalex.org/I25254941","display_name":"Beijing Normal University","ror":"https://ror.org/022k4wk35","country_code":"CN","type":"education","lineage":["https://openalex.org/I25254941"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chang Xu","raw_affiliation_strings":["School of System Science, Beijing Normal University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-5517-4700","affiliations":[{"raw_affiliation_string":"School of System Science, Beijing Normal University, Beijing, China","institution_ids":["https://openalex.org/I25254941"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054260222","display_name":"Taiping Zeng","orcid":"https://orcid.org/0000-0002-8317-9469"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]},{"id":"https://openalex.org/I4210164150","display_name":"Shanghai Center for Brain Science and Brain-Inspired Technology","ror":"https://ror.org/0551a0y31","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210164150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Taiping Zeng","raw_affiliation_strings":["Institute of Science and Technology for Brain-Inspired Intelligence, Fudan University, Shanghai, China","Institute of Science and Technology for Brain-Inspired Intelligence, Fudan University, China"],"raw_orcid":"https://orcid.org/0000-0002-8317-9469","affiliations":[{"raw_affiliation_string":"Institute of Science and Technology for Brain-Inspired Intelligence, Fudan University, Shanghai, China","institution_ids":["https://openalex.org/I24943067","https://openalex.org/I4210164150"]},{"raw_affiliation_string":"Institute of Science and Technology for Brain-Inspired Intelligence, Fudan University, China","institution_ids":["https://openalex.org/I24943067","https://openalex.org/I4210164150"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007864679","display_name":"Yifan Luo","orcid":"https://orcid.org/0000-0001-6137-6536"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yifan Luo","raw_affiliation_strings":["Hangzhou Institute for Advanced Study, UCAS, Hangzhou, China","Hangzhou Institute for Advanced Study, UCAS, China"],"raw_orcid":"https://orcid.org/0000-0001-6137-6536","affiliations":[{"raw_affiliation_string":"Hangzhou Institute for Advanced Study, UCAS, Hangzhou, China","institution_ids":[]},{"raw_affiliation_string":"Hangzhou Institute for Advanced Study, UCAS, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":null,"display_name":"Fei Song","orcid":"https://orcid.org/0009-0007-8443-0102"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fei Song","raw_affiliation_strings":["State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Science, Shenyang, China"],"raw_orcid":"https://orcid.org/0009-0007-8443-0102","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Science, Shenyang, China","institution_ids":["https://openalex.org/I142078773"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043933382","display_name":"Bailu Si","orcid":"https://orcid.org/0000-0002-0260-3433"},"institutions":[{"id":"https://openalex.org/I25254941","display_name":"Beijing Normal University","ror":"https://ror.org/022k4wk35","country_code":"CN","type":"education","lineage":["https://openalex.org/I25254941"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bailu Si","raw_affiliation_strings":["School of System Science, Beijing Normal University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-0260-3433","affiliations":[{"raw_affiliation_string":"School of System Science, Beijing Normal University, Beijing, China","institution_ids":["https://openalex.org/I25254941"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.729,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.89892409,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"10","issue":"4","first_page":"3867","last_page":"3874"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9921000003814697,"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":0.9921000003814697,"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/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9886000156402588,"subfield":{"id":"https://openalex.org/subfields/3105","display_name":"Instrumentation"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9786999821662903,"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/dual","display_name":"Dual (grammatical number)","score":0.740976870059967},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.679478645324707},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.5570639371871948},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.511968731880188},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4562760889530182},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.42448678612709045},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.33913111686706543},{"id":"https://openalex.org/keywords/environmental-science","display_name":"Environmental science","score":0.3286544382572174},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.2936857342720032},{"id":"https://openalex.org/keywords/art","display_name":"Art","score":0.06872078776359558},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.056463152170181274},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.05301991105079651}],"concepts":[{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.740976870059967},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.679478645324707},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.5570639371871948},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.511968731880188},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4562760889530182},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.42448678612709045},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.33913111686706543},{"id":"https://openalex.org/C39432304","wikidata":"https://www.wikidata.org/wiki/Q188847","display_name":"Environmental science","level":0,"score":0.3286544382572174},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.2936857342720032},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.06872078776359558},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.056463152170181274},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.05301991105079651},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3544521","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3544521","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W2021851106","https://openalex.org/W2082627290","https://openalex.org/W2150066425","https://openalex.org/W2162950292","https://openalex.org/W2200124539","https://openalex.org/W2342662179","https://openalex.org/W2396274919","https://openalex.org/W2474281075","https://openalex.org/W2535547924","https://openalex.org/W2580835208","https://openalex.org/W2584731199","https://openalex.org/W2598706937","https://openalex.org/W2609883120","https://openalex.org/W2745549613","https://openalex.org/W2749379418","https://openalex.org/W2793027874","https://openalex.org/W2884367402","https://openalex.org/W2912327653","https://openalex.org/W2935854115","https://openalex.org/W2952348863","https://openalex.org/W2958731371","https://openalex.org/W2962816904","https://openalex.org/W2963465031","https://openalex.org/W2963583471","https://openalex.org/W2963587345","https://openalex.org/W3015551381","https://openalex.org/W3035422918","https://openalex.org/W3038041713","https://openalex.org/W3043971245","https://openalex.org/W3091687063","https://openalex.org/W3109908659","https://openalex.org/W3126721948","https://openalex.org/W3138516171","https://openalex.org/W3156333129","https://openalex.org/W3215674841","https://openalex.org/W4200338016","https://openalex.org/W4281611374","https://openalex.org/W4312424580","https://openalex.org/W4393864956","https://openalex.org/W4406610856","https://openalex.org/W6682864246","https://openalex.org/W6739901393","https://openalex.org/W6757817989","https://openalex.org/W6767088534","https://openalex.org/W6784333009"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W2414561716","https://openalex.org/W3024737167","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],"empowers":[3],"robots":[4],"with":[5,21,42],"the":[6,57,61,75,93,97,111,117,133,136],"ability":[7],"to":[8,52,80,105],"perform":[9],"self-localization":[10],"within":[11],"unknown":[12],"environments":[13],"using":[14],"visual":[15,34,140],"cues,":[16],"yet":[17],"it":[18],"is":[19,64,78],"faced":[20],"challenges":[22],"in":[23,56],"dynamic":[24],"environments.":[25],"In":[26],"this":[27],"study,":[28],"we":[29],"propose":[30],"a":[31,106],"novel":[32],"monocular":[33],"odometry":[35],"network":[36],"called":[37],"Spatiotemporal":[38],"Dual-stream":[39],"Network":[40],"(STDN-VO)":[41],"two":[43],"parallel":[44],"streams,":[45],"i.e.":[46],"spatial":[47,62,94],"stream":[48,63,77,95,99],"and":[49,96,102],"temporal":[50,76,84,98],"stream,":[51],"model":[53],"spatiotemporal":[54],"correlation":[55],"image":[58],"sequences.":[59],"Technically,":[60],"responsible":[65],"for":[66,109,139],"extracting":[67],"global":[68],"context":[69,85],"information":[70,86],"from":[71,87],"an":[72],"image,":[73],"while":[74],"designed":[79],"effectively":[81],"extract":[82],"robust":[83],"consecutive":[88],"frames.":[89],"The":[90],"outputs":[91],"of":[92,135],"are":[100],"merged":[101],"then":[103],"fed":[104],"pose":[107,122],"head":[108],"predicting":[110],"relative":[112],"pose.":[113],"Experimental":[114],"results":[115,131],"on":[116],"KITTI":[118],"dataset":[119],"demonstrate":[120],"competitive":[121],"estimation":[123],"performance":[124],"exceeding":[125],"published":[126],"deep":[127],"learning-based":[128],"methods.":[129],"These":[130],"underscore":[132],"effectiveness":[134],"proposed":[137],"framework":[138],"odometry.":[141]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}
