{"id":"https://openalex.org/W4409129095","doi":"https://doi.org/10.1109/lra.2025.3557738","title":"ForestVO: Enhancing Visual Odometry in Forest Environments Through ForestGlue","display_name":"ForestVO: Enhancing Visual Odometry in Forest Environments Through ForestGlue","publication_year":2025,"publication_date":"2025-04-03","ids":{"openalex":"https://openalex.org/W4409129095","doi":"https://doi.org/10.1109/lra.2025.3557738"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3557738","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3557738","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":true,"oa_status":"green","oa_url":"https://hdl.handle.net/1983/19adf333-d3e4-487d-93e3-2cd043966366","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Thomas Pritchard","orcid":null},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Thomas Pritchard","raw_affiliation_strings":["Computing Department, Imperial College London, London, U.K","Computing Department, Imperial College London, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computing Department, Imperial College London, London, U.K","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"Computing Department, Imperial College London, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5116900531","display_name":"Saifullah Ijaz","orcid":null},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Saifullah Ijaz","raw_affiliation_strings":["Computing Department, Imperial College London, London, U.K","Computing Department, Imperial College London, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computing Department, Imperial College London, London, U.K","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"Computing Department, Imperial College London, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054998594","display_name":"Ronald Clark","orcid":"https://orcid.org/0000-0002-6344-5299"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ronald Clark","raw_affiliation_strings":["Department of Computer Science, University of Oxford, Oxford, U.K","Department of Computer Science, University of Oxford, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Oxford, Oxford, U.K","institution_ids":["https://openalex.org/I40120149"]},{"raw_affiliation_string":"Department of Computer Science, University of Oxford, UK","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5006237898","display_name":"Ba\u015faran Bahad\u0131r Ko\u00e7er","orcid":"https://orcid.org/0000-0002-5150-5151"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Basaran Bahadir Kocer","raw_affiliation_strings":["Computing Department, Imperial College London, London, U.K","Computing Department, Imperial College London, UK"],"raw_orcid":"https://orcid.org/0000-0002-5150-5151","affiliations":[{"raw_affiliation_string":"Computing Department, Imperial College London, London, U.K","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"Computing Department, Imperial College London, UK","institution_ids":["https://openalex.org/I47508984"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":22.4462,"has_fulltext":true,"cited_by_count":8,"citation_normalized_percentile":{"value":0.99122251,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"10","issue":"6","first_page":"5233","last_page":"5240"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9973000288009644,"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":0.9973000288009644,"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":0.980400025844574,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9635000228881836,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.7052326202392578},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4487650394439697},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41853097081184387},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4009135961532593},{"id":"https://openalex.org/keywords/environmental-science","display_name":"Environmental science","score":0.365561306476593},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.07124555110931396}],"concepts":[{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.7052326202392578},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4487650394439697},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41853097081184387},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4009135961532593},{"id":"https://openalex.org/C39432304","wikidata":"https://www.wikidata.org/wiki/Q188847","display_name":"Environmental science","level":0,"score":0.365561306476593},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.07124555110931396}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/lra.2025.3557738","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3557738","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:research-information.bris.ac.uk:publications/19adf333-d3e4-487d-93e3-2cd043966366","is_oa":true,"landing_page_url":"https://hdl.handle.net/1983/19adf333-d3e4-487d-93e3-2cd043966366","pdf_url":null,"source":{"id":"https://openalex.org/S4306400895","display_name":"Bristol Research (University of Bristol)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I36234482","host_organization_name":"University of Bristol","host_organization_lineage":["https://openalex.org/I36234482"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"Pritchard, T, Ijaz, S, Clark, R & Kocer, B B 2025, 'ForestVO : Enhancing Visual Odometry in Forest Environments through ForestGlue', IEEE Robotics and Automation Letters, vol. 10, no. 6, pp. 5233-5240. https://doi.org/10.1109/LRA.2025.3557738","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:research-information.bris.ac.uk:openaire_cris_publications/19adf333-d3e4-487d-93e3-2cd043966366","is_oa":true,"landing_page_url":"https://research-information.bris.ac.uk/en/publications/19adf333-d3e4-487d-93e3-2cd043966366","pdf_url":"https://research-information.bris.ac.uk/files/452241770/ForestVO_Revision_Arxiv_1_.pdf","source":{"id":"https://openalex.org/S4306400895","display_name":"Bristol Research (University of Bristol)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I36234482","host_organization_name":"University of Bristol","host_organization_lineage":["https://openalex.org/I36234482"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Pritchard, T, Ijaz, S, Clark, R & Kocer, B B 2025, 'ForestVO : Enhancing Visual Odometry in Forest Environments through ForestGlue', IEEE Robotics and Automation Letters, vol. 10, no. 6, pp. 5233-5240. https://doi.org/10.1109/LRA.2025.3557738","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:ora.ox.ac.uk:uuid:70adc5b1-c0f5-40b2-8133-f3dc51079176","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306402636","display_name":"Oxford University Research Archive (ORA) (University of Oxford)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I40120149","host_organization_name":"University of Oxford","host_organization_lineage":["https://openalex.org/I40120149"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Symplectic Elements","raw_type":"http://purl.org/coar/resource_type/c_dcae04bc"}],"best_oa_location":{"id":"pmh:oai:research-information.bris.ac.uk:publications/19adf333-d3e4-487d-93e3-2cd043966366","is_oa":true,"landing_page_url":"https://hdl.handle.net/1983/19adf333-d3e4-487d-93e3-2cd043966366","pdf_url":null,"source":{"id":"https://openalex.org/S4306400895","display_name":"Bristol Research (University of Bristol)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I36234482","host_organization_name":"University of Bristol","host_organization_lineage":["https://openalex.org/I36234482"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"Pritchard, T, Ijaz, S, Clark, R & Kocer, B B 2025, 'ForestVO : Enhancing Visual Odometry in Forest Environments through ForestGlue', IEEE Robotics and Automation Letters, vol. 10, no. 6, pp. 5233-5240. https://doi.org/10.1109/LRA.2025.3557738","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/15","display_name":"Life in Land","score":0.5099999904632568}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320360","display_name":"University of Bristol","ror":"https://ror.org/0524sp257"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":49,"referenced_works":["https://openalex.org/W1612997784","https://openalex.org/W1965722011","https://openalex.org/W1969047080","https://openalex.org/W1991544872","https://openalex.org/W2021851106","https://openalex.org/W2117228865","https://openalex.org/W2122111042","https://openalex.org/W2146881125","https://openalex.org/W2150066425","https://openalex.org/W2151103935","https://openalex.org/W2396274919","https://openalex.org/W2474281075","https://openalex.org/W2522940611","https://openalex.org/W2544243493","https://openalex.org/W2598706937","https://openalex.org/W2915430247","https://openalex.org/W2929275563","https://openalex.org/W2949524122","https://openalex.org/W2949924544","https://openalex.org/W2963154697","https://openalex.org/W2963760790","https://openalex.org/W2968885765","https://openalex.org/W2971269667","https://openalex.org/W2987550177","https://openalex.org/W3034275286","https://openalex.org/W3043075211","https://openalex.org/W3046932653","https://openalex.org/W3049117435","https://openalex.org/W3132270109","https://openalex.org/W3135607681","https://openalex.org/W3166285241","https://openalex.org/W3209530128","https://openalex.org/W4223490394","https://openalex.org/W4243425824","https://openalex.org/W4312283843","https://openalex.org/W4319080075","https://openalex.org/W4383097403","https://openalex.org/W4386167971","https://openalex.org/W4388520256","https://openalex.org/W4390872507","https://openalex.org/W4391676180","https://openalex.org/W4391960447","https://openalex.org/W4401414665","https://openalex.org/W4407168458","https://openalex.org/W6780053115","https://openalex.org/W6785114638","https://openalex.org/W6862672344","https://openalex.org/W6866250731","https://openalex.org/W6892061683"],"related_works":["https://openalex.org/W2593793146","https://openalex.org/W3035056458","https://openalex.org/W2126722086","https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2947473195","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068"],"abstract_inverted_index":{"Recent":[0],"advancements":[1],"in":[2,13,136,213,249,268],"visual":[3,247],"odometry":[4,248],"systems":[5],"have":[6,72],"improved":[7,264],"autonomous":[8,269],"navigation,":[9],"yet":[10,91],"challenges":[11],"persist":[12],"complex":[14],"environments":[15],"like":[16],"forests,":[17],"where":[18],"dense":[19],"foliage,":[20],"variable":[21],"lighting,":[22],"and":[23,52,88,203,260,266],"repetitive":[24],"textures":[25],"compromise":[26],"the":[27,41,99,122,127,178,235],"accuracy":[28,84,265],"of":[29,70,98,112,121,182,200,205,234],"feature":[30,43,62,258],"correspondences.":[31],"To":[32],"address":[33],"these":[34],"challenges,":[35],"we":[36,64,169],"introduce":[37],"ForestGlue.":[38],"ForestGlue":[39,79,125,160],"enhances":[40],"SuperPoint":[42],"detector":[44],"through":[45],"four":[46],"configurations":[47],"\u2013":[48,55],"grayscale,":[49],"RGB,":[50],"RGB-D,":[51],"stereo-vision":[53],"inputs":[54],"optimised":[56],"for":[57,145,246,263],"various":[58],"sensing":[59],"modalities.":[60],"For":[61],"matching,":[63],"employ":[65],"LightGlue":[66,87],"or":[67,154],"SuperGlue,":[68],"both":[69],"which":[71,172],"been":[73],"retrained":[74],"using":[75,177],"synthetic":[76],"forest":[77,138,190],"data.":[78],"achieves":[80,193],"comparable":[81],"pose":[82,166,197,261],"estimation":[83,167,262],"to":[85,106,129,256],"baseline":[86,104],"SuperGlue":[89],"models,":[90,105],"require":[92],"only":[93,232],"512":[94],"keypoints,":[95],"just":[96],"25%":[97],"2048":[100],"keypoints":[101,123],"used":[102],"by":[103,216],"achieve":[107],"an":[108,194,240],"LO-RANSAC":[109],"AUC":[110],"score":[111],"0.745":[113],"at":[114],"a":[115,119,142,162,226],"10$^{\\circ":[116],"}$threshold.":[117],"With":[118],"1/4":[120],"required,":[124],"has":[126],"potential":[128],"reduce":[130],"computational":[131],"overhead":[132],"whilst":[133],"being":[134,225],"effective":[135],"dynamic":[137,214],"environments,":[139,251],"making":[140],"it":[141],"promising":[143],"candidate":[144],"real-time":[146],"deployment":[147],"on":[148,231],"resource-constrained":[149],"platforms":[150],"such":[151,210],"as":[152,211],"drones":[153],"mobile":[155],"robotic":[156],"platforms.":[157],"By":[158],"combining":[159],"with":[161,222],"novel":[163],"transformer":[164],"based":[165],"model,":[168],"propose":[170],"ForestVO,":[171],"estimates":[173],"relative":[174,196],"camera":[175],"poses":[176],"2D":[179],"pixel":[180],"coordinates":[181],"matched":[183],"features":[184],"between":[185],"frames.":[186],"On":[187],"challenging":[188],"TartanAir":[189],"sequences,":[191],"ForestVO":[192],"average":[195],"error":[198],"(RPE)":[199],"1.09":[201],"m":[202],"kitti_score":[204],"2.33%,":[206],"outperforming":[207],"direct-based":[208],"methods":[209],"DSO":[212],"scenes":[215],"40%,":[217],"while":[218],"maintaining":[219],"competitive":[220],"performance":[221],"TartanVO":[223],"despite":[224],"significantly":[227],"lighter":[228],"model":[229],"trained":[230],"10%":[233],"dataset.":[236],"This":[237],"work":[238],"establishes":[239],"end-to-end":[241],"deep":[242],"learning":[243],"pipeline":[244],"tailored":[245],"forested":[250],"leveraging":[252],"forest-specific":[253],"training":[254],"data":[255],"optimise":[257],"correspondence":[259],"robustness":[267],"navigation":[270],"systems.":[271]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":2}],"updated_date":"2026-08-01T09:00:35.917206","created_date":"2025-10-10T00:00:00"}