{"id":"https://openalex.org/W4404687997","doi":"https://doi.org/10.1109/ojcs.2024.3505876","title":"Boosting Depth Estimation for Self-Driving in a Self-Supervised Framework via Improved Pose Network","display_name":"Boosting Depth Estimation for Self-Driving in a Self-Supervised Framework via Improved Pose Network","publication_year":2024,"publication_date":"2024-11-25","ids":{"openalex":"https://openalex.org/W4404687997","doi":"https://doi.org/10.1109/ojcs.2024.3505876"},"language":"en","primary_location":{"id":"doi:10.1109/ojcs.2024.3505876","is_oa":true,"landing_page_url":"https://doi.org/10.1109/ojcs.2024.3505876","pdf_url":null,"source":{"id":"https://openalex.org/S4210176459","display_name":"IEEE Open Journal of the Computer Society","issn_l":"2644-1268","issn":["2644-1268"],"is_oa":true,"is_in_doaj":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Open Journal of the Computer Society","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1109/ojcs.2024.3505876","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5078282628","display_name":"Yazan Dayoub","orcid":null},"institutions":[{"id":"https://openalex.org/I118501908","display_name":"National Research University Higher School of Economics","ror":"https://ror.org/055f7t516","country_code":"RU","type":"education","lineage":["https://openalex.org/I118501908"]}],"countries":["RU"],"is_corresponding":true,"raw_author_name":"Yazan Dayoub","raw_affiliation_strings":["HSE University, Moscow, Russia"],"affiliations":[{"raw_affiliation_string":"HSE University, Moscow, Russia","institution_ids":["https://openalex.org/I118501908"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016964202","display_name":"A. Savchenko","orcid":"https://orcid.org/0000-0001-6196-0564"},"institutions":[{"id":"https://openalex.org/I118501908","display_name":"National Research University Higher School of Economics","ror":"https://ror.org/055f7t516","country_code":"RU","type":"education","lineage":["https://openalex.org/I118501908"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Andrey V. Savchenko","raw_affiliation_strings":["HSE University, Moscow, Russia"],"affiliations":[{"raw_affiliation_string":"HSE University, Moscow, Russia","institution_ids":["https://openalex.org/I118501908"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074238659","display_name":"Ilya Makarov","orcid":"https://orcid.org/0000-0002-3308-8825"},"institutions":[{"id":"https://openalex.org/I4210101868","display_name":"Institute for System Programming","ror":"https://ror.org/017ef8252","country_code":"RU","type":"facility","lineage":["https://openalex.org/I1313323035","https://openalex.org/I4210101868","https://openalex.org/I4210124601"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Ilya Makarov","raw_affiliation_strings":["ISP RAS, Moscow, Russia","Artificial Intelligence Research Institute (AIRI), Moscow, Russia"],"affiliations":[{"raw_affiliation_string":"ISP RAS, Moscow, Russia","institution_ids":["https://openalex.org/I4210101868"]},{"raw_affiliation_string":"Artificial Intelligence Research Institute (AIRI), Moscow, Russia","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5078282628"],"corresponding_institution_ids":["https://openalex.org/I118501908"],"apc_list":{"value":1750,"currency":"USD","value_usd":1750},"apc_paid":{"value":1750,"currency":"USD","value_usd":1750},"fwci":0.5263,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.67802247,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"6","issue":null,"first_page":"109","last_page":"118"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9948999881744385,"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":0.9948999881744385,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9894000291824341,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9799000024795532,"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/pose","display_name":"Pose","score":0.747261106967926},{"id":"https://openalex.org/keywords/self-driving","display_name":"Self driving","score":0.7276149392127991},{"id":"https://openalex.org/keywords/boosting","display_name":"Boosting (machine learning)","score":0.7041949033737183},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6616635322570801},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6181514263153076},{"id":"https://openalex.org/keywords/estimation","display_name":"Estimation","score":0.4726877510547638},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.4576221704483032},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4125629663467407},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.35036277770996094},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16959437727928162},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.08012276887893677}],"concepts":[{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.747261106967926},{"id":"https://openalex.org/C3018391801","wikidata":"https://www.wikidata.org/wiki/Q741490","display_name":"Self driving","level":2,"score":0.7276149392127991},{"id":"https://openalex.org/C46686674","wikidata":"https://www.wikidata.org/wiki/Q466303","display_name":"Boosting (machine learning)","level":2,"score":0.7041949033737183},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6616635322570801},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6181514263153076},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.4726877510547638},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4576221704483032},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4125629663467407},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.35036277770996094},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16959437727928162},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.08012276887893677},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ojcs.2024.3505876","is_oa":true,"landing_page_url":"https://doi.org/10.1109/ojcs.2024.3505876","pdf_url":null,"source":{"id":"https://openalex.org/S4210176459","display_name":"IEEE Open Journal of the Computer Society","issn_l":"2644-1268","issn":["2644-1268"],"is_oa":true,"is_in_doaj":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Open Journal of the Computer Society","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:73410f5550db4269b3957d95cacd02b1","is_oa":true,"landing_page_url":"https://doaj.org/article/73410f5550db4269b3957d95cacd02b1","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Open Journal of the Computer Society, Vol 6, Pp 109-118 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/ojcs.2024.3505876","is_oa":true,"landing_page_url":"https://doi.org/10.1109/ojcs.2024.3505876","pdf_url":null,"source":{"id":"https://openalex.org/S4210176459","display_name":"IEEE Open Journal of the Computer Society","issn_l":"2644-1268","issn":["2644-1268"],"is_oa":true,"is_in_doaj":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Open Journal of the Computer Society","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7868222567","display_name":null,"funder_award_id":"70-2023-001309","funder_id":"https://openalex.org/F4320326354","funder_display_name":"National Research Nuclear University MEPhI"}],"funders":[{"id":"https://openalex.org/F4320326354","display_name":"National Research Nuclear University MEPhI","ror":"https://ror.org/04w8z7f34"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":61,"referenced_works":["https://openalex.org/W2033819227","https://openalex.org/W2077965293","https://openalex.org/W2115579991","https://openalex.org/W2132947399","https://openalex.org/W2520707372","https://openalex.org/W2535547924","https://openalex.org/W2609883120","https://openalex.org/W2895314356","https://openalex.org/W2909946115","https://openalex.org/W2954174912","https://openalex.org/W2963654727","https://openalex.org/W2964968086","https://openalex.org/W2981518351","https://openalex.org/W2985775862","https://openalex.org/W3003663698","https://openalex.org/W3004144522","https://openalex.org/W3007774126","https://openalex.org/W3014641072","https://openalex.org/W3015788359","https://openalex.org/W3024745646","https://openalex.org/W3034604951","https://openalex.org/W3043971245","https://openalex.org/W3107389224","https://openalex.org/W3118635606","https://openalex.org/W3128629208","https://openalex.org/W3131671309","https://openalex.org/W3175515048","https://openalex.org/W3188511781","https://openalex.org/W3214340518","https://openalex.org/W4206545998","https://openalex.org/W4214520160","https://openalex.org/W4214614183","https://openalex.org/W4285803579","https://openalex.org/W4289785280","https://openalex.org/W4292387613","https://openalex.org/W4312443924","https://openalex.org/W4312856322","https://openalex.org/W4313053825","https://openalex.org/W4319300374","https://openalex.org/W4321512633","https://openalex.org/W4367154434","https://openalex.org/W4385346076","https://openalex.org/W4386065531","https://openalex.org/W4386076206","https://openalex.org/W4389302500","https://openalex.org/W4389314056","https://openalex.org/W4390872447","https://openalex.org/W4391983898","https://openalex.org/W4393178517","https://openalex.org/W4395469266","https://openalex.org/W4401540887","https://openalex.org/W4402727687","https://openalex.org/W4404916474","https://openalex.org/W6618372016","https://openalex.org/W6767088534","https://openalex.org/W6785345353","https://openalex.org/W6786121475","https://openalex.org/W6802066719","https://openalex.org/W6810597838","https://openalex.org/W6839072514","https://openalex.org/W6857785832"],"related_works":["https://openalex.org/W2125652721","https://openalex.org/W1540371141","https://openalex.org/W1549363203","https://openalex.org/W2154063878","https://openalex.org/W4231274751","https://openalex.org/W2556012038","https://openalex.org/W1489772951","https://openalex.org/W1538046993","https://openalex.org/W3082059448","https://openalex.org/W4313640622"],"abstract_inverted_index":{"Depth":[0],"estimation":[1,23,44],"is":[2,29],"a":[3,51,95],"critical":[4],"component":[5],"of":[6,21,124,142],"self-driving":[7],"vehicles,":[8],"enabling":[9],"accurate":[10,79],"scene":[11],"understanding,":[12],"obstacle":[13],"detection,":[14],"and":[15,69,87,129,134,147,155],"precise":[16],"localization.":[17],"Improving":[18],"the":[19,47,85,99,107],"performance":[20],"depth":[22,43,80],"networks":[24],"without":[25],"increasing":[26],"computational":[27],"cost":[28],"highly":[30],"advantageous":[31],"for":[32,77,152],"autonomous":[33],"driving":[34],"systems.":[35],"In":[36],"this":[37],"article,":[38],"we":[39],"propose":[40],"to":[41],"enhance":[42],"by":[45,65],"improving":[46],"pose":[48,56],"network":[49],"in":[50,98],"self-supervised":[52],"framework.":[53],"Unlike":[54],"conventional":[55],"networks,":[57],"our":[58,92,111],"approach":[59,112],"preserves":[60],"more":[61,78],"detailed":[62],"spatial":[63,74],"information":[64],"integrating":[66],"multi-scale":[67],"features":[68],"normalized":[70],"coordinates.":[71],"This":[72],"improved":[73],"awareness":[75],"allows":[76],"predictions.":[81],"Comprehensive":[82],"evaluations":[83],"on":[84,106],"KITTI":[86,108],"Make3D":[88],"datasets":[89],"show":[90],"that":[91],"method":[93],"yields":[94],"2-7%":[96],"improvement":[97],"absolute":[100],"relative":[101,117,135],"error":[102,119,137],"(abs_rel)":[103],"metric.":[104],"Furthermore,":[105],"odometry":[109],"dataset,":[110],"demonstrates":[113],"competitive":[114],"performance,":[115],"with":[116],"translational":[118],"(<inline-formula":[120,138],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[121,126,131,139,144,149],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[122,127,132,140,145,150],"notation=\"LaTeX\">$t_{rel}$</tex-math></inline-formula>)":[123],"<inline-formula":[125,130,143,148],"notation=\"LaTeX\">$6.11$</tex-math></inline-formula>":[128],"notation=\"LaTeX\">$7.21$</tex-math></inline-formula>,":[133],"rotational":[136],"notation=\"LaTeX\">$r_{rel}$</tex-math></inline-formula>)":[141],"notation=\"LaTeX\">$1.12$</tex-math></inline-formula>":[146],"notation=\"LaTeX\">$2.05$</tex-math></inline-formula>":[151],"sequences":[153],"9":[154],"10,":[156],"respectively.":[157]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2025-12-27T23:08:20.325037","created_date":"2025-10-10T00:00:00"}