{"id":"https://openalex.org/W3002320576","doi":"https://doi.org/10.1109/robio49542.2019.8961700","title":"Salient FlowNet and Decoupled LSTM Network for Robust Visual Odometry","display_name":"Salient FlowNet and Decoupled LSTM Network for Robust Visual Odometry","publication_year":2019,"publication_date":"2019-12-01","ids":{"openalex":"https://openalex.org/W3002320576","doi":"https://doi.org/10.1109/robio49542.2019.8961700","mag":"3002320576"},"language":"en","primary_location":{"id":"doi:10.1109/robio49542.2019.8961700","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio49542.2019.8961700","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-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/A5011338483","display_name":"Mingyue Chen","orcid":"https://orcid.org/0000-0003-1178-0922"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Ming-yue Chen","raw_affiliation_strings":["Nanjing University of Science and Technology,School of Computer Science and engineering,Nanjing,China","School of Computer Science and engineering, Nanjing University of Science and Technology, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"Nanjing University of Science and Technology,School of Computer Science and engineering,Nanjing,China","institution_ids":["https://openalex.org/I36399199"]},{"raw_affiliation_string":"School of Computer Science and engineering, Nanjing University of Science and Technology, Nanjing, China","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042985389","display_name":"Cailing Wang","orcid":"https://orcid.org/0000-0002-3455-8649"},"institutions":[{"id":"https://openalex.org/I41198531","display_name":"Nanjing University of Posts and Telecommunications","ror":"https://ror.org/043bpky34","country_code":"CN","type":"education","lineage":["https://openalex.org/I41198531"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Cai-ling Wang","raw_affiliation_strings":["Nanjing Univiersity of Posts and Telecommunications,Department of Automation,Nanjing,China","Department of Automation, Nanjing Univiersity of Posts and Telecommunications, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"Nanjing Univiersity of Posts and Telecommunications,Department of Automation,Nanjing,China","institution_ids":["https://openalex.org/I41198531"]},{"raw_affiliation_string":"Department of Automation, Nanjing Univiersity of Posts and Telecommunications, Nanjing, China","institution_ids":["https://openalex.org/I41198531"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101892743","display_name":"Huajun Liu","orcid":"https://orcid.org/0000-0003-2861-7937"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hua-jun Liu","raw_affiliation_strings":["Nanjing University of Science and Technology,School of Computer Science and engineering,Nanjing,China","School of Computer Science and engineering, Nanjing University of Science and Technology, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"Nanjing University of Science and Technology,School of Computer Science and engineering,Nanjing,China","institution_ids":["https://openalex.org/I36399199"]},{"raw_affiliation_string":"School of Computer Science and engineering, Nanjing University of Science and Technology, Nanjing, China","institution_ids":["https://openalex.org/I36399199"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5011338483"],"corresponding_institution_ids":["https://openalex.org/I36399199"],"apc_list":null,"apc_paid":null,"fwci":0.7934,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.81550391,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"2699","last_page":"2706"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9994000196456909,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9975000023841858,"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/visual-odometry","display_name":"Visual odometry","score":0.9069564938545227},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7971715927124023},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7061083316802979},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6042000651359558},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.6001590490341187},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5286253690719604},{"id":"https://openalex.org/keywords/salient","display_name":"Salient","score":0.49521103501319885},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.4676005244255066},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.45674198865890503},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.45426976680755615},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4167405366897583},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.07812416553497314},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.07231837511062622}],"concepts":[{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.9069564938545227},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7971715927124023},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7061083316802979},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6042000651359558},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.6001590490341187},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5286253690719604},{"id":"https://openalex.org/C2780719617","wikidata":"https://www.wikidata.org/wiki/Q1030752","display_name":"Salient","level":2,"score":0.49521103501319885},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.4676005244255066},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.45674198865890503},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.45426976680755615},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4167405366897583},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.07812416553497314},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.07231837511062622},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio49542.2019.8961700","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio49542.2019.8961700","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":49,"referenced_works":["https://openalex.org/W764651262","https://openalex.org/W1612997784","https://openalex.org/W1970504153","https://openalex.org/W1970974759","https://openalex.org/W2015996585","https://openalex.org/W2065123195","https://openalex.org/W2091790851","https://openalex.org/W2108134361","https://openalex.org/W2128272608","https://openalex.org/W2151103935","https://openalex.org/W2151290401","https://openalex.org/W2152671441","https://openalex.org/W2166132830","https://openalex.org/W2168676389","https://openalex.org/W2172188317","https://openalex.org/W2200124539","https://openalex.org/W2220063164","https://openalex.org/W2280444851","https://openalex.org/W2295156590","https://openalex.org/W2417429787","https://openalex.org/W2461937780","https://openalex.org/W2474281075","https://openalex.org/W2523049145","https://openalex.org/W2598706937","https://openalex.org/W2752782242","https://openalex.org/W2765767940","https://openalex.org/W2795673174","https://openalex.org/W2892177182","https://openalex.org/W2893361610","https://openalex.org/W2903390337","https://openalex.org/W2904215587","https://openalex.org/W2952348863","https://openalex.org/W2958731371","https://openalex.org/W2963169347","https://openalex.org/W2963264402","https://openalex.org/W2963420686","https://openalex.org/W2963556241","https://openalex.org/W2963727650","https://openalex.org/W2963962620","https://openalex.org/W2964314455","https://openalex.org/W2964462433","https://openalex.org/W2967702344","https://openalex.org/W3103648783","https://openalex.org/W3106440972","https://openalex.org/W3124420883","https://openalex.org/W6695052284","https://openalex.org/W6721610202","https://openalex.org/W6755828627","https://openalex.org/W6757137747"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W3024737167","https://openalex.org/W2414561716","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W2312326526","https://openalex.org/W3105866016","https://openalex.org/W4312703710","https://openalex.org/W208888162"],"abstract_inverted_index":{"An":[0],"end-to-end":[1],"CNN-LSTM":[2],"network":[3],"with":[4,37,90,166],"salient":[5,71,93],"feature":[6,10,94,138],"attention":[7,105],"and":[8,53,56,73,151],"context-guided":[9],"selection":[11,139],"mechanism":[12,106,140],"for":[13],"robust":[14],"visual":[15,29,70,171],"odometry":[16,30,172],"(VO)":[17],"on":[18,67,103,136,155],"monocular":[19,115],"image":[20],"sequence":[21],"is":[22,81,100,141],"developed":[23],"in":[24,83],"this":[25],"paper.":[26],"Deep":[27],"learning-based":[28,41],"methods":[31,43],"have":[32],"drawn":[33],"significant":[34],"concerns":[35],"comparing":[36],"traditional":[38],"methods.":[39,173],"Existing":[40],"VO":[42],"usually":[44],"ignored":[45],"the":[46,69,109,120,162],"redundant":[47],"features":[48,72,112,146],"would":[49,61],"increase":[50],"error":[51],"accumulation,":[52],"their":[54],"rotational":[55,150],"translational":[57,152],"motion":[58,75,124,127],"parameters":[59,76],"coupling":[60,121],"enlarge":[62],"trajectory":[63],"drift.":[64],"A":[65],"scheme":[66,134],"enhancing":[68],"decoupling":[74],"to":[77,96,107,118,143,147],"alleviate":[78],"these":[79],"problems":[80],"investigated":[82],"our":[84],"approach.":[85],"The":[86],"classical":[87],"FlowNet":[88],"paralleled":[89],"a":[91,126],"VGG-based":[92],"model":[95],"reinforce":[97],"perceptive":[98],"fields":[99],"designed":[101,142],"based":[102,135,170],"an":[104],"extract":[108],"prominent":[110],"geometric":[111],"from":[113],"successive":[114],"images.":[116],"Furthermore,":[117],"reduce":[119],"of":[122,161],"different":[123],"patterns,":[125],"decoupled":[128],"dual":[129],"Long":[130],"Short-Term":[131],"Memory":[132],"(LSTM)":[133],"guided":[137,145],"select":[144],"separately":[148],"regress":[149],"parameters.":[153],"Experiments":[154],"KITTI":[156],"dataset":[157],"show":[158],"competitive":[159],"performance":[160],"proposed":[163],"approach":[164],"compared":[165],"state-of-the-art":[167],"deep":[168],"learning":[169]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}