{"id":"https://openalex.org/W2999081000","doi":"https://doi.org/10.1109/robio49542.2019.8961701","title":"Simultaneous Monocular Visual Odometry and Depth Reconstruction with Scale Recover","display_name":"Simultaneous Monocular Visual Odometry and Depth Reconstruction with Scale Recover","publication_year":2019,"publication_date":"2019-12-01","ids":{"openalex":"https://openalex.org/W2999081000","doi":"https://doi.org/10.1109/robio49542.2019.8961701","mag":"2999081000"},"language":"en","primary_location":{"id":"doi:10.1109/robio49542.2019.8961701","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio49542.2019.8961701","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":"conference-paper","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/A5039158745","display_name":"Yong Luo","orcid":"https://orcid.org/0000-0002-2296-6370"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yong Luo","raw_affiliation_strings":["School of Control Science and Engineering, Shandong University, Jinan, Shandong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University, Jinan, Shandong, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100714422","display_name":"Guoliang Liu","orcid":"https://orcid.org/0000-0001-6614-6932"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guoliang Liu","raw_affiliation_strings":["School of Control Science and Engineering, Shandong University, Jinan, Shandong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University, Jinan, Shandong, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082065346","display_name":"Hanjie Liu","orcid":"https://orcid.org/0000-0001-8453-1420"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hanjie Liu","raw_affiliation_strings":["School of Control Science and Engineering, Shandong University, Jinan, Shandong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University, Jinan, Shandong, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100381094","display_name":"Tiantian Liu","orcid":"https://orcid.org/0009-0006-7463-3216"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tiantian Liu","raw_affiliation_strings":["School of Control Science and Engineering, Shandong University, Jinan, Shandong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University, Jinan, Shandong, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100654953","display_name":"Guohui Tian","orcid":"https://orcid.org/0000-0001-8332-3064"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guohui Tian","raw_affiliation_strings":["School of Control Science and Engineering, Shandong University, Jinan, Shandong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University, Jinan, Shandong, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068175770","display_name":"Ze Ji","orcid":"https://orcid.org/0000-0002-8968-9902"},"institutions":[{"id":"https://openalex.org/I79510175","display_name":"Cardiff University","ror":"https://ror.org/03kk7td41","country_code":"GB","type":"education","lineage":["https://openalex.org/I79510175"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ze Ji","raw_affiliation_strings":["School of Engineering, Cardiff University, Cardiff, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering, Cardiff University, Cardiff, UK","institution_ids":["https://openalex.org/I79510175"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"abs 1412 6980","issue":null,"first_page":"682","last_page":"687"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":1.0,"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":1.0,"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":0.9994000196456909,"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/T13114","display_name":"Image Processing Techniques and Applications","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2214","display_name":"Media Technology"},"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.8594075441360474},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.852670431137085},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.764141321182251},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.7495744228363037},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7090882062911987},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.4936927258968353},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.4838613271713257},{"id":"https://openalex.org/keywords/signal","display_name":"SIGNAL (programming language)","score":0.43750452995300293},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.43301165103912354},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.20333468914031982},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.14184719324111938},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.0748797357082367}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8594075441360474},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.852670431137085},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.764141321182251},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.7495744228363037},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7090882062911987},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4936927258968353},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.4838613271713257},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.43750452995300293},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.43301165103912354},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.20333468914031982},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.14184719324111938},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0748797357082367},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robio49542.2019.8961701","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio49542.2019.8961701","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"},{"id":"pmh:oai:https://orca.cardiff.ac.uk:127000","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306401195","display_name":"ORCA Online Research @Cardiff (Cardiff University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79510175","host_organization_name":"Cardiff University","host_organization_lineage":["https://openalex.org/I79510175"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Conference or Workshop Item"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1522301498","https://openalex.org/W1836465849","https://openalex.org/W2015996585","https://openalex.org/W2124907686","https://openalex.org/W2133665775","https://openalex.org/W2150066425","https://openalex.org/W2171740948","https://openalex.org/W2340897893","https://openalex.org/W2402144811","https://openalex.org/W2520707372","https://openalex.org/W2593414960","https://openalex.org/W2609883120","https://openalex.org/W2913604885","https://openalex.org/W2951234442","https://openalex.org/W2953384591","https://openalex.org/W2962816904","https://openalex.org/W2963045776","https://openalex.org/W2963591054","https://openalex.org/W2964121744","https://openalex.org/W2964314455","https://openalex.org/W6631190155","https://openalex.org/W6638667902","https://openalex.org/W6685261749","https://openalex.org/W6713134421","https://openalex.org/W6744864977","https://openalex.org/W6745263924"],"related_works":["https://openalex.org/W2126722086","https://openalex.org/W2565472677","https://openalex.org/W3006563365","https://openalex.org/W2896474523","https://openalex.org/W3004363006","https://openalex.org/W2947241406","https://openalex.org/W1999272028","https://openalex.org/W2757468587","https://openalex.org/W813170165","https://openalex.org/W3110752836"],"abstract_inverted_index":{"In":[0,29,64,156],"this":[1,157],"paper,":[2],"we":[3,42],"propose":[4],"a":[5,52,57,98,105,124],"deep":[6,83],"neural":[7,84,130,169],"network":[8,170],"that":[9,144],"can":[10,77,96],"estimate":[11,39],"camera":[12],"poses":[13,73,162],"and":[14,140,152,163],"reconstruct":[15],"the":[16,21,45,48,61,68,71,81,90,102,118,128,134,137,145,149,160,164,168,174,179,188],"full":[17],"resolution":[18],"depths":[19,139,166],"of":[20,47,92,101,136,194],"environment":[22],"simultaneously":[23],"using":[24,51,80,173],"only":[25],"monocular":[26,33],"consecutive":[27,75],"images.":[28],"contrast":[30],"to":[31,197],"traditional":[32],"visual":[34,150],"odometry":[35,151],"methods,":[36],"which":[37,95,132],"cannot":[38],"scaled":[40,69,172],"depths,":[41],"here":[43],"demonstrate":[44],"recovery":[46],"scale":[49],"information":[50],"sparse":[53,175],"depth":[54,153,176],"image":[55,100,177],"as":[56,178],"supervision":[58,180],"signal":[59,181],"in":[60,89],"training":[62],"step.":[63],"addition,":[65],"based":[66],"on":[67,187],"depth,":[70],"relative":[72,141],"between":[74],"images":[76],"be":[78],"estimated":[79,161],"proposed":[82,129,146],"network.":[85],"Another":[86],"novelty":[87],"lies":[88],"deployment":[91],"view":[93,107,115],"synthesis,":[94],"synthesize":[97],"new":[99],"scene":[103],"from":[104,167],"different":[106],"(camera":[108],"pose)":[109],"given":[110],"an":[111],"input":[112],"image.":[113],"The":[114,184],"synthesis":[116],"is":[117],"core":[119],"technique":[120],"used":[121],"for":[122,127],"constructing":[123],"loss":[125],"function":[126],"network,":[131],"requires":[133],"knowledge":[135],"predicted":[138,165],"poses,":[142],"such":[143],"method":[147,196],"couples":[148],"prediction":[154],"together.":[155],"way,":[158],"both":[159],"are":[171],"during":[182],"training.":[183],"experimental":[185],"results":[186],"KITTI":[189],"dataset":[190],"show":[191],"competitive":[192],"performance":[193],"our":[195],"handle":[198],"challenging":[199],"environments.":[200]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2020-01-23T00:00:00"}