{"id":"https://openalex.org/W3111739696","doi":"https://doi.org/10.1109/ssrr50563.2020.9292608","title":"Multi-Modal Depth Estimation Using Convolutional Neural Networks","display_name":"Multi-Modal Depth Estimation Using Convolutional Neural Networks","publication_year":2020,"publication_date":"2020-11-04","ids":{"openalex":"https://openalex.org/W3111739696","doi":"https://doi.org/10.1109/ssrr50563.2020.9292608","mag":"3111739696"},"language":"en","primary_location":{"id":"doi:10.1109/ssrr50563.2020.9292608","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr50563.2020.9292608","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2012.09667","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5030500137","display_name":"Sadique Adnan Siddiqui","orcid":null},"institutions":[{"id":"https://openalex.org/I153267046","display_name":"University of Kaiserslautern","ror":"https://ror.org/04zrf7b53","country_code":"DE","type":"education","lineage":["https://openalex.org/I153267046"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sadique Adnan Siddiqui","raw_affiliation_strings":["Robotics Research Lab, TU Kaiserslautern, Kaiserslautern, Germany","Robotics Research Lab, TU Kaiserslautern,Dep. of Computer Science,Kaiserslautern,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Research Lab, TU Kaiserslautern, Kaiserslautern, Germany","institution_ids":["https://openalex.org/I153267046"]},{"raw_affiliation_string":"Robotics Research Lab, TU Kaiserslautern,Dep. of Computer Science,Kaiserslautern,Germany","institution_ids":["https://openalex.org/I153267046"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087588602","display_name":"Axel Vierling","orcid":"https://orcid.org/0000-0002-8984-3797"},"institutions":[{"id":"https://openalex.org/I153267046","display_name":"University of Kaiserslautern","ror":"https://ror.org/04zrf7b53","country_code":"DE","type":"education","lineage":["https://openalex.org/I153267046"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Axel Vierling","raw_affiliation_strings":["Robotics Research Lab, TU Kaiserslautern, Kaiserslautern, Germany","Robotics Research Lab, TU Kaiserslautern,Dep. of Computer Science,Kaiserslautern,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Research Lab, TU Kaiserslautern, Kaiserslautern, Germany","institution_ids":["https://openalex.org/I153267046"]},{"raw_affiliation_string":"Robotics Research Lab, TU Kaiserslautern,Dep. of Computer Science,Kaiserslautern,Germany","institution_ids":["https://openalex.org/I153267046"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5027711778","display_name":"Karsten Berns","orcid":"https://orcid.org/0000-0002-9080-1404"},"institutions":[{"id":"https://openalex.org/I153267046","display_name":"University of Kaiserslautern","ror":"https://ror.org/04zrf7b53","country_code":"DE","type":"education","lineage":["https://openalex.org/I153267046"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Karsten Berns","raw_affiliation_strings":["Robotics Research Lab, TU Kaiserslautern, Kaiserslautern, Germany","Robotics Research Lab, TU Kaiserslautern,Dep. of Computer Science,Kaiserslautern,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Research Lab, TU Kaiserslautern, Kaiserslautern, Germany","institution_ids":["https://openalex.org/I153267046"]},{"raw_affiliation_string":"Robotics Research Lab, TU Kaiserslautern,Dep. of Computer Science,Kaiserslautern,Germany","institution_ids":["https://openalex.org/I153267046"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I153267046"],"apc_list":null,"apc_paid":null,"fwci":0.3678,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.78686636,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"354","last_page":"359"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9988999962806702,"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"}},"topics":[{"id":"https://openalex.org/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9988999962806702,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9952999949455261,"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":0.9939000010490417,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.7459971308708191},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.730532705783844},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.7061866521835327},{"id":"https://openalex.org/keywords/upsampling","display_name":"Upsampling","score":0.6855098009109497},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.579910933971405},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5726828575134277},{"id":"https://openalex.org/keywords/depth-map","display_name":"Depth map","score":0.5662747621536255},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.5346822738647461},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.5164425373077393},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.4461122155189514},{"id":"https://openalex.org/keywords/zoom","display_name":"Zoom","score":0.428948312997818},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.4282492995262146},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.3040221333503723},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.22080940008163452},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12148669362068176},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.11650800704956055}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7459971308708191},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.730532705783844},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7061866521835327},{"id":"https://openalex.org/C110384440","wikidata":"https://www.wikidata.org/wiki/Q1143270","display_name":"Upsampling","level":3,"score":0.6855098009109497},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.579910933971405},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5726828575134277},{"id":"https://openalex.org/C141268832","wikidata":"https://www.wikidata.org/wiki/Q2940499","display_name":"Depth map","level":3,"score":0.5662747621536255},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.5346822738647461},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.5164425373077393},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.4461122155189514},{"id":"https://openalex.org/C124913957","wikidata":"https://www.wikidata.org/wiki/Q1232548","display_name":"Zoom","level":3,"score":0.428948312997818},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.4282492995262146},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.3040221333503723},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.22080940008163452},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12148669362068176},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.11650800704956055},{"id":"https://openalex.org/C78762247","wikidata":"https://www.wikidata.org/wiki/Q1273174","display_name":"Petroleum engineering","level":1,"score":0.0},{"id":"https://openalex.org/C15336307","wikidata":"https://www.wikidata.org/wiki/Q1766051","display_name":"Lens (geology)","level":2,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/ssrr50563.2020.9292608","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr50563.2020.9292608","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2012.09667","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2012.09667","pdf_url":"https://arxiv.org/pdf/2012.09667","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"mag:3111739696","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/2012.09667.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2012.09667","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2012.09667","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2012.09667","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2012.09667","pdf_url":"https://arxiv.org/pdf/2012.09667","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.41999998688697815,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3111739696.pdf","grobid_xml":"https://content.openalex.org/works/W3111739696.grobid-xml"},"referenced_works_count":33,"referenced_works":["https://openalex.org/W1012273433","https://openalex.org/W1901129140","https://openalex.org/W2108598243","https://openalex.org/W2133665775","https://openalex.org/W2136154655","https://openalex.org/W2150066425","https://openalex.org/W2158211626","https://openalex.org/W2268880754","https://openalex.org/W2271840356","https://openalex.org/W2520707372","https://openalex.org/W2798410215","https://openalex.org/W2896864567","https://openalex.org/W2907670226","https://openalex.org/W2925148167","https://openalex.org/W2949634581","https://openalex.org/W2949661992","https://openalex.org/W2951234442","https://openalex.org/W2951713345","https://openalex.org/W2962867954","https://openalex.org/W2963045776","https://openalex.org/W2963488291","https://openalex.org/W2963591054","https://openalex.org/W2964121744","https://openalex.org/W2969202876","https://openalex.org/W6631190155","https://openalex.org/W6639633739","https://openalex.org/W6639824700","https://openalex.org/W6685261749","https://openalex.org/W6694517276","https://openalex.org/W6697658144","https://openalex.org/W6745935785","https://openalex.org/W6755805646","https://openalex.org/W6757246177"],"related_works":["https://openalex.org/W2942971968","https://openalex.org/W2892161145","https://openalex.org/W2989785382","https://openalex.org/W3198721070","https://openalex.org/W2433797574","https://openalex.org/W3172580877","https://openalex.org/W2964794620","https://openalex.org/W3152805691","https://openalex.org/W3207814250","https://openalex.org/W3166139817","https://openalex.org/W3166039409","https://openalex.org/W2979304272","https://openalex.org/W2891958727","https://openalex.org/W2807096024","https://openalex.org/W3011395398","https://openalex.org/W3089999934","https://openalex.org/W2904269013","https://openalex.org/W2996166203","https://openalex.org/W3142540381","https://openalex.org/W3132114662"],"abstract_inverted_index":{"This":[0,23],"paper":[1],"addresses":[2],"the":[3,26,71,144,153,163,166,173,177],"problem":[4],"of":[5,28,63,73,101,165],"dense":[6,118],"depth":[7,40,66],"predictions":[8],"from":[9,152,172],"sparse":[10],"distance":[11,76,164],"sensor":[12,30],"data":[13,77],"and":[14,36,54,78,120,125,136],"a":[15,89,96,105,121,137,156],"single":[16],"camera":[17,59,79],"image":[18],"on":[19,70,133,155],"challenging":[20],"weather":[21],"conditions.":[22],"work":[24],"explores":[25],"significance":[27],"different":[29],"modalities":[31],"such":[32],"as":[33],"camera,":[34],"Radar,":[35],"Lidar":[37,47],"for":[38,116,123],"estimating":[39],"by":[41],"applying":[42],"Deep":[43],"Learning":[44],"approaches.":[45],"Although":[46],"has":[48,55,81,110],"higher":[49],"depth-sensing":[50],"abilities":[51],"than":[52],"Radar":[53,75],"been":[56,83,111],"integrated":[57],"with":[58],"images":[60,80,150],"in":[61,179],"lots":[62],"previous":[64],"works,":[65],"estimation":[67],"using":[68,143],"CNN's":[69],"fusion":[72],"robust":[74],"not":[82],"explored":[84],"much.":[85],"In":[86],"this":[87],"work,":[88],"deep":[90],"regression":[91],"network":[92],"is":[93],"proposed":[94],"utilizing":[95],"transfer":[97],"learning":[98],"approach":[99],"consisting":[100],"an":[102],"encoder":[103],"where":[104],"high":[106],"performing":[107],"pre-trained":[108],"model":[109],"used":[112],"to":[113,161,175],"initialize":[114],"it":[115],"extracting":[117],"features":[119],"decoder":[122],"upsampling":[124],"predicting":[126],"desired":[127],"depth.":[128],"The":[129],"results":[130],"are":[131,159],"demonstrated":[132],"Nuscenes,":[134],"KITTI,":[135],"Synthetic":[138],"dataset":[139],"which":[140],"was":[141],"created":[142],"CARLA":[145],"simulator.":[146],"Also,":[147],"top-view":[148],"zoom-camera":[149],"captured":[151],"crane":[154,167],"construction":[157],"site":[158],"evaluated":[160],"estimate":[162],"boom":[168],"carrying":[169],"heavy":[170],"loads":[171],"ground":[174],"show":[176],"usability":[178],"safety-critical":[180],"applications.":[181]},"counts_by_year":[{"year":2021,"cited_by_count":1}],"updated_date":"2026-07-01T08:55:40.977307","created_date":"2025-10-10T00:00:00"}
