{"id":"https://openalex.org/W4417284303","doi":"https://doi.org/10.1109/tase.2025.3643622","title":"Self-Supervised Absolute-Scale Multi-Sensor Fusion Odometry via Multi-Layer Feature Fusion and Pose Refinement for Autonomous Driving","display_name":"Self-Supervised Absolute-Scale Multi-Sensor Fusion Odometry via Multi-Layer Feature Fusion and Pose Refinement for Autonomous Driving","publication_year":2025,"publication_date":"2025-12-12","ids":{"openalex":"https://openalex.org/W4417284303","doi":"https://doi.org/10.1109/tase.2025.3643622"},"language":null,"primary_location":{"id":"doi:10.1109/tase.2025.3643622","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3643622","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Transactions on Automation Science and Engineering","raw_type":"journal-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/A5103018738","display_name":"Donglei Zheng","orcid":"https://orcid.org/0000-0003-3547-3740"},"institutions":[{"id":"https://openalex.org/I139660479","display_name":"Central South University","ror":"https://ror.org/00f1zfq44","country_code":"CN","type":"education","lineage":["https://openalex.org/I139660479"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Donglei Zheng","raw_affiliation_strings":["School of Automation, Central South University, Changsha, Hunan, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Central South University, Changsha, Hunan, China","institution_ids":["https://openalex.org/I139660479"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101883693","display_name":"Yuqian Zhao","orcid":"https://orcid.org/0000-0003-0261-9782"},"institutions":[{"id":"https://openalex.org/I139660479","display_name":"Central South University","ror":"https://ror.org/00f1zfq44","country_code":"CN","type":"education","lineage":["https://openalex.org/I139660479"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuqian Zhao","raw_affiliation_strings":["School of Automation, Central South University, Changsha, Hunan, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Central South University, Changsha, Hunan, China","institution_ids":["https://openalex.org/I139660479"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111283523","display_name":"Wenjie Tian","orcid":"https://orcid.org/0009-0000-3211-3219"},"institutions":[{"id":"https://openalex.org/I139660479","display_name":"Central South University","ror":"https://ror.org/00f1zfq44","country_code":"CN","type":"education","lineage":["https://openalex.org/I139660479"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenjie Tian","raw_affiliation_strings":["School of Automation, Central South University, Changsha, Hunan, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Central South University, Changsha, Hunan, China","institution_ids":["https://openalex.org/I139660479"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058689942","display_name":"Fan Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I139660479","display_name":"Central South University","ror":"https://ror.org/00f1zfq44","country_code":"CN","type":"education","lineage":["https://openalex.org/I139660479"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fan Zhang","raw_affiliation_strings":["School of Automation, Central South University, Changsha, Hunan, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Central South University, Changsha, Hunan, China","institution_ids":["https://openalex.org/I139660479"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053277740","display_name":"Gui Gui","orcid":"https://orcid.org/0009-0000-8576-0831"},"institutions":[{"id":"https://openalex.org/I139660479","display_name":"Central South University","ror":"https://ror.org/00f1zfq44","country_code":"CN","type":"education","lineage":["https://openalex.org/I139660479"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gui Gui","raw_affiliation_strings":["School of Automation, Central South University, Changsha, Hunan, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Central South University, Changsha, Hunan, China","institution_ids":["https://openalex.org/I139660479"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100711522","display_name":"Weihua Gui","orcid":"https://orcid.org/0000-0003-0312-436X"},"institutions":[{"id":"https://openalex.org/I139660479","display_name":"Central South University","ror":"https://ror.org/00f1zfq44","country_code":"CN","type":"education","lineage":["https://openalex.org/I139660479"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weihua Gui","raw_affiliation_strings":["School of Automation, Central South University, Changsha, Hunan, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Central South University, Changsha, Hunan, China","institution_ids":["https://openalex.org/I139660479"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5103018738"],"corresponding_institution_ids":["https://openalex.org/I139660479"],"apc_list":null,"apc_paid":null,"fwci":10.0044,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.9783123,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"23","issue":null,"first_page":"995","last_page":"1008"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9599999785423279,"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":0.9599999785423279,"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":0.007699999958276749,"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/T10868","display_name":"Soft Robotics and Applications","score":0.004600000102072954,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/odometry","display_name":"Odometry","score":0.8966000080108643},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.6972000002861023},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.670199990272522},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.6686999797821045},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.4745999872684479},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4390999972820282},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.430400013923645},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.40720000863075256},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.3483999967575073}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.8966000080108643},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8284000158309937},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7210999727249146},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7105000019073486},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.6972000002861023},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.670199990272522},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.6686999797821045},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.4745999872684479},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4390999972820282},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.430400013923645},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.40720000863075256},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.3483999967575073},{"id":"https://openalex.org/C195958017","wikidata":"https://www.wikidata.org/wiki/Q1675268","display_name":"Iterative closest point","level":3,"score":0.33880001306533813},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.32910001277923584},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.32440000772476196},{"id":"https://openalex.org/C69744172","wikidata":"https://www.wikidata.org/wiki/Q860822","display_name":"Image fusion","level":3,"score":0.3068000078201294},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.298799991607666},{"id":"https://openalex.org/C126780896","wikidata":"https://www.wikidata.org/wiki/Q899871","display_name":"Distortion (music)","level":4,"score":0.2953999936580658},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.2818000018596649},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.2784999907016754},{"id":"https://openalex.org/C2780522230","wikidata":"https://www.wikidata.org/wiki/Q1140419","display_name":"Ambiguity","level":2,"score":0.2727000117301941},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.26260000467300415},{"id":"https://openalex.org/C166704113","wikidata":"https://www.wikidata.org/wiki/Q861092","display_name":"Image registration","level":3,"score":0.25459998846054077},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.25270000100135803}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2025.3643622","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3643622","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Transactions on Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W2115579991","https://openalex.org/W2296228853","https://openalex.org/W2461937780","https://openalex.org/W2520707372","https://openalex.org/W2535547924","https://openalex.org/W2598706937","https://openalex.org/W2609883120","https://openalex.org/W2750632489","https://openalex.org/W2963169347","https://openalex.org/W2964314455","https://openalex.org/W2985775862","https://openalex.org/W3083208433","https://openalex.org/W3091498919","https://openalex.org/W3107389224","https://openalex.org/W3118927214","https://openalex.org/W3176482836","https://openalex.org/W3194973398","https://openalex.org/W3203597819","https://openalex.org/W3209906369","https://openalex.org/W3216579595","https://openalex.org/W4205574455","https://openalex.org/W4225988451","https://openalex.org/W4286681085","https://openalex.org/W4297094408","https://openalex.org/W4298326888","https://openalex.org/W4365515274","https://openalex.org/W4382459110","https://openalex.org/W4383112466","https://openalex.org/W4385569641","https://openalex.org/W4386737189","https://openalex.org/W4386824949","https://openalex.org/W4387790316","https://openalex.org/W4389747867","https://openalex.org/W4390189964","https://openalex.org/W4392207722","https://openalex.org/W4393864956","https://openalex.org/W4401414263","https://openalex.org/W4404002390"],"related_works":[],"abstract_inverted_index":{"Accurate":[0],"odometry":[1,35,52,75,198],"is":[2],"crucial":[3],"for":[4,103],"mapping":[5],"and":[6,49,58,81,85,105,108,114,120,131,144,154,164,175,179,189,203],"localization":[7],"of":[8,45,61,89,172,181],"autonomous":[9],"vehicles":[10],"in":[11,21],"unknown":[12],"environment.":[13],"Deep":[14],"neural":[15],"networks":[16],"have":[17],"shown":[18],"significant":[19],"promise":[20],"self-supervised":[22,33,50,72],"odometry,":[23],"enabling":[24],"pose":[25,132],"estimation":[26],"from":[27,55],"consecutive":[28],"sensor":[29],"inputs.":[30],"However,":[31],"existing":[32,196],"visual":[34],"methods":[36,53],"face":[37],"scale":[38],"ambiguity":[39],"issue":[40],"due":[41],"to":[42,135,158],"the":[43,59,87,95,100,137,152,170,177],"inaccuracy":[44],"relative":[46],"depth":[47,97],"estimation,":[48],"LiDAR":[51],"suffer":[54],"sparse":[56],"data":[57,84],"difficulty":[60],"correspondence":[62,173],"searching.":[63],"To":[64],"address":[65],"these":[66],"challenges,":[67],"we":[68,93,126],"propose":[69],"Self-FO,":[70],"a":[71,117,128,145],"multi-sensor":[73],"fusion":[74,101,115],"framework":[76],"that":[77,193],"effectively":[78],"integrates":[79],"image":[80,104,153],"point":[82,106,155],"cloud":[83,156],"overcomes":[86],"limitations":[88],"single-sensor":[90],"methods.":[91],"First,":[92],"utilize":[94],"inferred":[96],"map":[98],"as":[99],"medium":[102],"cloud,":[107],"realize":[109],"multi-layer":[110],"visual-LiDAR":[111],"feature":[112,129,183],"extraction":[113],"through":[116],"novel":[118],"homogeneous":[119],"heterogeneous":[121],"channel":[122],"exchange":[123],"strategies.":[124],"Then,":[125],"introduce":[127],"alignment":[130],"refinement":[133],"module":[134,150],"fine-tune":[136],"coarse":[138],"pose.":[139],"By":[140],"leveraging":[141],"2D-3D":[142],"correspondences":[143],"cross-modal":[146],"attention":[147],"mechanism,":[148],"this":[149],"guides":[151],"features":[157,166],"focus":[159],"on":[160,187],"consistent":[161],"scene-level":[162],"observations":[163],"aligns":[165],"adaptively,":[167],"significantly":[168],"improving":[169],"accuracy":[171],"searching":[174],"enhancing":[176],"robustness":[178],"consistency":[180],"multimodal":[182],"representations.":[184],"Extensive":[185],"experiments":[186],"KITTI":[188],"KITTI-360":[190],"dataset":[191],"demonstrate":[192],"Self-FO":[194],"outperforms":[195],"learning-based":[197],"methods,":[199],"delivering":[200],"superior":[201],"performance":[202],"scalability.":[204]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-12-12T00:00:00"}
