{"id":"https://openalex.org/W7128784460","doi":"https://doi.org/10.1109/tcsvt.2026.3664426","title":"Analogy-Augmented Uncertainty-Aware Monocular Visual Odometry","display_name":"Analogy-Augmented Uncertainty-Aware Monocular Visual Odometry","publication_year":2026,"publication_date":"2026-02-13","ids":{"openalex":"https://openalex.org/W7128784460","doi":"https://doi.org/10.1109/tcsvt.2026.3664426"},"language":null,"primary_location":{"id":"doi:10.1109/tcsvt.2026.3664426","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcsvt.2026.3664426","pdf_url":null,"source":{"id":"https://openalex.org/S115173108","display_name":"IEEE Transactions on Circuits and Systems for Video Technology","issn_l":"1051-8215","issn":["1051-8215","1558-2205"],"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 Circuits and Systems for Video Technology","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/A5087606063","display_name":"Jituo Li","orcid":"https://orcid.org/0000-0003-1343-5305"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jituo Li","raw_affiliation_strings":["State Key Laboratory of Fluid Power and Mechatronic Systems, the School of Mechanical Engineering, and the Robotics Institute, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0003-1343-5305","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Fluid Power and Mechatronic Systems, the School of Mechanical Engineering, and the Robotics Institute, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125943861","display_name":"Shunwang Sun","orcid":null},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shunwang Sun","raw_affiliation_strings":["State Key Laboratory of Fluid Power and Mechatronic Systems, the School of Mechanical Engineering, and the Robotics Institute, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0009-0007-9461-2700","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Fluid Power and Mechatronic Systems, the School of Mechanical Engineering, and the Robotics Institute, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071828441","display_name":"Tingxi Xue","orcid":null},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tingxi Xue","raw_affiliation_strings":["College of Engineering, Zhejiang University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101532285","display_name":"Xinqi Liu","orcid":"https://orcid.org/0000-0002-9105-2417"},"institutions":[{"id":"https://openalex.org/I4210121405","display_name":"Centre for Artificial Intelligence and Robotics","ror":"https://ror.org/01xnbq218","country_code":"IN","type":"facility","lineage":["https://openalex.org/I1340206300","https://openalex.org/I4210121405","https://openalex.org/I4210150591"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Xinqi Liu","raw_affiliation_strings":["School of Artificial Intelligence and Robotics, Hunan University, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0002-9105-2417","affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence and Robotics, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I4210121405"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5115592774","display_name":"Jialu Zhang","orcid":"https://orcid.org/0009-0006-9075-3752"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jialu Zhang","raw_affiliation_strings":["State Key Laboratory of Fluid Power and Mechatronic Systems, the School of Mechanical Engineering, and the Robotics Institute, Zhejiang University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Fluid Power and Mechatronic Systems, the School of Mechanical Engineering, and the Robotics Institute, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Huixu Dong","orcid":"https://orcid.org/0000-0002-2582-6728"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huixu Dong","raw_affiliation_strings":["State Key Laboratory of Fluid Power and Mechatronic Systems, the School of Mechanical Engineering, and the Robotics Institute, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-2582-6728","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Fluid Power and Mechatronic Systems, the School of Mechanical Engineering, and the Robotics Institute, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110371869","display_name":"Guodong Lu","orcid":null},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guodong Lu","raw_affiliation_strings":["State Key Laboratory of Fluid Power and Mechatronic Systems, the School of Mechanical Engineering, and the Robotics Institute, Zhejiang University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Fluid Power and Mechatronic Systems, the School of Mechanical Engineering, and the Robotics Institute, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.22608665,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"36","issue":"6","first_page":"8398","last_page":"8412"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.4618000090122223,"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":0.4618000090122223,"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":0.3021000027656555,"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":0.05719999969005585,"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/robustness","display_name":"Robustness (evolution)","score":0.7501000165939331},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.6833999752998352},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.6682999730110168},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.5379999876022339},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4180999994277954},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.41749998927116394},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.3628000020980835},{"id":"https://openalex.org/keywords/motion-estimation","display_name":"Motion estimation","score":0.35120001435279846},{"id":"https://openalex.org/keywords/component","display_name":"Component (thermodynamics)","score":0.3424000144004822}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7558000087738037},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7501000165939331},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7332000136375427},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.6833999752998352},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.6682999730110168},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6366999745368958},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.5379999876022339},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4180999994277954},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.41749998927116394},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.3628000020980835},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.35120001435279846},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.3424000144004822},{"id":"https://openalex.org/C160920958","wikidata":"https://www.wikidata.org/wiki/Q7662746","display_name":"Synthetic data","level":2,"score":0.33070001006126404},{"id":"https://openalex.org/C51632099","wikidata":"https://www.wikidata.org/wiki/Q3985153","display_name":"Training set","level":2,"score":0.328900009393692},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.3124000132083893},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.295199990272522},{"id":"https://openalex.org/C521332185","wikidata":"https://www.wikidata.org/wiki/Q185816","display_name":"Analogy","level":2,"score":0.27950000762939453},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.27900001406669617},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.2761000096797943},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.27390000224113464},{"id":"https://openalex.org/C9417928","wikidata":"https://www.wikidata.org/wiki/Q1070689","display_name":"Image processing","level":3,"score":0.2669000029563904},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.26460000872612},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.26440000534057617},{"id":"https://openalex.org/C5339829","wikidata":"https://www.wikidata.org/wiki/Q1425977","display_name":"Machine vision","level":2,"score":0.257999986410141},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.257099986076355}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcsvt.2026.3664426","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcsvt.2026.3664426","pdf_url":null,"source":{"id":"https://openalex.org/S115173108","display_name":"IEEE Transactions on Circuits and Systems for Video Technology","issn_l":"1051-8215","issn":["1051-8215","1558-2205"],"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 Circuits and Systems for Video Technology","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1216491048","display_name":null,"funder_award_id":"2023C01067","funder_id":"https://openalex.org/F4320330214","funder_display_name":"Key Research and Development Program of Hunan Province of China"}],"funders":[{"id":"https://openalex.org/F4320330214","display_name":"Key Research and Development Program of Hunan Province of China","ror":null},{"id":"https://openalex.org/F4320335657","display_name":"State Key Laboratory of Drug Research","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":50,"referenced_works":["https://openalex.org/W1612997784","https://openalex.org/W1901129140","https://openalex.org/W1992112935","https://openalex.org/W2021851106","https://openalex.org/W2026161499","https://openalex.org/W2108270708","https://openalex.org/W2150066425","https://openalex.org/W2168015472","https://openalex.org/W2194775991","https://openalex.org/W2396274919","https://openalex.org/W2400202024","https://openalex.org/W2461937780","https://openalex.org/W2471962767","https://openalex.org/W2474281075","https://openalex.org/W2598706937","https://openalex.org/W2808571300","https://openalex.org/W2884962765","https://openalex.org/W2935854115","https://openalex.org/W2951730755","https://openalex.org/W2963201472","https://openalex.org/W2963782415","https://openalex.org/W2998249728","https://openalex.org/W3003601569","https://openalex.org/W3034896357","https://openalex.org/W3041970172","https://openalex.org/W3043971245","https://openalex.org/W3132270109","https://openalex.org/W3145609993","https://openalex.org/W3176336346","https://openalex.org/W3205336782","https://openalex.org/W4285293965","https://openalex.org/W4312795764","https://openalex.org/W4312856322","https://openalex.org/W4319299939","https://openalex.org/W4321230297","https://openalex.org/W4361997638","https://openalex.org/W4381886216","https://openalex.org/W4383108865","https://openalex.org/W4386071703","https://openalex.org/W4390659157","https://openalex.org/W4396767874","https://openalex.org/W4401567299","https://openalex.org/W4402943940","https://openalex.org/W4403562222","https://openalex.org/W4404035223","https://openalex.org/W4406753856","https://openalex.org/W4410491816","https://openalex.org/W4413145522","https://openalex.org/W4413147031","https://openalex.org/W4416707012"],"related_works":[],"abstract_inverted_index":{"Visual":[0],"odometry":[1],"(VO)":[2],"is":[3,41,135],"a":[4,66,210],"critical":[5],"component":[6],"of":[7,47,181],"autonomous":[8],"robot":[9],"systems,":[10],"enabling":[11],"precise":[12],"pose":[13,102,122],"estimation":[14,103],"from":[15,94],"visual":[16,216],"inputs.":[17],"Learning-based":[18],"VO":[19,63,70,83,153,158,205],"methods":[20,159],"are":[21],"increasingly":[22],"recognized":[23],"for":[24,204,213],"their":[25,39],"robustness":[26],"in":[27],"challenging":[28],"scenarios,":[29],"including":[30],"dynamic":[31],"environments,":[32],"motion":[33],"blur,":[34],"and":[35,50,72,91,101,113,118,129,143,162,190,206],"low-light":[36],"conditions.":[37],"However,":[38],"performance":[40],"constrained":[42],"by":[43,184],"both":[44],"the":[45,48,79,141,197],"diversity":[46],"data":[49,127,173,176,200],"its":[51],"utilization":[52],"rate.":[53],"To":[54],"overcome":[55],"these":[56],"limitations,":[57],"we":[58],"propose":[59],"an":[60,132],"end-to-end":[61,69,157],"monocular":[62],"system":[64,212],"incorporating":[65],"novel":[67],"learning-based":[68,215],"framework":[71],"multiple":[73],"analogy":[74,107,167],"augmentation":[75,108,168,201],"strategies.":[76],"We":[77],"introduce":[78],"Context":[80],"Attention":[81],"Uncertainty-aware":[82],"Network":[84],"(CUVO),":[85],"which":[86],"prioritizes":[87],"semantically":[88],"rich":[89],"regions":[90],"mitigating":[92],"interference":[93],"high-uncertainty":[95],"areas":[96],"to":[97,137,170,186],"enhance":[98],"attentional":[99],"focus":[100],"accuracy.":[104],"Furthermore,":[105],"our":[106],"methods\u2014temporal":[109],"reversal,":[110],"random":[111],"rotation,":[112],"geometric":[114],"mirroring\u2014enhance":[115],"image":[116],"pairs":[117],"compute":[119],"corresponding":[120],"true":[121],"transformations,":[123],"significantly":[124,151],"increasing":[125],"training":[126,172],"quantity":[128],"diversity.":[130],"Simultaneously,":[131],"analogous":[133],"loss":[134],"applied":[136],"ensure":[138],"consistency":[139],"between":[140],"original":[142],"augmented":[144],"data.":[145],"Extensive":[146],"experiments":[147],"demonstrate":[148],"that":[149],"CUVO":[150,182,208],"enhances":[152],"performance,":[154],"outperforming":[155],"previous":[156],"on":[160,188,192],"TartanAir":[161,189],"KITTI":[163],"datasets.":[164],"By":[165],"leveraging":[166],"strategy":[169],"expand":[171],"under":[174],"limited":[175],"conditions":[177],"(27k),":[178],"zero-shot":[179],"capability":[180],"degrades":[183],"up":[185],"29.5%":[187],"23.3%":[191],"KITTI.":[193],"Our":[194],"work":[195],"introduces":[196],"first":[198],"image-to-pose":[199],"method":[202],"tailored":[203],"establishes":[207],"as":[209],"robust":[211],"advancing":[214],"odometry.":[217]},"counts_by_year":[],"updated_date":"2026-06-07T06:13:29.825681","created_date":"2026-02-14T00:00:00"}