{"id":"https://openalex.org/W4401073449","doi":"https://doi.org/10.1109/tvcg.2024.3431926","title":"Depth Completion With Multiple Balanced Bases and Confidence for Dense Monocular SLAM","display_name":"Depth Completion With Multiple Balanced Bases and Confidence for Dense Monocular SLAM","publication_year":2024,"publication_date":"2024-07-29","ids":{"openalex":"https://openalex.org/W4401073449","doi":"https://doi.org/10.1109/tvcg.2024.3431926","pmid":"https://pubmed.ncbi.nlm.nih.gov/39073996"},"language":"en","primary_location":{"id":"doi:10.1109/tvcg.2024.3431926","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvcg.2024.3431926","pdf_url":null,"source":{"id":"https://openalex.org/S84775595","display_name":"IEEE Transactions on Visualization and Computer Graphics","issn_l":"1077-2626","issn":["1077-2626","1941-0506","2160-9306"],"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 Visualization and Computer Graphics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5079087634","display_name":"Weijian Xie","orcid":"https://orcid.org/0000-0002-8027-4081"},"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":"Weijian Xie","raw_affiliation_strings":["State Key Lab of CAD&#x0026;CG, Zhejiang University, Hangzhou, China","State Key Lab of CAD&amp;CG, Zhejiang University, China"],"raw_orcid":"https://orcid.org/0000-0002-8027-4081","affiliations":[{"raw_affiliation_string":"State Key Lab of CAD&#x0026;CG, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]},{"raw_affiliation_string":"State Key Lab of CAD&amp;CG, Zhejiang University, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053509334","display_name":"Guanyi Chu","orcid":"https://orcid.org/0000-0002-6464-2470"},"institutions":[{"id":"https://openalex.org/I4210128910","display_name":"Group Sense (China)","ror":"https://ror.org/036wd5777","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210128910"]},{"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":"Guanyi Chu","raw_affiliation_strings":["SenseTime Research, Hangzhou, China","State Key Lab of CAD&amp;CG, Zhejiang University, China"],"raw_orcid":"https://orcid.org/0000-0002-6464-2470","affiliations":[{"raw_affiliation_string":"SenseTime Research, Hangzhou, China","institution_ids":["https://openalex.org/I4210128910"]},{"raw_affiliation_string":"State Key Lab of CAD&amp;CG, Zhejiang University, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064468283","display_name":"Quanhao Qian","orcid":"https://orcid.org/0000-0003-0103-2437"},"institutions":[{"id":"https://openalex.org/I4210128910","display_name":"Group Sense (China)","ror":"https://ror.org/036wd5777","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210128910"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Quanhao Qian","raw_affiliation_strings":["SenseTime Research, Hangzhou, China","SenseTime Research, China"],"raw_orcid":"https://orcid.org/0000-0003-0103-2437","affiliations":[{"raw_affiliation_string":"SenseTime Research, Hangzhou, China","institution_ids":["https://openalex.org/I4210128910"]},{"raw_affiliation_string":"SenseTime Research, China","institution_ids":["https://openalex.org/I4210128910"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5106154191","display_name":"Yihao Yu","orcid":"https://orcid.org/0000-0002-2058-4758"},"institutions":[{"id":"https://openalex.org/I4210128910","display_name":"Group Sense (China)","ror":"https://ror.org/036wd5777","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210128910"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yihao Yu","raw_affiliation_strings":["SenseTime Research, Hangzhou, China","SenseTime Research, China"],"raw_orcid":"https://orcid.org/0000-0002-2058-4758","affiliations":[{"raw_affiliation_string":"SenseTime Research, Hangzhou, China","institution_ids":["https://openalex.org/I4210128910"]},{"raw_affiliation_string":"SenseTime Research, China","institution_ids":["https://openalex.org/I4210128910"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100429396","display_name":"Hai Li","orcid":"https://orcid.org/0000-0002-5114-6566"},"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":"Hai Li","raw_affiliation_strings":["State Key Lab of CAD&#x0026;CG, Zhejiang University, Hangzhou, China","State Key Lab of CAD&amp;CG, Zhejiang University, China"],"raw_orcid":"https://orcid.org/0000-0002-5114-6566","affiliations":[{"raw_affiliation_string":"State Key Lab of CAD&#x0026;CG, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]},{"raw_affiliation_string":"State Key Lab of CAD&amp;CG, Zhejiang University, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051225146","display_name":"Danpeng Chen","orcid":"https://orcid.org/0000-0003-2045-0239"},"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":"Danpeng Chen","raw_affiliation_strings":["State Key Lab of CAD&#x0026;CG, Zhejiang University, Hangzhou, China","State Key Lab of CAD&amp;CG, Zhejiang University, China"],"raw_orcid":"https://orcid.org/0000-0003-2045-0239","affiliations":[{"raw_affiliation_string":"State Key Lab of CAD&#x0026;CG, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]},{"raw_affiliation_string":"State Key Lab of CAD&amp;CG, Zhejiang University, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078568052","display_name":"Shangjin Zhai","orcid":"https://orcid.org/0000-0001-7741-5595"},"institutions":[{"id":"https://openalex.org/I4210128910","display_name":"Group Sense (China)","ror":"https://ror.org/036wd5777","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210128910"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shangjin Zhai","raw_affiliation_strings":["SenseTime Research, Hangzhou, China","SenseTime Research, China"],"raw_orcid":"https://orcid.org/0000-0001-7741-5595","affiliations":[{"raw_affiliation_string":"SenseTime Research, Hangzhou, China","institution_ids":["https://openalex.org/I4210128910"]},{"raw_affiliation_string":"SenseTime Research, China","institution_ids":["https://openalex.org/I4210128910"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021425273","display_name":"Nan Wang","orcid":"https://orcid.org/0000-0002-7636-2281"},"institutions":[{"id":"https://openalex.org/I4210128910","display_name":"Group Sense (China)","ror":"https://ror.org/036wd5777","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210128910"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Nan Wang","raw_affiliation_strings":["SenseTime Research, Hangzhou, China","SenseTime Research, China"],"raw_orcid":"https://orcid.org/0000-0002-7636-2281","affiliations":[{"raw_affiliation_string":"SenseTime Research, Hangzhou, China","institution_ids":["https://openalex.org/I4210128910"]},{"raw_affiliation_string":"SenseTime Research, China","institution_ids":["https://openalex.org/I4210128910"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059021869","display_name":"Hujun Bao","orcid":"https://orcid.org/0000-0002-2662-0334"},"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":"Hujun Bao","raw_affiliation_strings":["State Key Lab of CAD&#x0026;CG, Zhejiang University, Hangzhou, China","State Key Lab of CAD&amp;CG, Zhejiang University, China"],"raw_orcid":"https://orcid.org/0000-0002-2662-0334","affiliations":[{"raw_affiliation_string":"State Key Lab of CAD&#x0026;CG, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]},{"raw_affiliation_string":"State Key Lab of CAD&amp;CG, Zhejiang University, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100693448","display_name":"Guofeng Zhang","orcid":"https://orcid.org/0000-0001-5661-8430"},"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":"Guofeng Zhang","raw_affiliation_strings":["State Key Lab of CAD&#x0026;CG, Zhejiang University, Hangzhou, China","State Key Lab of CAD&amp;CG, Zhejiang University, China"],"raw_orcid":"https://orcid.org/0000-0001-5661-8430","affiliations":[{"raw_affiliation_string":"State Key Lab of CAD&#x0026;CG, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]},{"raw_affiliation_string":"State Key Lab of CAD&amp;CG, Zhejiang University, China","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":10,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.062,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.94852478,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":"31","issue":"9","first_page":"5158","last_page":"5169"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9977999925613403,"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":0.9977999925613403,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9832000136375427,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10996","display_name":"Computational Geometry and Mesh Generation","score":0.9768999814987183,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"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/computer-science","display_name":"Computer science","score":0.7584967613220215},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.6948959827423096},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5577375888824463},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.518775463104248},{"id":"https://openalex.org/keywords/confidence-interval","display_name":"Confidence interval","score":0.4493671655654907},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.14702409505844116},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12311854958534241}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7584967613220215},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.6948959827423096},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5577375888824463},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.518775463104248},{"id":"https://openalex.org/C44249647","wikidata":"https://www.wikidata.org/wiki/Q208498","display_name":"Confidence interval","level":2,"score":0.4493671655654907},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.14702409505844116},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12311854958534241}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tvcg.2024.3431926","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvcg.2024.3431926","pdf_url":null,"source":{"id":"https://openalex.org/S84775595","display_name":"IEEE Transactions on Visualization and Computer Graphics","issn_l":"1077-2626","issn":["1077-2626","1941-0506","2160-9306"],"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 Visualization and Computer Graphics","raw_type":"journal-article"},{"id":"pmid:39073996","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/39073996","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on visualization and computer graphics","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5158269727","display_name":null,"funder_award_id":"61932003","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":60,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1532362218","https://openalex.org/W1612997784","https://openalex.org/W1970504153","https://openalex.org/W2021851106","https://openalex.org/W2058535340","https://openalex.org/W2099940712","https://openalex.org/W2118223742","https://openalex.org/W2130103520","https://openalex.org/W2151290401","https://openalex.org/W2243794092","https://openalex.org/W2250172176","https://openalex.org/W2274359774","https://openalex.org/W2396274919","https://openalex.org/W2474281075","https://openalex.org/W2563286913","https://openalex.org/W2564632156","https://openalex.org/W2606794968","https://openalex.org/W2745859992","https://openalex.org/W2886851716","https://openalex.org/W2937713253","https://openalex.org/W2951730755","https://openalex.org/W2962793285","https://openalex.org/W2963045776","https://openalex.org/W2963706662","https://openalex.org/W2980467688","https://openalex.org/W2998031326","https://openalex.org/W3000674297","https://openalex.org/W3009925093","https://openalex.org/W3035056458","https://openalex.org/W3043971245","https://openalex.org/W3080631149","https://openalex.org/W3087588036","https://openalex.org/W3091667825","https://openalex.org/W3109128945","https://openalex.org/W3109428934","https://openalex.org/W3109908659","https://openalex.org/W3111845905","https://openalex.org/W3172610252","https://openalex.org/W3186141314","https://openalex.org/W3194648240","https://openalex.org/W3196148789","https://openalex.org/W3205876684","https://openalex.org/W3206335707","https://openalex.org/W3206869601","https://openalex.org/W4210431127","https://openalex.org/W4214768561","https://openalex.org/W4224313034","https://openalex.org/W4312793957","https://openalex.org/W4312817245","https://openalex.org/W4312878643","https://openalex.org/W4312971366","https://openalex.org/W4319300652","https://openalex.org/W4386076096","https://openalex.org/W6731572807","https://openalex.org/W6763530150","https://openalex.org/W6800540912","https://openalex.org/W6800837989","https://openalex.org/W6838477106","https://openalex.org/W6850630192"],"related_works":["https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2772917594","https://openalex.org/W2775347418","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Dense":[0],"SLAM":[1,44,83,106,136,166,190],"based":[2],"on":[3,22,60,195,220],"monocular":[4,97,207],"cameras":[5],"does":[6],"indeed":[7],"have":[8],"immense":[9],"application":[10],"value":[11],"in":[12,206,235],"the":[13,78,126,132,179,200,211,226,232],"field":[14],"of":[15,80,115,147,181,231],"AR/VR,":[16],"especially":[17],"when":[18],"it":[19],"is":[20,111],"performed":[21,57],"a":[23,31,36,42,47,61,67,92,96,112,145,155,221],"mobile":[24,62,222],"device.":[25],"In":[26],"this":[27],"article,":[28],"we":[29,65,143,184],"propose":[30],"novel":[32],"method":[33,202,234],"that":[34,52,119,199],"integrates":[35],"light-weight":[37],"depth":[38,49,71,110,117,148,172],"completion":[39,72],"network":[40,154],"into":[41,134,162,187],"sparse":[43,82,100,165],"system":[45],"using":[46],"multi-basis":[48,70],"representation,":[50],"so":[51],"dense":[53,208],"mapping":[54,209,229],"can":[55,86,120],"be":[56,121],"online":[58,217],"even":[59],"phone.":[63],"Specifically,":[64],"present":[66],"specifically":[68],"optimized":[69,123],"network,":[73],"called":[74],"BBC-Net,":[75],"tailored":[76],"to":[77],"characteristics":[79],"traditional":[81,135],"systems.":[84,107,191],"BBC-Net":[85,186],"predict":[87],"multiple":[88],"balanced":[89],"bases":[90,118],"and":[91,138,141,168,228],"confidence":[93],"map":[94],"from":[95],"image":[98],"with":[99],"points":[101],"generated":[102],"by":[103,124],"off-the-shelf":[104],"keypoint-based":[105],"The":[108,192],"final":[109],"linear":[113],"combination":[114],"predicted":[116],"easily":[122],"tuning":[125],"corresponding":[127],"weights.":[128],"To":[129,177],"seamlessly":[130],"incorporate":[131],"weights":[133],"optimization":[137],"ensure":[139],"efficiency":[140,227],"robustness,":[142],"design":[144],"set":[146],"weight":[149],"factors,":[150],"which":[151,224],"makes":[152],"our":[153,182],"versatile":[156],"plug-in":[157],"module,":[158],"facilitating":[159],"easy":[160],"integration":[161],"various":[163,196],"existing":[164],"systems":[167],"significantly":[169],"enhancing":[170],"global":[171],"consistency":[173],"through":[174],"bundle":[175],"adjustment.":[176],"verify":[178],"portability":[180],"method,":[183],"integrate":[185],"two":[188],"representative":[189],"experimental":[193],"results":[194],"datasets":[197],"show":[198],"proposed":[201,233],"achieves":[203],"better":[204],"performance":[205],"than":[210],"state-of-the-art":[212],"methods.":[213],"We":[214],"provide":[215],"an":[216],"demo":[218],"running":[219],"phone,":[223],"verifies":[225],"quality":[230],"real-world":[236],"scenarios.":[237]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
