{"id":"https://openalex.org/W2765767940","doi":"https://doi.org/10.1177/0278364917734298","title":"End-to-end, sequence-to-sequence probabilistic visual odometry through deep neural networks","display_name":"End-to-end, sequence-to-sequence probabilistic visual odometry through deep neural networks","publication_year":2017,"publication_date":"2017-10-16","ids":{"openalex":"https://openalex.org/W2765767940","doi":"https://doi.org/10.1177/0278364917734298","mag":"2765767940"},"language":"en","primary_location":{"id":"doi:10.1177/0278364917734298","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364917734298","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","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/A5100350760","display_name":"Sen Wang","orcid":"https://orcid.org/0000-0003-1537-8834"},"institutions":[{"id":"https://openalex.org/I32062511","display_name":"Heriot-Watt University","ror":"https://ror.org/04mghma93","country_code":"GB","type":"education","lineage":["https://openalex.org/I32062511"]},{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Sen Wang","raw_affiliation_strings":["Department of Computer Science, University of Oxford, Oxford, UK","Institute of Sensors, Signals and Systems, Heriot\u2013Watt University, Edinburgh, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Oxford, Oxford, UK","institution_ids":["https://openalex.org/I40120149"]},{"raw_affiliation_string":"Institute of Sensors, Signals and Systems, Heriot\u2013Watt University, Edinburgh, UK","institution_ids":["https://openalex.org/I32062511"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054998594","display_name":"Ronald Clark","orcid":"https://orcid.org/0000-0002-6344-5299"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ronald Clark","raw_affiliation_strings":["Department of Computing, Imperial College London, London, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computing, Imperial College London, London, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053684989","display_name":"Hongkai Wen","orcid":"https://orcid.org/0000-0003-1159-090X"},"institutions":[{"id":"https://openalex.org/I39555362","display_name":"University of Warwick","ror":"https://ror.org/01a77tt86","country_code":"GB","type":"education","lineage":["https://openalex.org/I39555362"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Hongkai Wen","raw_affiliation_strings":["Department of Computer Science, University of Warwick, Warwick, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Warwick, Warwick, UK","institution_ids":["https://openalex.org/I39555362"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010637110","display_name":"Niki Trigoni","orcid":"https://orcid.org/0000-0001-6236-9645"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Niki Trigoni","raw_affiliation_strings":["Department of Computer Science, University of Oxford, Oxford, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Oxford, Oxford, UK","institution_ids":["https://openalex.org/I40120149"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100350760"],"corresponding_institution_ids":["https://openalex.org/I32062511","https://openalex.org/I40120149"],"apc_list":null,"apc_paid":null,"fwci":364.4615,"has_fulltext":false,"cited_by_count":244,"citation_normalized_percentile":{"value":0.99989704,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"37","issue":"4-5","first_page":"513","last_page":"542"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9991999864578247,"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/T12549","display_name":"Image and Object Detection Techniques","score":0.9922999739646912,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7467218637466431},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.723497211933136},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6944491863250732},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.6803838014602661},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.6763583421707153},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.6011489033699036},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.5609980225563049},{"id":"https://openalex.org/keywords/sequence","display_name":"Sequence (biology)","score":0.5391467213630676},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5191622972488403},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.48883551359176636},{"id":"https://openalex.org/keywords/end-to-end-principle","display_name":"End-to-end principle","score":0.47270938754081726},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4689856171607971},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4154701232910156},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.4124700725078583},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.4026104807853699},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3506953716278076},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.16600888967514038},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.07092994451522827}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7467218637466431},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.723497211933136},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6944491863250732},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.6803838014602661},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.6763583421707153},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.6011489033699036},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5609980225563049},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.5391467213630676},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5191622972488403},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.48883551359176636},{"id":"https://openalex.org/C74296488","wikidata":"https://www.wikidata.org/wiki/Q2527392","display_name":"End-to-end principle","level":2,"score":0.47270938754081726},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4689856171607971},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4154701232910156},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.4124700725078583},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4026104807853699},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3506953716278076},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.16600888967514038},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.07092994451522827},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1177/0278364917734298","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364917734298","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},{"id":"pmh:oai:spiral.imperial.ac.uk:10044/1/83111","is_oa":false,"landing_page_url":"http://hdl.handle.net/10044/1/83111","pdf_url":null,"source":{"id":"https://openalex.org/S4306401396","display_name":"Spiral (Imperial College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I47508984","host_organization_name":"Imperial College London","host_organization_lineage":["https://openalex.org/I47508984"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"542","raw_type":"Journal Article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2483205037","display_name":null,"funder_award_id":"EP/M019918/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":69,"referenced_works":["https://openalex.org/W49679257","https://openalex.org/W125693051","https://openalex.org/W301022506","https://openalex.org/W612478963","https://openalex.org/W764651262","https://openalex.org/W1520997877","https://openalex.org/W1612997784","https://openalex.org/W1803059841","https://openalex.org/W1905829557","https://openalex.org/W1967014021","https://openalex.org/W1970504153","https://openalex.org/W1989484209","https://openalex.org/W1990012555","https://openalex.org/W1992112935","https://openalex.org/W1995872093","https://openalex.org/W1999156278","https://openalex.org/W2011787673","https://openalex.org/W2015996585","https://openalex.org/W2021851106","https://openalex.org/W2033819227","https://openalex.org/W2056298239","https://openalex.org/W2064675550","https://openalex.org/W2069479606","https://openalex.org/W2097117768","https://openalex.org/W2108134361","https://openalex.org/W2113560487","https://openalex.org/W2115579991","https://openalex.org/W2117298007","https://openalex.org/W2140599684","https://openalex.org/W2150066425","https://openalex.org/W2151290401","https://openalex.org/W2152671441","https://openalex.org/W2155695215","https://openalex.org/W2166132830","https://openalex.org/W2168015472","https://openalex.org/W2168676389","https://openalex.org/W2200124539","https://openalex.org/W2207423472","https://openalex.org/W2218842719","https://openalex.org/W2220063164","https://openalex.org/W2238582461","https://openalex.org/W2292391751","https://openalex.org/W2300779272","https://openalex.org/W2336416123","https://openalex.org/W2340897893","https://openalex.org/W2396274919","https://openalex.org/W2400202024","https://openalex.org/W2489710028","https://openalex.org/W2508429489","https://openalex.org/W2520377600","https://openalex.org/W2560474170","https://openalex.org/W2560835477","https://openalex.org/W2561074213","https://openalex.org/W2581589652","https://openalex.org/W2582998992","https://openalex.org/W2592936284","https://openalex.org/W2595840341","https://openalex.org/W2598706937","https://openalex.org/W2605111497","https://openalex.org/W2749379418","https://openalex.org/W2919115771","https://openalex.org/W2962809185","https://openalex.org/W2963024893","https://openalex.org/W2978329087","https://openalex.org/W3103648783","https://openalex.org/W3106440972","https://openalex.org/W4236769309","https://openalex.org/W4243425824","https://openalex.org/W6601125587"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W2414561716","https://openalex.org/W3024737167","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W2312326526","https://openalex.org/W2412578866","https://openalex.org/W3105866016","https://openalex.org/W4312703710"],"abstract_inverted_index":{"This":[0],"paper":[1],"studies":[2],"visual":[3,92],"odometry":[4,93],"(VO)":[5],"from":[6,54,125,136],"the":[7,16,23,36,49,59,85,99,137,178,201,205,213],"perspective":[8],"of":[9,48,128,200,212],"deep":[10,76,104,168,214],"learning.":[11,69],"After":[12],"tremendous":[13],"efforts":[14],"in":[15,114],"robotics":[17],"and":[18,65,82,112,123,163,194,219],"computer":[19],"vision":[20],"communities":[21],"over":[22],"past":[24],"few":[25],"decades,":[26],"state-of-the-art":[27,206],"VO":[28,37,56,86,101,139,166,179,218,230],"algorithms":[29],"have":[30],"demonstrated":[31],"incredible":[32],"performance.":[33],"However,":[34],"since":[35],"problem":[38],"is":[39,58,96,110,173],"typically":[40],"formulated":[41],"as":[42],"a":[43,126,209,225],"pure":[44],"geometric":[45,151],"problem,":[46],"one":[47],"key":[50],"features":[51],"still":[52],"missing":[53],"current":[55,229],"systems":[57],"capability":[60],"to":[61,84,204,228],"automatically":[62,145],"gain":[63],"knowledge":[64],"improve":[66],"performance":[67,199],"through":[68,153],"In":[70],"this":[71],"paper,":[72],"we":[73],"investigate":[74],"whether":[75],"neural":[77,107,155,170],"networks":[78],"can":[79,142,223],"be":[80,224],"effective":[81,147],"beneficial":[83],"problem.":[87],"An":[88],"end-to-end,":[89],"sequence-to-sequence":[90],"probabilistic":[91],"(ESP-VO)":[94],"framework":[95],"proposed":[97,202],"for":[98,165,217],"monocular":[100],"based":[102],"on":[103,188],"recurrent":[105,169],"convolutional":[106,154],"networks.":[108,171],"It":[109,141],"trained":[111],"deployed":[113],"an":[115],"end-to-end":[116],"manner,":[117],"that":[118,221],"is,":[119],"directly":[120],"inferring":[121],"poses":[122],"uncertainties":[124],"sequence":[127],"raw":[129],"images":[130],"(video)":[131],"without":[132,181],"adopting":[133],"any":[134],"modules":[135],"conventional":[138],"pipeline.":[140],"not":[143],"only":[144],"learn":[146],"feature":[148],"representation":[149],"encapsulating":[150],"information":[152],"networks,":[156],"but":[157],"also":[158,174],"implicitly":[159],"model":[160],"sequential":[161],"dynamics":[162],"relation":[164],"using":[167],"Uncertainty":[172],"derived":[175],"along":[176],"with":[177],"estimation":[180],"introducing":[182],"much":[183],"extra":[184],"computation.":[185],"Extensive":[186],"experiments":[187],"several":[189],"datasets":[190],"representing":[191],"driving,":[192],"flying":[193],"walking":[195],"scenarios":[196],"show":[197],"competitive":[198],"ESP-VO":[203],"methods,":[207],"demonstrating":[208],"promising":[210],"potential":[211],"learning":[215],"technique":[216],"verifying":[220],"it":[222],"viable":[226],"complement":[227],"systems.":[231]},"counts_by_year":[{"year":2026,"cited_by_count":7},{"year":2025,"cited_by_count":17},{"year":2024,"cited_by_count":25},{"year":2023,"cited_by_count":30},{"year":2022,"cited_by_count":30},{"year":2021,"cited_by_count":37},{"year":2020,"cited_by_count":53},{"year":2019,"cited_by_count":38},{"year":2018,"cited_by_count":7}],"updated_date":"2026-07-30T17:31:21.811387","created_date":"2025-10-10T00:00:00"}