{"id":"https://openalex.org/W4410406675","doi":"https://doi.org/10.3390/jimaging11050155","title":"Beyond Handcrafted Features: A Deep Learning Framework for Optical Flow and SLAM","display_name":"Beyond Handcrafted Features: A Deep Learning Framework for Optical Flow and SLAM","publication_year":2025,"publication_date":"2025-05-15","ids":{"openalex":"https://openalex.org/W4410406675","doi":"https://doi.org/10.3390/jimaging11050155","pmid":"https://pubmed.ncbi.nlm.nih.gov/40423012"},"language":"en","primary_location":{"id":"doi:10.3390/jimaging11050155","is_oa":true,"landing_page_url":"https://doi.org/10.3390/jimaging11050155","pdf_url":"https://www.mdpi.com/2313-433X/11/5/155/pdf?version=1747360017","source":{"id":"https://openalex.org/S2736465063","display_name":"Journal of Imaging","issn_l":"2313-433X","issn":["2313-433X"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Imaging","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2313-433X/11/5/155/pdf?version=1747360017","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5116280416","display_name":"Kamran Kazi","orcid":null},"institutions":[{"id":"https://openalex.org/I180291457","display_name":"Mehran University of Engineering and Technology","ror":"https://ror.org/0575ttm03","country_code":"PK","type":"education","lineage":["https://openalex.org/I180291457"]}],"countries":["PK"],"is_corresponding":false,"raw_author_name":"Kamran Kazi","raw_affiliation_strings":["Department of Electronic Engineering, Mehran University of Engineering and Technology, Jamshoro 76062, Pakistan","Institute of Information and Communication Technologies, Mehran University of Engineering and Technology, Jamshoro 76062, Pakistan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, Mehran University of Engineering and Technology, Jamshoro 76062, Pakistan","institution_ids":["https://openalex.org/I180291457"]},{"raw_affiliation_string":"Institute of Information and Communication Technologies, Mehran University of Engineering and Technology, Jamshoro 76062, Pakistan","institution_ids":["https://openalex.org/I180291457"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112752030","display_name":"Arbab Nighat Kalhoro","orcid":null},"institutions":[{"id":"https://openalex.org/I180291457","display_name":"Mehran University of Engineering and Technology","ror":"https://ror.org/0575ttm03","country_code":"PK","type":"education","lineage":["https://openalex.org/I180291457"]}],"countries":["PK"],"is_corresponding":false,"raw_author_name":"Arbab Nighat Kalhoro","raw_affiliation_strings":["Department of Electronic Engineering, Mehran University of Engineering and Technology, Jamshoro 76062, Pakistan","Institute of Information and Communication Technologies, Mehran University of Engineering and Technology, Jamshoro 76062, Pakistan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, Mehran University of Engineering and Technology, Jamshoro 76062, Pakistan","institution_ids":["https://openalex.org/I180291457"]},{"raw_affiliation_string":"Institute of Information and Communication Technologies, Mehran University of Engineering and Technology, Jamshoro 76062, Pakistan","institution_ids":["https://openalex.org/I180291457"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109338234","display_name":"Farida Memon","orcid":"https://orcid.org/0009-0009-5386-4965"},"institutions":[{"id":"https://openalex.org/I180291457","display_name":"Mehran University of Engineering and Technology","ror":"https://ror.org/0575ttm03","country_code":"PK","type":"education","lineage":["https://openalex.org/I180291457"]}],"countries":["PK"],"is_corresponding":false,"raw_author_name":"Farida Memon","raw_affiliation_strings":["Department of Electronic Engineering, Mehran University of Engineering and Technology, Jamshoro 76062, Pakistan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, Mehran University of Engineering and Technology, Jamshoro 76062, Pakistan","institution_ids":["https://openalex.org/I180291457"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066673522","display_name":"Azam Rafique Memon","orcid":"https://orcid.org/0000-0002-8927-1522"},"institutions":[{"id":"https://openalex.org/I142024983","display_name":"Prince Sultan University","ror":"https://ror.org/053mqrf26","country_code":"SA","type":"education","lineage":["https://openalex.org/I142024983"]},{"id":"https://openalex.org/I180291457","display_name":"Mehran University of Engineering and Technology","ror":"https://ror.org/0575ttm03","country_code":"PK","type":"education","lineage":["https://openalex.org/I180291457"]}],"countries":["PK","SA"],"is_corresponding":true,"raw_author_name":"Azam Rafique Memon","raw_affiliation_strings":["Department of Electronic Engineering, Mehran University of Engineering and Technology, Jamshoro 76062, Pakistan","Renewable Energy Laboratory, College of Engineering, Prince Sultan University, Riyadh 11586, Saudi Arabia"],"raw_orcid":"https://orcid.org/0000-0002-8927-1522","affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, Mehran University of Engineering and Technology, Jamshoro 76062, Pakistan","institution_ids":["https://openalex.org/I180291457"]},{"raw_affiliation_string":"Renewable Energy Laboratory, College of Engineering, Prince Sultan University, Riyadh 11586, Saudi Arabia","institution_ids":["https://openalex.org/I142024983"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074431197","display_name":"Muddesar Iqbal","orcid":"https://orcid.org/0000-0002-8438-6726"},"institutions":[{"id":"https://openalex.org/I142024983","display_name":"Prince Sultan University","ror":"https://ror.org/053mqrf26","country_code":"SA","type":"education","lineage":["https://openalex.org/I142024983"]}],"countries":["SA"],"is_corresponding":true,"raw_author_name":"Muddesar Iqbal","raw_affiliation_strings":["Renewable Energy Laboratory, College of Engineering, Prince Sultan University, Riyadh 11586, Saudi Arabia"],"raw_orcid":"https://orcid.org/0000-0002-8438-6726","affiliations":[{"raw_affiliation_string":"Renewable Energy Laboratory, College of Engineering, Prince Sultan University, Riyadh 11586, Saudi Arabia","institution_ids":["https://openalex.org/I142024983"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5066673522","https://openalex.org/A5074431197"],"corresponding_institution_ids":["https://openalex.org/I142024983","https://openalex.org/I180291457"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1782},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1782},"fwci":2.4821,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.89837729,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"11","issue":"5","first_page":"155","last_page":"155"},"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.994700014591217,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9939000010490417,"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/computer-science","display_name":"Computer science","score":0.8527947664260864},{"id":"https://openalex.org/keywords/offset","display_name":"Offset (computer science)","score":0.7317304015159607},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7266095876693726},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.6197434663772583},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.6069085001945496},{"id":"https://openalex.org/keywords/optical-flow","display_name":"Optical flow","score":0.6035572290420532},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.5305370092391968},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.48081719875335693},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4754640460014343},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.45990511775016785},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4474944770336151},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.4115387797355652},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3568357229232788},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.34625738859176636},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.2440500557422638},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.07533702254295349}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8527947664260864},{"id":"https://openalex.org/C175291020","wikidata":"https://www.wikidata.org/wiki/Q1156822","display_name":"Offset (computer science)","level":2,"score":0.7317304015159607},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7266095876693726},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.6197434663772583},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.6069085001945496},{"id":"https://openalex.org/C155542232","wikidata":"https://www.wikidata.org/wiki/Q736111","display_name":"Optical flow","level":3,"score":0.6035572290420532},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.5305370092391968},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.48081719875335693},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4754640460014343},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.45990511775016785},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4474944770336151},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.4115387797355652},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3568357229232788},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.34625738859176636},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.2440500557422638},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.07533702254295349},{"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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/jimaging11050155","is_oa":true,"landing_page_url":"https://doi.org/10.3390/jimaging11050155","pdf_url":"https://www.mdpi.com/2313-433X/11/5/155/pdf?version=1747360017","source":{"id":"https://openalex.org/S2736465063","display_name":"Journal of Imaging","issn_l":"2313-433X","issn":["2313-433X"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Imaging","raw_type":"journal-article"},{"id":"pmid:40423012","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/40423012","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":"Journal of imaging","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:12112370","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/12112370","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"J Imaging","raw_type":"Text"},{"id":"pmh:oai:doaj.org/article:9e8260787e8a4fdf9eaeeb76ca71b48a","is_oa":true,"landing_page_url":"https://doaj.org/article/9e8260787e8a4fdf9eaeeb76ca71b48a","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Journal of Imaging, Vol 11, Iss 5, p 155 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/jimaging11050155","is_oa":true,"landing_page_url":"https://doi.org/10.3390/jimaging11050155","pdf_url":"https://www.mdpi.com/2313-433X/11/5/155/pdf?version=1747360017","source":{"id":"https://openalex.org/S2736465063","display_name":"Journal of Imaging","issn_l":"2313-433X","issn":["2313-433X"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Imaging","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Life in Land","id":"https://metadata.un.org/sdg/15","score":0.6000000238418579}],"awards":[],"funders":[{"id":"https://openalex.org/F4320327702","display_name":"Prince Sultan University","ror":"https://ror.org/053mqrf26"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4410406675.pdf","grobid_xml":"https://content.openalex.org/works/W4410406675.grobid-xml"},"referenced_works_count":35,"referenced_works":["https://openalex.org/W1612997784","https://openalex.org/W2024763827","https://openalex.org/W2033819227","https://openalex.org/W2110405746","https://openalex.org/W2150066425","https://openalex.org/W2535547924","https://openalex.org/W2598706937","https://openalex.org/W2897828525","https://openalex.org/W2906667343","https://openalex.org/W2998917800","https://openalex.org/W3003991701","https://openalex.org/W3004749315","https://openalex.org/W3102327032","https://openalex.org/W3106440972","https://openalex.org/W3131673036","https://openalex.org/W3132270109","https://openalex.org/W3181311114","https://openalex.org/W3183768538","https://openalex.org/W4283022151","https://openalex.org/W4285242573","https://openalex.org/W4296107532","https://openalex.org/W4308217565","https://openalex.org/W4311912364","https://openalex.org/W4386815986","https://openalex.org/W4387234764","https://openalex.org/W4388945229","https://openalex.org/W4389328357","https://openalex.org/W4390872128","https://openalex.org/W4392169182","https://openalex.org/W4393103225","https://openalex.org/W4403203430","https://openalex.org/W4403398416","https://openalex.org/W4403534170","https://openalex.org/W4405143204","https://openalex.org/W4406610363"],"related_works":["https://openalex.org/W4391621807","https://openalex.org/W28570768","https://openalex.org/W2023355163","https://openalex.org/W4386083130","https://openalex.org/W4321487865","https://openalex.org/W3111737715","https://openalex.org/W4313906399","https://openalex.org/W2912965286","https://openalex.org/W2069571255","https://openalex.org/W2391894873"],"abstract_inverted_index":{"This":[0,39,89,172],"paper":[1],"presents":[2],"a":[3,42,58,92],"novel":[4],"approach":[5],"for":[6,18,61,70,106,148,179],"visual":[7],"Simultaneous":[8],"Localization":[9],"and":[10,36,84,95,110,152,182],"Mapping":[11],"(SLAM)":[12],"using":[13],"Convolution":[14],"Neural":[15],"Networks":[16],"(CNNs)":[17],"robust":[19,121,183],"map":[20,150],"creation.":[21],"Traditional":[22],"SLAM":[23,132],"methods":[24],"rely":[25],"on":[26,139,168],"handcrafted":[27,129,165],"features,":[28,114],"which":[29],"are":[30,119,145],"susceptible":[31],"to":[32,122,163],"viewpoint":[33,107],"changes,":[34,108],"occlusions,":[35,109],"illumination":[37,111],"variations.":[38,112],"work":[40],"proposes":[41],"method":[43,136,155],"that":[44,98,125,144],"leverages":[45],"the":[46,75,87,117,158,174],"power":[47],"of":[48,57,80,82,176],"CNNs":[49],"by":[50,73,116],"extracting":[51],"features":[52,72,130,178],"from":[53],"an":[54,67],"intermediate":[55],"layer":[56,94],"pre-trained":[59],"model":[60],"optical":[62],"flow":[63],"estimation.":[64],"We":[65],"conduct":[66],"extensive":[68],"search":[69],"optimal":[71],"analyzing":[74],"offset":[76,101,160],"error":[77,102,161],"across":[78],"thousands":[79],"combinations":[81],"layers":[83],"filters":[85],"within":[86],"CNN.":[88],"analysis":[90],"reveals":[91],"specific":[93],"filter":[96],"combination":[97],"exhibits":[99],"minimal":[100],"while":[103],"still":[104],"accounting":[105],"These":[113],"learned":[115],"CNN,":[118],"demonstrably":[120],"environmental":[123],"challenges":[124],"often":[126],"hinder":[127],"traditional":[128,164],"in":[131,185],"tasks.":[133],"The":[134],"proposed":[135],"is":[137],"evaluated":[138],"six":[140,170],"publicly":[141],"available":[142],"datasets":[143],"widely":[146],"used":[147],"bench-marking":[149],"estimation":[151],"accuracy.":[153],"Our":[154],"consistently":[156],"achieved":[157],"lowest":[159],"compared":[162],"feature-based":[166],"approaches":[167],"all":[169],"datasets.":[171],"demonstrates":[173],"effectiveness":[175],"CNN-derived":[177],"building":[180],"accurate":[181],"maps":[184],"diverse":[186],"environments.":[187]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-08-18T07:49:30.821534","created_date":"2025-10-10T00:00:00"}
