{"id":"https://openalex.org/W3211445626","doi":"https://doi.org/10.3390/s21227603","title":"Uncertainty Estimation of Dense Optical Flow for Robust Visual Navigation","display_name":"Uncertainty Estimation of Dense Optical Flow for Robust Visual Navigation","publication_year":2021,"publication_date":"2021-11-16","ids":{"openalex":"https://openalex.org/W3211445626","doi":"https://doi.org/10.3390/s21227603","mag":"3211445626","pmid":"https://pubmed.ncbi.nlm.nih.gov/34833677"},"language":"en","primary_location":{"id":"doi:10.3390/s21227603","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21227603","pdf_url":"https://www.mdpi.com/1424-8220/21/22/7603/pdf?version=1637731211","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","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/1424-8220/21/22/7603/pdf?version=1637731211","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5068563952","display_name":"Yonhon Ng","orcid":"https://orcid.org/0000-0002-7764-298X"},"institutions":[{"id":"https://openalex.org/I118347636","display_name":"Australian National University","ror":"https://ror.org/019wvm592","country_code":"AU","type":"education","lineage":["https://openalex.org/I118347636"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Yonhon Ng","raw_affiliation_strings":["College of Engineering & Computer Science, The Australian National University, Canberra, ACT 2601, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Engineering & Computer Science, The Australian National University, Canberra, ACT 2601, Australia","institution_ids":["https://openalex.org/I118347636"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101819061","display_name":"Hongdong Li","orcid":"https://orcid.org/0000-0003-4125-1554"},"institutions":[{"id":"https://openalex.org/I118347636","display_name":"Australian National University","ror":"https://ror.org/019wvm592","country_code":"AU","type":"education","lineage":["https://openalex.org/I118347636"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Hongdong Li","raw_affiliation_strings":["College of Engineering & Computer Science, The Australian National University, Canberra, ACT 2601, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Engineering & Computer Science, The Australian National University, Canberra, ACT 2601, Australia","institution_ids":["https://openalex.org/I118347636"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101724793","display_name":"Jonghyuk Kim","orcid":"https://orcid.org/0000-0003-4505-1103"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"Jonghyuk Kim","raw_affiliation_strings":["School of Mechanical and Mechatronics Engineering, University of Technology Sydney, Sydney, NSW 2007, Australia"],"raw_orcid":"https://orcid.org/0000-0003-4505-1103","affiliations":[{"raw_affiliation_string":"School of Mechanical and Mechatronics Engineering, University of Technology Sydney, Sydney, NSW 2007, Australia","institution_ids":["https://openalex.org/I114017466"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5101724793"],"corresponding_institution_ids":["https://openalex.org/I114017466"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":3.2846,"has_fulltext":true,"cited_by_count":6,"citation_normalized_percentile":{"value":0.94566932,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":"21","issue":"22","first_page":"7603","last_page":"7603"},"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":0.9993000030517578,"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/T10586","display_name":"Robotic Path Planning Algorithms","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"}}],"keywords":[{"id":"https://openalex.org/keywords/optical-flow","display_name":"Optical flow","score":0.7631920576095581},{"id":"https://openalex.org/keywords/mahalanobis-distance","display_name":"Mahalanobis distance","score":0.6724277138710022},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6602344512939453},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6510639190673828},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6358261704444885},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.6280136108398438},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6007541418075562},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5066915154457092},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.459288090467453},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.4349225163459778},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.41642045974731445},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.21715280413627625},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.1626877784729004},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.13759073615074158}],"concepts":[{"id":"https://openalex.org/C155542232","wikidata":"https://www.wikidata.org/wiki/Q736111","display_name":"Optical flow","level":3,"score":0.7631920576095581},{"id":"https://openalex.org/C1921717","wikidata":"https://www.wikidata.org/wiki/Q1334846","display_name":"Mahalanobis distance","level":2,"score":0.6724277138710022},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6602344512939453},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6510639190673828},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6358261704444885},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.6280136108398438},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6007541418075562},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5066915154457092},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.459288090467453},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.4349225163459778},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.41642045974731445},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.21715280413627625},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.1626877784729004},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.13759073615074158},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D035501","descriptor_name":"Uncertainty","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D035501","descriptor_name":"Uncertainty","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D035501","descriptor_name":"Uncertainty","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D057849","descriptor_name":"Optic Flow","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D057849","descriptor_name":"Optic Flow","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D057849","descriptor_name":"Optic Flow","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true}],"locations_count":6,"locations":[{"id":"doi:10.3390/s21227603","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21227603","pdf_url":"https://www.mdpi.com/1424-8220/21/22/7603/pdf?version=1637731211","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},{"id":"pmid:34833677","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/34833677","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":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:openresearch-repository.anu.edu.au:1885/296777","is_oa":true,"landing_page_url":"http://hdl.handle.net/1885/296777","pdf_url":"https://openresearch-repository.anu.edu.au/bitstreams/42309875-75c5-4db7-b487-c577558b0c7a/download","source":{"id":"https://openalex.org/S4306402539","display_name":"ANU Open Research (Australian National University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I118347636","host_organization_name":"Australian National University","host_organization_lineage":["https://openalex.org/I118347636"],"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":"Sensors","raw_type":"Journal article"},{"id":"pmh:oai:doaj.org/article:3bc3de04fc5548fdb3de71978fa38551","is_oa":true,"landing_page_url":"https://doaj.org/article/3bc3de04fc5548fdb3de71978fa38551","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":"Sensors, Vol 21, Iss 22, p 7603 (2021)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/21/22/7603/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s21227603","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"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":"Sensors; Volume 21; Issue 22; Pages: 7603","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:8619691","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/8619691","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":"Sensors (Basel)","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s21227603","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21227603","pdf_url":"https://www.mdpi.com/1424-8220/21/22/7603/pdf?version=1637731211","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.4699999988079071,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3211445626.pdf","grobid_xml":"https://content.openalex.org/works/W3211445626.grobid-xml"},"referenced_works_count":36,"referenced_works":["https://openalex.org/W248267066","https://openalex.org/W1821109219","https://openalex.org/W1921093919","https://openalex.org/W1951289974","https://openalex.org/W1969161726","https://openalex.org/W2006433700","https://openalex.org/W2019949051","https://openalex.org/W2033819227","https://openalex.org/W2040403200","https://openalex.org/W2047598977","https://openalex.org/W2097649661","https://openalex.org/W2102481828","https://openalex.org/W2113914039","https://openalex.org/W2116116881","https://openalex.org/W2127585712","https://openalex.org/W2130363011","https://openalex.org/W2133665775","https://openalex.org/W2150066425","https://openalex.org/W2151290401","https://openalex.org/W2165584048","https://openalex.org/W2168676389","https://openalex.org/W2171258150","https://openalex.org/W2218842719","https://openalex.org/W2250275464","https://openalex.org/W2292391751","https://openalex.org/W2318326349","https://openalex.org/W2515993251","https://openalex.org/W2535547924","https://openalex.org/W2746639518","https://openalex.org/W2963210183","https://openalex.org/W2963305757","https://openalex.org/W2963782415","https://openalex.org/W2964156315","https://openalex.org/W3102327032","https://openalex.org/W6679388247","https://openalex.org/W7014999611"],"related_works":["https://openalex.org/W4382795578","https://openalex.org/W2355463328","https://openalex.org/W2402648945","https://openalex.org/W2053213469","https://openalex.org/W939486154","https://openalex.org/W1431147547","https://openalex.org/W2055761197","https://openalex.org/W2057608111","https://openalex.org/W2793032185","https://openalex.org/W2980723633"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,74],"novel":[4],"dense":[5],"optical-flow":[6],"algorithm":[7,77],"to":[8],"solve":[9],"the":[10,29,32,39,48,51,65,69,80,86,89,98],"monocular":[11,106],"simultaneous":[12],"localisation":[13],"and":[14,72,95,104],"mapping":[15],"(SLAM)":[16],"problem":[17],"for":[18,97],"ground":[19],"or":[20],"aerial":[21,105],"robots.":[22],"Dense":[23],"optical":[24,52,70],"flow":[25,71],"can":[26],"effectively":[27],"provide":[28],"ego-motion":[30],"of":[31,50,68],"vehicle":[33],"while":[34],"enabling":[35],"collision":[36],"avoidance":[37],"with":[38,85],"potential":[40],"obstacles.":[41],"Existing":[42],"research":[43],"has":[44,60],"not":[45],"fully":[46],"utilised":[47],"uncertainty":[49,67],"flow-at":[53],"most,":[54],"an":[55],"isotropic":[56],"Gaussian":[57],"density":[58],"model":[59],"been":[61],"used.":[62],"We":[63],"estimate":[64],"full":[66],"propose":[73],"new":[75],"eight-point":[76],"based":[78],"on":[79],"statistical":[81],"Mahalanobis":[82],"distance.":[83],"Combined":[84],"pose-graph":[87],"optimisation,":[88],"proposed":[90],"method":[91],"demonstrates":[92],"enhanced":[93],"robustness":[94],"accuracy":[96],"public":[99],"autonomous":[100],"car":[101],"dataset":[102],"(KITTI)":[103],"dataset.":[107]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}