{"id":"https://openalex.org/W4321104926","doi":"https://doi.org/10.3390/s23042223","title":"Lightweight and Energy-Aware Monocular Depth Estimation Models for IoT Embedded Devices: Challenges and Performances in Terrestrial and Underwater Scenarios","display_name":"Lightweight and Energy-Aware Monocular Depth Estimation Models for IoT Embedded Devices: Challenges and Performances in Terrestrial and Underwater Scenarios","publication_year":2023,"publication_date":"2023-02-16","ids":{"openalex":"https://openalex.org/W4321104926","doi":"https://doi.org/10.3390/s23042223","pmid":"https://pubmed.ncbi.nlm.nih.gov/36850825"},"language":"en","primary_location":{"id":"doi:10.3390/s23042223","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23042223","pdf_url":"https://www.mdpi.com/1424-8220/23/4/2223/pdf?version=1676598767","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/1424-8220/23/4/2223/pdf?version=1676598767","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5010287961","display_name":"Lorenzo Papa","orcid":"https://orcid.org/0000-0002-9393-5248"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Lorenzo Papa","raw_affiliation_strings":["Department of Computer, Control and Management Engineering, Sapienza University of Rome, Via Ariosto 25, 00185 Rome, Italy"],"raw_orcid":"https://orcid.org/0000-0002-9393-5248","affiliations":[{"raw_affiliation_string":"Department of Computer, Control and Management Engineering, Sapienza University of Rome, Via Ariosto 25, 00185 Rome, Italy","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033605923","display_name":"Gabriele Proietti Mattia","orcid":"https://orcid.org/0000-0003-4551-7567"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Gabriele Proietti Mattia","raw_affiliation_strings":["Department of Computer, Control and Management Engineering, Sapienza University of Rome, Via Ariosto 25, 00185 Rome, Italy"],"raw_orcid":"https://orcid.org/0000-0003-4551-7567","affiliations":[{"raw_affiliation_string":"Department of Computer, Control and Management Engineering, Sapienza University of Rome, Via Ariosto 25, 00185 Rome, Italy","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062555637","display_name":"Paolo Russo","orcid":"https://orcid.org/0000-0002-1886-3491"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Paolo Russo","raw_affiliation_strings":["Department of Computer, Control and Management Engineering, Sapienza University of Rome, Via Ariosto 25, 00185 Rome, Italy"],"raw_orcid":"https://orcid.org/0000-0002-1886-3491","affiliations":[{"raw_affiliation_string":"Department of Computer, Control and Management Engineering, Sapienza University of Rome, Via Ariosto 25, 00185 Rome, Italy","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030121038","display_name":"Irene Amerini","orcid":"https://orcid.org/0000-0002-6461-1391"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Irene Amerini","raw_affiliation_strings":["Department of Computer, Control and Management Engineering, Sapienza University of Rome, Via Ariosto 25, 00185 Rome, Italy"],"raw_orcid":"https://orcid.org/0000-0002-6461-1391","affiliations":[{"raw_affiliation_string":"Department of Computer, Control and Management Engineering, Sapienza University of Rome, Via Ariosto 25, 00185 Rome, Italy","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063573125","display_name":"Roberto Beraldi","orcid":"https://orcid.org/0000-0002-9731-6321"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Roberto Beraldi","raw_affiliation_strings":["Department of Computer, Control and Management Engineering, Sapienza University of Rome, Via Ariosto 25, 00185 Rome, Italy"],"raw_orcid":"https://orcid.org/0000-0002-9731-6321","affiliations":[{"raw_affiliation_string":"Department of Computer, Control and Management Engineering, Sapienza University of Rome, Via Ariosto 25, 00185 Rome, Italy","institution_ids":["https://openalex.org/I861853513"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5010287961","https://openalex.org/A5033605923"],"corresponding_institution_ids":["https://openalex.org/I861853513"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":0.9007,"has_fulltext":true,"cited_by_count":8,"citation_normalized_percentile":{"value":0.75458988,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"23","issue":"4","first_page":"2223","last_page":"2223"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9994999766349792,"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"}},"topics":[{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9994999766349792,"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/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/T10638","display_name":"Optical measurement and interference techniques","score":0.9973999857902527,"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":0.6875158548355103},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.662718653678894},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.5534409284591675},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.5431616902351379},{"id":"https://openalex.org/keywords/energy-consumption","display_name":"Energy consumption","score":0.5256056785583496},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5249395370483398},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.49333491921424866},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.4647020697593689},{"id":"https://openalex.org/keywords/efficient-energy-use","display_name":"Efficient energy use","score":0.41271576285362244},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.38986271619796753},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1650715470314026},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.08819550275802612}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6875158548355103},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.662718653678894},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.5534409284591675},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.5431616902351379},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.5256056785583496},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5249395370483398},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.49333491921424866},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.4647020697593689},{"id":"https://openalex.org/C2742236","wikidata":"https://www.wikidata.org/wiki/Q924713","display_name":"Efficient energy use","level":2,"score":0.41271576285362244},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.38986271619796753},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1650715470314026},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.08819550275802612},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0}],"mesh":[],"locations_count":6,"locations":[{"id":"doi:10.3390/s23042223","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23042223","pdf_url":"https://www.mdpi.com/1424-8220/23/4/2223/pdf?version=1676598767","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:36850825","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/36850825","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:iris.uniroma1.it:11573/1670234","is_oa":true,"landing_page_url":"https://hdl.handle.net/11573/1670234","pdf_url":"https://iris.uniroma1.it/bitstream/11573/1670234/1/Papa_Lightweight_2023.pdf","source":{"id":"https://openalex.org/S4377196107","display_name":"IRIS Research product catalog (Sapienza University of Rome)","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","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:pubmedcentral.nih.gov:9966799","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/9966799","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC9966799/pdf/sensors-23-02223.pdf","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"},{"id":"pmh:oai:doaj.org/article:2407d20e607c4b8386291f0aad56f522","is_oa":true,"landing_page_url":"https://doaj.org/article/2407d20e607c4b8386291f0aad56f522","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 23, Iss 4, p 2223 (2023)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/23/4/2223/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s23042223","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","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s23042223","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23042223","pdf_url":"https://www.mdpi.com/1424-8220/23/4/2223/pdf?version=1676598767","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":0.8999999761581421,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G8098973886","display_name":null,"funder_award_id":"RM12117A56C08D64","funder_id":"https://openalex.org/F4320322510","funder_display_name":"Sapienza Universit\u00e0 di Roma"}],"funders":[{"id":"https://openalex.org/F4320322510","display_name":"Sapienza Universit\u00e0 di Roma","ror":"https://ror.org/02be6w209"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4321104926.pdf"},"referenced_works_count":34,"referenced_works":["https://openalex.org/W125693051","https://openalex.org/W2108598243","https://openalex.org/W2150066425","https://openalex.org/W2293581118","https://openalex.org/W2294668072","https://openalex.org/W2587107113","https://openalex.org/W2694935213","https://openalex.org/W2752782242","https://openalex.org/W2799131456","https://openalex.org/W2945594346","https://openalex.org/W2951234442","https://openalex.org/W2963163009","https://openalex.org/W2963267406","https://openalex.org/W2963420686","https://openalex.org/W2964052474","https://openalex.org/W2964081807","https://openalex.org/W2967115342","https://openalex.org/W2970544662","https://openalex.org/W2982083293","https://openalex.org/W2995689976","https://openalex.org/W3007729836","https://openalex.org/W3009406242","https://openalex.org/W3083485280","https://openalex.org/W3088100225","https://openalex.org/W3131920484","https://openalex.org/W3161426305","https://openalex.org/W4211140533","https://openalex.org/W4211178602","https://openalex.org/W4214520160","https://openalex.org/W4226254592","https://openalex.org/W4312718346","https://openalex.org/W6605121731","https://openalex.org/W6685261749","https://openalex.org/W6755587996"],"related_works":["https://openalex.org/W4388412763","https://openalex.org/W1999583034","https://openalex.org/W3168963531","https://openalex.org/W2591930867","https://openalex.org/W2953138830","https://openalex.org/W2773822314","https://openalex.org/W3176162126","https://openalex.org/W2891537746","https://openalex.org/W3201231642","https://openalex.org/W179829755"],"abstract_inverted_index":{"The":[0],"knowledge":[1],"of":[2,37,102,203,215,257,269],"environmental":[3],"depth":[4,57,92,104,137,239],"is":[5,149],"essential":[6],"in":[7,35,213],"multiple":[8],"robotics":[9],"and":[10,17,30,40,71,117,126,142,170,251,267],"computer":[11],"vision":[12,72],"tasks":[13],"for":[14,78,173,236,262],"both":[15],"terrestrial":[16,96],"underwater":[18,103,140,180,263],"scenarios.":[19],"Moreover,":[20,85,196],"the":[21,100,150,155,160,166,171,174,182,201,204,210,219,222,225,243,255,259],"hardware":[22],"on":[23,63,81,95,113,165,209],"which":[24,74,148],"this":[25],"technology":[26],"runs,":[27],"generally":[28,76],"IoT":[29],"embedded":[31,83,130],"devices,":[32,131],"are":[33,47,75,88],"limited":[34],"terms":[36,214],"power":[38],"consumption,":[39,253],"therefore,":[41],"models":[42,205],"with":[43,188,254],"a":[44,118,132,233],"low-energy":[45],"footprint":[46,212],"required":[48,217],"to":[49,90,99,122,135,146,163,193,231],"be":[50,229,232],"designed.":[51],"Recent":[52],"works":[53],"aim":[54,256],"at":[55],"enabling":[56],"perception":[58,261],"using":[59],"single":[60],"RGB":[61],"images":[62],"deep":[64],"architectures,":[65],"such":[66,86],"as":[67],"convolutional":[68],"neural":[69],"networks":[70],"transformers,":[73],"unsuitable":[77],"real-time":[79,237],"inferences":[80,125],"low-power":[82],"hardware.":[84,178],"architectures":[87,111,227],"trained":[89],"estimate":[91],"maps":[93,138],"mainly":[94],"scenarios":[97],"due":[98],"scarcity":[101],"data.":[105],"Purposely,":[106],"we":[107,158,197],"present":[108],"two":[109],"lightweight":[110,265],"based":[112],"optimized":[114],"MobileNetV3":[115],"encoders":[116],"specifically":[119],"designed":[120],"decoder":[121],"achieve":[123],"fast":[124,189],"accurate":[127],"estimations":[128,187],"over":[129,139],"feasibility":[133],"study":[134],"predict":[136],"scenarios,":[141],"an":[143,207],"energy":[144,152,211,252],"assessment":[145],"understand":[147],"effective":[151],"consumption":[153],"during":[154,221],"inference.":[156,223],"Precisely,":[157],"propose":[159],"MobileNetV3S75":[161],"configuration":[162],"infer":[164],"32-bit":[167],"ARM":[168],"CPU":[169],"MobileNetV3LMin":[172],"8-bit":[175],"Edge":[176],"TPU":[177],"In":[179],"settings,":[181],"proposed":[183,226],"design":[184],"achieves":[185],"comparable":[186],"inference":[190,247],"performances":[191],"compared":[192],"state-of-the-art":[194],"methods.":[195],"statistically":[198],"proved":[199],"that":[200],"architecture":[202],"has":[206],"impact":[208],"Watts":[216],"by":[218,241],"device":[220],"Then,":[224],"would":[228],"considered":[230],"promising":[234],"approach":[235],"monocular":[238],"estimation":[240,249],"offering":[242],"best":[244],"trade-off":[245],"between":[246],"performances,":[248],"error":[250],"improving":[258],"environment":[260],"drones,":[264],"robots":[266],"Internet":[268],"things.":[270]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4}],"updated_date":"2026-06-08T08:47:23.578185","created_date":"2025-10-10T00:00:00"}
