{"id":"https://openalex.org/W4391485801","doi":"https://doi.org/10.3390/s24030973","title":"SiaN-VO: Siamese Network for Visual Odometry","display_name":"SiaN-VO: Siamese Network for Visual Odometry","publication_year":2024,"publication_date":"2024-02-02","ids":{"openalex":"https://openalex.org/W4391485801","doi":"https://doi.org/10.3390/s24030973","pmid":"https://pubmed.ncbi.nlm.nih.gov/38339690"},"language":"en","primary_location":{"id":"doi:10.3390/s24030973","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24030973","pdf_url":"https://www.mdpi.com/1424-8220/24/3/973/pdf?version=1706859232","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/1424-8220/24/3/973/pdf?version=1706859232","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5062930445","display_name":"Bruno S. Fai\u00e7al","orcid":"https://orcid.org/0000-0002-9866-3712"},"institutions":[{"id":"https://openalex.org/I107428990","display_name":"Instituto Tecnol\u00f3gico de Aeron\u00e1utica","ror":"https://ror.org/05vh67662","country_code":"BR","type":"education","lineage":["https://openalex.org/I107428990"]}],"countries":["BR"],"is_corresponding":true,"raw_author_name":"Bruno S. Fai\u00e7al","raw_affiliation_strings":["Computer Science Division, Aeronautics Institute of Technology\u2014ITA, Sao Jose dos Campos 12228-900, SP, Brazil"],"raw_orcid":"https://orcid.org/0000-0002-9866-3712","affiliations":[{"raw_affiliation_string":"Computer Science Division, Aeronautics Institute of Technology\u2014ITA, Sao Jose dos Campos 12228-900, SP, Brazil","institution_ids":["https://openalex.org/I107428990"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009786432","display_name":"C\u00e9sar Marcondes","orcid":"https://orcid.org/0000-0003-1574-0362"},"institutions":[{"id":"https://openalex.org/I107428990","display_name":"Instituto Tecnol\u00f3gico de Aeron\u00e1utica","ror":"https://ror.org/05vh67662","country_code":"BR","type":"education","lineage":["https://openalex.org/I107428990"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Cesar A. C. Marcondes","raw_affiliation_strings":["Computer Science Division, Aeronautics Institute of Technology\u2014ITA, Sao Jose dos Campos 12228-900, SP, Brazil"],"raw_orcid":"https://orcid.org/0000-0003-1574-0362","affiliations":[{"raw_affiliation_string":"Computer Science Division, Aeronautics Institute of Technology\u2014ITA, Sao Jose dos Campos 12228-900, SP, Brazil","institution_ids":["https://openalex.org/I107428990"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015620643","display_name":"Filipe Alves Neto Verri","orcid":"https://orcid.org/0000-0002-8240-5129"},"institutions":[{"id":"https://openalex.org/I107428990","display_name":"Instituto Tecnol\u00f3gico de Aeron\u00e1utica","ror":"https://ror.org/05vh67662","country_code":"BR","type":"education","lineage":["https://openalex.org/I107428990"]}],"countries":["BR"],"is_corresponding":true,"raw_author_name":"Filipe A. N. Verri","raw_affiliation_strings":["Computer Science Division, Aeronautics Institute of Technology\u2014ITA, Sao Jose dos Campos 12228-900, SP, Brazil"],"raw_orcid":"https://orcid.org/0000-0002-8240-5129","affiliations":[{"raw_affiliation_string":"Computer Science Division, Aeronautics Institute of Technology\u2014ITA, Sao Jose dos Campos 12228-900, SP, Brazil","institution_ids":["https://openalex.org/I107428990"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5015620643","https://openalex.org/A5062930445"],"corresponding_institution_ids":["https://openalex.org/I107428990"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2673},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2673},"fwci":2.1136,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.89644389,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":"24","issue":"3","first_page":"973","last_page":"973"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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":0.9997000098228455,"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/T10331","display_name":"Video Surveillance and Tracking Methods","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/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"}}],"keywords":[{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.7585069537162781},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.7422031760215759},{"id":"https://openalex.org/keywords/gnss-applications","display_name":"GNSS applications","score":0.6807650327682495},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6563599705696106},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.5731304287910461},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5395234823226929},{"id":"https://openalex.org/keywords/vulnerability","display_name":"Vulnerability (computing)","score":0.529637336730957},{"id":"https://openalex.org/keywords/reliability","display_name":"Reliability (semiconductor)","score":0.47404882311820984},{"id":"https://openalex.org/keywords/fuse","display_name":"Fuse (electrical)","score":0.4668709933757782},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.42283323407173157},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3323360085487366},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.24136504530906677},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.2215157449245453},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19826465845108032},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.11212706565856934},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.10295507311820984},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.10174793004989624}],"concepts":[{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.7585069537162781},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.7422031760215759},{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.6807650327682495},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6563599705696106},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.5731304287910461},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5395234823226929},{"id":"https://openalex.org/C95713431","wikidata":"https://www.wikidata.org/wiki/Q631425","display_name":"Vulnerability (computing)","level":2,"score":0.529637336730957},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.47404882311820984},{"id":"https://openalex.org/C141353440","wikidata":"https://www.wikidata.org/wiki/Q182221","display_name":"Fuse (electrical)","level":2,"score":0.4668709933757782},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.42283323407173157},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3323360085487366},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.24136504530906677},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.2215157449245453},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19826465845108032},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.11212706565856934},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.10295507311820984},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.10174793004989624},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","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}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/s24030973","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24030973","pdf_url":"https://www.mdpi.com/1424-8220/24/3/973/pdf?version=1706859232","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:38339690","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/38339690","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:pubmedcentral.nih.gov:10856906","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/10856906","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC10856906/pdf/sensors-24-00973.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:03351409cc314301967864bef00abc1d","is_oa":false,"landing_page_url":"https://doaj.org/article/03351409cc314301967864bef00abc1d","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 24, Iss 3, p 973 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/s24030973","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24030973","pdf_url":"https://www.mdpi.com/1424-8220/24/3/973/pdf?version=1706859232","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":[],"awards":[{"id":"https://openalex.org/G5890844305","display_name":null,"funder_award_id":"402/2021","funder_id":"https://openalex.org/F4320330106","funder_display_name":"Embraer"},{"id":"https://openalex.org/G6177941990","display_name":null,"funder_award_id":"2021/06872-6","funder_id":"https://openalex.org/F4320330106","funder_display_name":"Embraer"},{"id":"https://openalex.org/G6438247056","display_name":null,"funder_award_id":"2021/","funder_id":"https://openalex.org/F4320320997","funder_display_name":"Funda\u00e7\u00e3o de Amparo \u00e0 Pesquisa do Estado de S\u00e3o Paulo"},{"id":"https://openalex.org/G8171731001","display_name":null,"funder_award_id":"2021/06872-6","funder_id":"https://openalex.org/F4320320997","funder_display_name":"Funda\u00e7\u00e3o de Amparo \u00e0 Pesquisa do Estado de S\u00e3o Paulo"}],"funders":[{"id":"https://openalex.org/F4320320997","display_name":"Funda\u00e7\u00e3o de Amparo \u00e0 Pesquisa do Estado de S\u00e3o Paulo","ror":"https://ror.org/02ddkpn78"},{"id":"https://openalex.org/F4320330106","display_name":"Embraer","ror":"https://ror.org/00zbcgj92"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4391485801.pdf"},"referenced_works_count":24,"referenced_works":["https://openalex.org/W1564768010","https://openalex.org/W1921093919","https://openalex.org/W1993523669","https://openalex.org/W2015996585","https://openalex.org/W2024712436","https://openalex.org/W2068967117","https://openalex.org/W2150066425","https://openalex.org/W2544243493","https://openalex.org/W2583601259","https://openalex.org/W2615547864","https://openalex.org/W2740661124","https://openalex.org/W2908825945","https://openalex.org/W3007471652","https://openalex.org/W3011348788","https://openalex.org/W3066665091","https://openalex.org/W4205984401","https://openalex.org/W4282970004","https://openalex.org/W4285113681","https://openalex.org/W4286630908","https://openalex.org/W4308126799","https://openalex.org/W4313496332","https://openalex.org/W4379876675","https://openalex.org/W4388348821","https://openalex.org/W6687483927"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W3024737167","https://openalex.org/W2414561716","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W2312326526","https://openalex.org/W4386821976","https://openalex.org/W2412578866","https://openalex.org/W3105866016"],"abstract_inverted_index":{"Despite":[0],"the":[1,25,90],"significant":[2,127],"advancements":[3],"in":[4,16,59,97,120,130],"drone":[5,41,131],"sensory":[6],"device":[7],"reliability,":[8],"data":[9,109],"integrity":[10],"from":[11,35,111],"these":[12,81],"devices":[13],"remains":[14],"critical":[15],"securing":[17],"successful":[18],"flight":[19,42,94,122],"plans.":[20,43],"A":[21],"notable":[22],"issue":[23],"is":[24],"vulnerability":[26],"of":[27,92],"GNSS":[28],"to":[29,39,105],"jamming":[30],"attacks":[31],"or":[32],"signal":[33],"loss":[34],"satellites,":[36],"potentially":[37],"leading":[38],"incomplete":[40],"To":[44],"address":[45],"this,":[46],"we":[47,100],"introduce":[48],"SiaN-VO,":[49,107],"a":[50,126],"Siamese":[51],"neural":[52],"network":[53],"designed":[54],"for":[55,71],"visual":[56],"odometry":[57],"prediction":[58],"such":[60],"challenging":[61],"scenarios.":[62],"Our":[63],"preliminary":[64],"studies":[65],"have":[66,101],"shown":[67],"promising":[68],"results,":[69],"particularly":[70],"flights":[72],"under":[73],"static":[74],"conditions":[75],"(constant":[76],"speed":[77],"and":[78,114],"altitude);":[79],"while":[80],"findings":[82],"are":[83],"encouraging,":[84],"they":[85],"do":[86],"not":[87],"fully":[88],"represent":[89],"complexities":[91],"real-world":[93],"conditions.":[95],"Therefore,":[96],"this":[98],"paper,":[99],"furthered":[102],"our":[103],"research":[104],"enhance":[106],"improving":[108],"integration":[110],"multiple":[112],"sensors":[113],"enabling":[115],"more":[116],"accurate":[117],"displacement":[118],"predictions":[119],"dynamic":[121],"conditions,":[123],"thereby":[124],"marking":[125],"step":[128],"forward":[129],"navigation":[132],"technology.":[133]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
