{"id":"https://openalex.org/W4224436704","doi":"https://doi.org/10.48550/arxiv.2204.03636","title":"SurroundDepth: Entangling Surrounding Views for Self-Supervised Multi-Camera Depth Estimation","display_name":"SurroundDepth: Entangling Surrounding Views for Self-Supervised Multi-Camera Depth Estimation","publication_year":2022,"publication_date":"2022-01-01","ids":{"openalex":"https://openalex.org/W4224436704","doi":"https://doi.org/10.48550/arxiv.2204.03636"},"language":"en","primary_location":{"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2204.03636","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":["Cornell University"],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false},"type":"preprint","type_crossref":"posted-content","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/abs/2204.03636","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100339158","display_name":"Yi Wei","orcid":"https://orcid.org/0000-0002-9886-6851"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wei, Yi","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100967164","display_name":"Linqing Zhao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhao, Linqing","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006396086","display_name":"Wenzhao Zheng","orcid":"https://orcid.org/0000-0001-7188-3734"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zheng, Wenzhao","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101705530","display_name":"Zheng Zhu","orcid":"https://orcid.org/0000-0002-4435-1692"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhu, Zheng","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082694832","display_name":"Yongming Rao","orcid":"https://orcid.org/0000-0003-3952-8753"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Rao, Yongming","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051049837","display_name":"Guan Huang","orcid":"https://orcid.org/0000-0002-9421-7344"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huang, Guan","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100460385","display_name":"Jiwen Lu","orcid":"https://orcid.org/0000-0002-6121-5529"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lu, Jiwen","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5100620306","display_name":"Jie Zhou","orcid":"https://orcid.org/0000-0001-7701-234X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhou, Jie","raw_affiliation_strings":[],"affiliations":[]}],"institution_assertions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.820962,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":92,"max":93},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9999,"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":0.9999,"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/T13114","display_name":"Image Processing Techniques and Applications","score":0.9994,"subfield":{"id":"https://openalex.org/subfields/2214","display_name":"Media Technology"},"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":0.9897,"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/fuse","display_name":"Fuse (electrical)","score":0.7693215},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.686253},{"id":"https://openalex.org/keywords/structure-from-motion","display_name":"Structure from Motion","score":0.43126276}],"concepts":[{"id":"https://openalex.org/C141353440","wikidata":"https://www.wikidata.org/wiki/Q182221","display_name":"Fuse (electrical)","level":2,"score":0.7693215},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.75827193},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7368665},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.69681144},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.686253},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.49187136},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.4334664},{"id":"https://openalex.org/C146159030","wikidata":"https://www.wikidata.org/wiki/Q7625099","display_name":"Structure from motion","level":3,"score":0.43126276},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.42178136},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.4210259},{"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/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2204.03636","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":["Cornell University"],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false},{"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2204.03636","pdf_url":"http://arxiv.org/pdf/2204.03636","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":["Cornell University"],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false},{"is_oa":false,"landing_page_url":"https://api.datacite.org/dois/10.48550/arxiv.2204.03636","pdf_url":null,"source":{"id":"https://openalex.org/S4393179698","display_name":"DataCite API","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":"https://openalex.org/I4210145204","host_organization_name":"DataCite","host_organization_lineage":["https://openalex.org/I4210145204"],"host_organization_lineage_names":["DataCite"],"type":"metadata"},"license":null,"license_id":null,"version":null}],"best_oa_location":{"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2204.03636","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":["Cornell University"],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.43,"display_name":"Sustainable cities and communities"}],"grants":[],"datasets":[],"versions":[],"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W3110022498","https://openalex.org/W2382763213","https://openalex.org/W2114253841","https://openalex.org/W2105413810","https://openalex.org/W2053820737","https://openalex.org/W2026674073","https://openalex.org/W1988727984","https://openalex.org/W1501297619","https://openalex.org/W1484667368","https://openalex.org/W13825435"],"abstract_inverted_index":{"Depth":[0],"estimation":[1,33,207],"from":[2,81,113,131],"images":[3],"serves":[4],"as":[5],"the":[6,45,55,79,100,111,123,153,163,169,181,199,203],"fundamental":[7],"step":[8],"of":[9,167,171,180],"3D":[10],"perception":[11],"for":[12,65],"autonomous":[13],"driving":[14],"and":[15,53,103,183,210],"is":[16],"an":[17],"economical":[18],"alternative":[19],"to":[20,77,85,97,108,120,139,156,161,186,189],"expensive":[21],"depth":[22,32,46,87,134,206],"sensors":[23],"like":[24],"LiDAR.":[25],"The":[26],"temporal":[27],"photometric":[28],"constraints":[29],"enables":[30],"self-supervised":[31,132],"without":[34],"labels,":[35],"further":[36],"facilitating":[37],"its":[38],"application.":[39],"However,":[40],"most":[41],"existing":[42],"methods":[43],"predict":[44,86,140],"solely":[47],"based":[48],"on":[49,202],"each":[50,172,187],"monocular":[51,133],"image":[52],"ignore":[54],"correlations":[56],"among":[57],"multiple":[58,82,114],"surrounding":[59,83,101],"cameras,":[60],"which":[61],"are":[62,137],"typically":[63],"available":[64],"modern":[66],"self-driving":[67],"vehicles.":[68],"In":[69,194],"this":[70,149],"paper,":[71],"we":[72,92,136,151,175],"propose":[73,104],"a":[74,94,105,177],"SurroundDepth":[75],"method":[76,197],"incorporate":[78],"information":[80,112],"views":[84,102],"maps":[88],"across":[89],"cameras.":[90],"Specifically,":[91],"employ":[93],"joint":[95],"network":[96],"process":[98],"all":[99],"cross-view":[106,118],"transformer":[107],"effectively":[109],"fuse":[110],"views.":[115],"We":[116],"apply":[117],"self-attention":[119],"efficiently":[121],"enable":[122],"global":[124],"interactions":[125],"between":[126],"multi-camera":[127,144,205],"feature":[128],"maps.":[129],"Different":[130],"estimation,":[135],"able":[138],"real-world":[141],"scales":[142],"given":[143],"extrinsic":[145],"matrices.":[146],"To":[147],"achieve":[148,190],"goal,":[150],"adopt":[152],"two-frame":[154],"structure-from-motion":[155],"extract":[157],"scale-aware":[158],"pseudo":[159],"depths":[160],"pretrain":[162],"models.":[164],"Further,":[165],"instead":[166],"predicting":[168],"ego-motion":[170,179,192],"individual":[173],"camera,":[174],"estimate":[176],"universal":[178],"vehicle":[182],"transfer":[184],"it":[185],"view":[188],"multi-view":[191],"consistency.":[193],"experiments,":[195],"our":[196],"achieves":[198],"state-of-the-art":[200],"performance":[201],"challenging":[204],"datasets":[208],"DDAD":[209],"nuScenes.":[211]},"abstract_inverted_index_v3":null,"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W4224436704","counts_by_year":[{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":8}],"updated_date":"2025-04-24T00:31:00.008045","created_date":"2022-04-27"}