{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,4]],"date-time":"2026-03-04T11:35:20Z","timestamp":1772624120640,"version":"3.50.1"},"reference-count":37,"publisher":"World Scientific Pub Co Pte Lt","issue":"03","funder":[{"name":"the National Science Foundation","award":["1659788"],"award-info":[{"award-number":["1659788"]}]},{"name":"the National Science Foundation","award":["1464420"],"award-info":[{"award-number":["1464420"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Int. J. Semantic Computing"],"published-print":{"date-parts":[[2020,9]]},"abstract":"<jats:p> We introduce a convolutional neural network model for unsupervised learning of depth and ego-motion from cylindrical panoramic video. Panoramic depth estimation is an important technology for applications such as virtual reality, 3D modeling, and autonomous robotic navigation. In contrast to previous approaches for applying convolutional neural networks to panoramic imagery, we use the cylindrical panoramic projection which allows for the use of the traditional CNN layers such as convolutional filters and max pooling without modification. Our evaluation of synthetic and real data shows that unsupervised learning of depth and ego-motion on cylindrical panoramic images can produce high-quality depth maps and that an increased field-of-view improves ego-motion estimation accuracy. We create two new datasets to evaluate our approach: a synthetic dataset created using the CARLA simulator, and Headcam, a novel dataset of panoramic video collected from a helmet-mounted camera while biking in an urban setting. We also apply our network to the problem of converting monocular panoramas to stereo panoramas. <\/jats:p>","DOI":"10.1142\/s1793351x20400139","type":"journal-article","created":{"date-parts":[[2020,11,2]],"date-time":"2020-11-02T09:26:41Z","timestamp":1604309201000},"page":"333-356","source":"Crossref","is-referenced-by-count":3,"title":["Unsupervised Learning of Depth and Ego-Motion from Cylindrical Panoramic Video with Applications for Virtual Reality"],"prefix":"10.1142","volume":"14","author":[{"given":"Alisha","family":"Sharma","sequence":"first","affiliation":[{"name":"Laboratories for Computational Physics & Fluid Dynamics, Naval Research Laboratory, 4555 Overlook Ave, SW, Washington, D.C. 20375, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ryan","family":"Nett","sequence":"additional","affiliation":[{"name":"Department of Computer Science & Software Engineering, California Polytechnic State University, 1 Grand Avenue, San Luis Obispo, CA 93407, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jonathan","family":"Ventura","sequence":"additional","affiliation":[{"name":"Department of Computer Science & Software Engineering, California Polytechnic State University, 1 Grand Avenue, San Luis Obispo, CA 93407, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"219","published-online":{"date-parts":[[2020,10,29]]},"reference":[{"issue":"5","key":"S1793351X20400139BIB001","doi-asserted-by":"crossref","first-page":"1817","DOI":"10.1109\/TVCG.2019.2898757","volume":"25","author":"Serrano A.","year":"2019","journal-title":"IEEE Trans. Visual. Comput. Graphic."},{"key":"S1793351X20400139BIB002","first-page":"237","volume-title":"European Conf. Computer Vision","author":"Bergen J. R.","year":"1992"},{"issue":"5","key":"S1793351X20400139BIB003","doi-asserted-by":"crossref","first-page":"1147","DOI":"10.1109\/TRO.2015.2463671","volume":"31","author":"Mur-Artal R.","year":"2015","journal-title":"IEEE Trans. Robotics"},{"issue":"5","key":"S1793351X20400139BIB004","doi-asserted-by":"crossref","first-page":"824","DOI":"10.1109\/TPAMI.2008.132","volume":"31","author":"Saxena A.","year":"2009","journal-title":"IEEE Trans. Pattern Analysis and Machine Intelligence"},{"key":"S1793351X20400139BIB005","first-page":"2366","volume":"27","author":"Eigen D.","year":"2014","journal-title":"Advances in Neural Information Processing Systems"},{"issue":"10","key":"S1793351X20400139BIB006","doi-asserted-by":"crossref","first-page":"2024","DOI":"10.1109\/TPAMI.2015.2505283","volume":"38","author":"Liu F.","year":"2016","journal-title":"IEEE Trans. Pattern Analysis and Machine Intelligence"},{"key":"S1793351X20400139BIB007","first-page":"5667","volume-title":"Conf. Computer Vision and Pattern Recognition","author":"Godard C.","year":"2017"},{"key":"S1793351X20400139BIB008","first-page":"1851","volume-title":"Conf. Computer Vision and Pattern Recognition","author":"Zhou T.","year":"2017"},{"key":"S1793351X20400139BIB010","first-page":"5667","volume-title":"Conf. Computer Vision and Pattern Recognition","author":"Mahjourian R.","year":"2018"},{"key":"S1793351X20400139BIB011","first-page":"2022","volume-title":"Conf. Computer Vision and Pattern Recognition","author":"Wang C.","year":"2018"},{"key":"S1793351X20400139BIB012","first-page":"1","volume-title":"Int. Conf. Learning Representations","author":"Cohen T. S.","year":"2018"},{"key":"S1793351X20400139BIB013","first-page":"52","volume-title":"European Conf. Computer Vision","author":"Esteves C.","year":"2018"},{"key":"S1793351X20400139BIB014","first-page":"1429","volume-title":"Conf. Computer Vision and Pattern Recognition","author":"Cheng H.-T.","year":"2018"},{"key":"S1793351X20400139BIB015","first-page":"53","volume-title":"Asian Conf. Computer Vision","author":"Wang F.-E.","year":"2018"},{"key":"S1793351X20400139BIB016","first-page":"558","volume-title":"2019 Conf. Artificial Intelligence and Virtual Reality","author":"Sharma A.","year":"2019"},{"key":"S1793351X20400139BIB017","first-page":"1","volume-title":"Proc. 1st Annual Conf. Robot Learning","author":"Dosovitskiy A.","year":"2017"},{"key":"S1793351X20400139BIB018","first-page":"518","volume-title":"European Conf. Computer Vision","author":"Coors B.","year":"2018"},{"key":"S1793351X20400139BIB019","first-page":"732","volume-title":"European Conf. Computer Vision","author":"Tateno K.","year":"2018"},{"key":"S1793351X20400139BIB020","first-page":"1198","volume-title":"Int. Joint Conf. Artificial Intelligence","author":"Zhao Q.","year":"2018"},{"key":"S1793351X20400139BIB021","first-page":"2183","volume-title":"Proc. IEEE Int. Conf. Computer Vision","author":"Dijk T. V.","year":"2019"},{"key":"S1793351X20400139BIB022","doi-asserted-by":"crossref","first-page":"37","DOI":"10.1109\/VR.2017.7892229","volume-title":"2017 IEEE Virtual Reality","author":"Huang J.","year":"2017"},{"key":"S1793351X20400139BIB023","volume-title":"IEEE Int. Conf. Computer Vision Workshops","volume":"7","author":"Kumar V. R.","year":"2018"},{"key":"S1793351X20400139BIB024","first-page":"849","volume-title":"Conf. Computer Vision and Pattern Recognition","author":"Weiler M.","year":"2018"},{"key":"S1793351X20400139BIB025","first-page":"869","volume-title":"IEEE Int. Conf. Computer Vision Workshops","author":"Khasanova R.","year":"2017"},{"key":"S1793351X20400139BIB026","first-page":"789","volume-title":"Euro. Conf. Computer Vision","author":"de La Garanderie G. P.","year":"2018"},{"key":"S1793351X20400139BIB027","first-page":"529","volume-title":"Advances in Neural Information Processing Systems","author":"Su Y.-C.","year":"2017"},{"key":"S1793351X20400139BIB028","first-page":"52","volume-title":"Int. Conf. Learning Representations","author":"Esteves C.","year":"2018"},{"key":"S1793351X20400139BIB029","first-page":"539","volume-title":"IEEE Global Conf. Signal and Information Processing","author":"Salehinejad H.","year":"2018"},{"key":"S1793351X20400139BIB030","first-page":"4040","volume-title":"Conf. Computer Vision and Pattern Recognition","author":"Mayer N.","year":"2016"},{"key":"S1793351X20400139BIB032","first-page":"3354","volume-title":"Conf. Computer Vision and Pattern Recognition","author":"Geiger A.","year":"2012"},{"key":"S1793351X20400139BIB033","first-page":"3213","volume-title":"Conf. Computer Vision and Pattern Recognition","author":"Cordts M.","year":"2016"},{"key":"S1793351X20400139BIB034","first-page":"3234","volume-title":"Conf. Computer Vision and Pattern Recognition","author":"Ros G.","year":"2016"},{"key":"S1793351X20400139BIB036","first-page":"395","volume-title":"Proc. 1999 IEEE Computer Society Conf. Computer Vision and Pattern Recognition","volume":"1","author":"Peleg S.","year":"1999"},{"key":"S1793351X20400139BIB037","first-page":"1256","volume-title":"Conf. Computer Vision and Pattern Recognition","author":"Richardt C.","year":"2013"},{"issue":"6","key":"S1793351X20400139BIB038","first-page":"1","volume-title":"ACM Transactions on Graphics","volume":"35","author":"Anderson R.","year":"2016"},{"key":"S1793351X20400139BIB041","first-page":"1983","volume-title":"Conf. Computer Vision and Pattern Recognition","author":"Yin Z.","year":"2018"},{"key":"S1793351X20400139BIB042","first-page":"3917","volume-title":"Conf. Computer Vision and Pattern Recognition","author":"Xu D.","year":"2018"}],"container-title":["International Journal of Semantic Computing"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.worldscientific.com\/doi\/pdf\/10.1142\/S1793351X20400139","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2020,11,2]],"date-time":"2020-11-02T09:27:50Z","timestamp":1604309270000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.worldscientific.com\/doi\/abs\/10.1142\/S1793351X20400139"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,9]]},"references-count":37,"journal-issue":{"issue":"03","published-print":{"date-parts":[[2020,9]]}},"alternative-id":["10.1142\/S1793351X20400139"],"URL":"https:\/\/doi.org\/10.1142\/s1793351x20400139","relation":{},"ISSN":["1793-351X","1793-7108"],"issn-type":[{"value":"1793-351X","type":"print"},{"value":"1793-7108","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,9]]}}}