human: Given a node-centered hypergraph: <hypergraph>, where nodes represent papers and hyperedges represent sets of papers co-cited by a source paper.

Details of the hypergraph:
Center node: "direct visual odometry using bit planes"
  Abstract: Feature descriptors, such as SIFT and ORB, are well-known for their robustness to illumination changes, which has made them popular for feature-based VSLAM. However, in degraded imaging conditions such as low light, low texture, blur and specular reflections, feature extraction is often unreliable. In contrast, direct VSLAM methods which estimate the camera pose by minimizing the photometric error using raw pixel intensities are often more robust to low textured environments and blur. Nonetheless, at the core of direct VSLAM is the reliance on a consistent photometric appearance across images, otherwise known as the brightness constancy assumption. Unfortunately, brightness constancy seldom holds in real world applications. In this work, we overcome brightness constancy by incorporating feature descriptors into a direct visual odometry framework. This combination results in an efficient algorithm that combines the strength of both feature-based algorithms and direct methods. Namely, we achieve robustness to arbitrary photometric variations while operating in low-textured and poorly lit environments. Our approach utilizes an efficient binary descriptor, which we call Bit-Planes, and show how it can be used in the gradientbased optimization required by direct methods. Moreover, we show that the squared Euclidean distance between Bit-Planes is equivalent to the Hamming distance. Hence, the descriptor may be used in least squares optimization without sacrificing its photometric invariance. Finally, we present empirical results that demonstrate the robustness of the approach in poorly lit underground environments.

Connected through hyperedge HE-1 (induced by source paper "look no deeper recognizing places from opposing viewpoints under varying scene appearance using single view depth estimation"):
  with members:
    - "don t look back robustifying place categorization for viewpoint and condition invariant place recognition"
    - "unsupervised learning of depth and ego motion from monocular video using 3d geometric constraints"
    - "lost appearance invariant place recognition for opposite viewpoints using visual semantics"
    - "a deeper insight into the undemon unsupervised deep network for depth and ego motion estimation"
    - "eng end to end neural geometry for robust depth and pose estimation using cnns"
    - "pointnetvlad deep point cloud based retrieval for large scale place recognition"
    - "x view graph based semantic multi view localization"
    - "orb slam2 an open source slam system for monocular stereo and rgb d cameras"

Connected through hyperedge HE-2 (induced by source paper "learning depth from monocular videos using direct methods"):
  with members:
    - "monocular dense 3d reconstruction of a complex dynamic scene from two perspective frames"
    - "unsupervised learning of depth and ego motion from video"
    - "sfm net learning of structure and motion from video"
    - "semi supervised deep learning for monocular depth map prediction"
    - "cnn slam real time dense monocular slam with learned depth prediction"
    - "the cityscapes dataset for semantic urban scene understanding"
    - "learning depth from single monocular images using deep convolutional neural fields"
    - "unsupervised monocular depth estimation with left right consistency"

Connected through hyperedge HE-3 (induced by source paper "photometric bundle adjustment for vision based slam"):
  with members:
    - "direct sparse odometry"
    - "orb slam a versatile and accurate monocular slam system"

Question: Please tell me which class the center node belongs to. The 40 classes are: cs.NA(Numerical Analysis), cs.MM(Multimedia), cs.LO(Logic in Computer Science), cs.CY(Computers and Society), cs.CR(Cryptography and Security), cs.DC(Distributed, Parallel, and Cluster Computing), cs.HC(Human-Computer Interaction), cs.CE(Computational Engineering, Finance, and Science), cs.NI(Networking and Internet Architecture), cs.CC(Computational Complexity), cs.AI(Artificial Intelligence), cs.MA(Multiagent Systems), cs.GL(General Literature), cs.NE(Neural and Evolutionary Computing), cs.SC(Symbolic Computation), cs.AR(Hardware Architecture), cs.CV(Computer Vision and Pattern Recognition), cs.GR(Graphics), cs.ET(Emerging Technologies), cs.SY(Systems and Control), cs.CG(Computational Geometry), cs.OH(Other Computer Science), cs.PL(Programming Languages), cs.SE(Software Engineering), cs.LG(Machine Learning), cs.SD(Sound), cs.SI(Social and Information Networks), cs.RO(Robotics), cs.IT(Information Theory), cs.PF(Performance), cs.CL(Computation and Language), cs.IR(Information Retrieval), cs.MS(Mathematical Software), cs.FL(Formal Languages and Automata Theory), cs.DS(Data Structures and Algorithms), cs.OS(Operating Systems), cs.GT(Computer Science and Game Theory), cs.DB(Databases), cs.DL(Digital Libraries), cs.DM(Discrete Mathematics). Directly output the class name.

gpt: cs.RO(Robotics)