The remaining useful life(RUL)estimation of bearings is critical for ensuring the reliability of mechanical systems.Owing to the rapid development of deep learning methods,a multitude of data-driven RUL estimation approaches have been proposed recently.However,the following problems remain in existing methods:1)Most network mod-els use raw data or statistical features as input,which renders it difficult to extract complex fault-related informa-tion hidden in signals;2)for current observations,the dependence between current states is emphasized,but their complex dependence on previous states is often disregarded;3)the output of neural networks is directly used as the estimated RUL in most studies,resulting in extremely volatile prediction results that lack robustness.Hence,a novel prognostics approach is proposed based on a time-frequency representation(TFR)subsequence,three-dimensional convolutional neural network(3DCNN),and Gaussian process regression(GPR).The approach primarily comprises two aspects:construction of a health indicator(HI)using theTFR-subsequence-3DCNN model,and RUL estimation based on the GPR model.The raw signals of the bearings are converted into TFR-subsequences by continuous wavelet trans-form and a dislocated overlapping strategy.Subsequently,the 3DCNN is applied to extract the hidden spatiotemporal features from the TFR-subsequences and construct HIs.Finally,the RUL of the bearings is estimated using the GPR model,which can also define the probability distribution of the potential function and prediction confidence.Experi-ments on the PRONOSTIA platform demonstrate the superiority of the proposed TFR-subsequence-3DCNN-GPR approach.The use of degradation-related spatiotemporal features in signals is proposed herein to achieve a highly accurate bearing RUL prediction with uncertainty quantification.