{"id":"https://openalex.org/W1975461372","doi":"https://doi.org/10.1109/cvpr.2014.71","title":"Very Fast Solution to the PnP Problem with Algebraic Outlier Rejection","display_name":"Very Fast Solution to the PnP Problem with Algebraic Outlier Rejection","publication_year":2014,"publication_date":"2014-06-01","ids":{"openalex":"https://openalex.org/W1975461372","doi":"https://doi.org/10.1109/cvpr.2014.71","mag":"1975461372"},"language":"en","primary_location":{"id":"doi:10.1109/cvpr.2014.71","doi":"https://doi.org/10.1109/cvpr.2014.71","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cvpr.2014.71","pdf_url":null,"source":{"id":"https://openalex.org/S4210176548","display_name":"IEEE Computer Society Conference on Computer Vision and Pattern Recognition/Proceedings - IEEE Computer Society Conference on Computer Vision and Pattern Recognition/Proceedings","issn_l":"1063-6919","issn":["1063-6919","2332-564X","2575-7075"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE Conference on Computer Vision and Pattern Recognition","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://upcommons.upc.edu/bitstreams/3676449f-8f32-4ebb-bed9-7f452a70d586/download","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5005762795","display_name":"Luis Ferraz","orcid":"https://orcid.org/0000-0001-7851-9193","observed_orcids":["https://orcid.org/0000-0001-7851-9193"]},"institutions":[{"id":"https://openalex.org/I170486558","display_name":"Universitat Pompeu Fabra","ror":"https://ror.org/04n0g0b29","country_code":"ES","type":"education","lineage":["https://openalex.org/I170486558"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Luis Ferraz","raw_affiliation_strings":["Department of Information and Communication Technologies, UPF, Barcelona, Spain","Dept. of Inf. & Commun. Technol., UPF, Barcelona, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Information and Communication Technologies, UPF, Barcelona, Spain","institution_ids":["https://openalex.org/I170486558"]},{"raw_affiliation_string":"Dept. of Inf. & Commun. Technol., UPF, Barcelona, Spain","institution_ids":["https://openalex.org/I170486558"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005841775","display_name":"Xavier Binefa","orcid":"https://orcid.org/0000-0002-4324-9952","observed_orcids":["https://orcid.org/0000-0002-4324-9952"]},"institutions":[{"id":"https://openalex.org/I170486558","display_name":"Universitat Pompeu Fabra","ror":"https://ror.org/04n0g0b29","country_code":"ES","type":"education","lineage":["https://openalex.org/I170486558"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Xavier Binefa","raw_affiliation_strings":["Department of Information and Communication Technologies, UPF, Barcelona, Spain","Dept. of Inf. & Commun. Technol., UPF, Barcelona, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Information and Communication Technologies, UPF, Barcelona, Spain","institution_ids":["https://openalex.org/I170486558"]},{"raw_affiliation_string":"Dept. of Inf. & Commun. Technol., UPF, Barcelona, Spain","institution_ids":["https://openalex.org/I170486558"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5106691454","display_name":"Francesc Moreno-Noguer","orcid":"https://orcid.org/0000-0002-8640-684X","observed_orcids":["https://orcid.org/0000-0002-8640-684X"]},"institutions":[{"id":"https://openalex.org/I4210093282","display_name":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial","ror":"https://ror.org/00mcdyn90","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210093282","https://openalex.org/I9617848"]},{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Francesc Moreno-Noguer","raw_affiliation_strings":["Institut de Robotica i Informatica Industrial, Barcelona, Catalunya, ES","Inst. de Robot. i Inf. Ind., UPC, Barcelona, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institut de Robotica i Informatica Industrial, Barcelona, Catalunya, ES","institution_ids":["https://openalex.org/I4210093282"]},{"raw_affiliation_string":"Inst. de Robot. i Inf. Ind., UPC, Barcelona, Spain","institution_ids":["https://openalex.org/I4210093282","https://openalex.org/I9617848"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":7.1672,"has_fulltext":true,"cited_by_count":200,"citation_normalized_percentile":{"value":0.9822882,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"501","last_page":"508"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.6104000210762024,"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":0.6104000210762024,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.15880000591278076,"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/T12549","display_name":"Image and Object Detection Techniques","score":0.0885000005364418,"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/perspective-n-point-problem","display_name":"perspective-n-point problem","score":0.9020000100135803},{"id":"https://openalex.org/keywords/pose-estimation","display_name":"pose estimation","score":0.9369999766349792},{"id":"https://openalex.org/keywords/outlier-removal","display_name":"outlier removal","score":0.9729999899864197},{"id":"https://openalex.org/keywords/null-space","display_name":"null space","score":0.7429999709129333},{"id":"https://openalex.org/keywords/real-time-pose-estimation","display_name":"real-time pose estimation","score":0.6470000147819519},{"id":"https://openalex.org/keywords/2d-3d-correspondence","display_name":"2D-3D correspondence","score":0.8370000123977661},{"id":"https://openalex.org/keywords/outlier-robustness","display_name":"outlier robustness","score":0.765999972820282}],"concepts":[{"id":"https://openalex.org/C114744707","wikidata":"https://www.wikidata.org/wiki/Q218533","display_name":"RANSAC","level":3,"score":0.9228053092956543},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.8507019281387329},{"id":"https://openalex.org/C203763787","wikidata":"https://www.wikidata.org/wiki/Q371029","display_name":"Null (SQL)","level":2,"score":0.5394154191017151},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.5336709022521973},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5243204832077026},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4967968761920929},{"id":"https://openalex.org/C9376300","wikidata":"https://www.wikidata.org/wiki/Q168817","display_name":"Algebraic number","level":2,"score":0.4616021513938904},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4141186475753784},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.391180157661438},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3080267906188965},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.14692160487174988},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.09297028183937073},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0}],"mesh":[],"locations_count":6,"locations":[{"id":"doi:10.1109/cvpr.2014.71","doi":"https://doi.org/10.1109/cvpr.2014.71","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cvpr.2014.71","pdf_url":null,"source":{"id":"https://openalex.org/S4210176548","display_name":"IEEE Computer Society Conference on Computer Vision and Pattern Recognition/Proceedings - IEEE Computer Society Conference on Computer Vision and Pattern Recognition/Proceedings","issn_l":"1063-6919","issn":["1063-6919","2332-564X","2575-7075"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE Conference on Computer Vision and Pattern Recognition","raw_type":"proceedings-article"},{"id":"pmh:oai:upcommons.upc.edu:2117/76612","doi":null,"is_oa":true,"landing_page_url":"https://hdl.handle.net/2117/76612","pdf_url":"https://upcommons.upc.edu/bitstreams/3676449f-8f32-4ebb-bed9-7f452a70d586/download","source":{"id":"https://openalex.org/S4377196262","display_name":"UPCommons institutional repository (Universitat Polit\u00e8cnica de Catalunya)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I9617848","host_organization_name":"Universitat Polit\u00e8cnica de Catalunya","host_organization_lineage":["https://openalex.org/I9617848"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference report"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.639.559","doi":null,"is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.639.559","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.iri.upc.edu/people/fmoreno/Publications/2014/Ferraz_cvpr2014.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.654.460","doi":null,"is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.654.460","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.iri.upc.edu/files/scidoc/1579-Very-Fast-Solution-to-the-PnP-Problem-with-Algebraic-Outlier-Rejection.pdf","raw_type":"text"},{"id":"pmh:oai:digital.csic.es:10261/127304","doi":null,"is_oa":true,"landing_page_url":"http://hdl.handle.net/10261/127304","pdf_url":null,"source":{"id":"https://openalex.org/S4306400616","display_name":"DIGITAL.CSIC (Spanish National Research Council (CSIC))","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I134820265","host_organization_name":"Consejo Superior de Investigaciones Cient\u00edficas","host_organization_lineage":["https://openalex.org/I134820265"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Art\u00edculo"},{"id":"pmh:oai:recercat.cat:2072/254023","doi":null,"is_oa":true,"landing_page_url":"http://hdl.handle.net/2117/76612","pdf_url":null,"source":{"id":"https://openalex.org/S4306402147","display_name":"RECERCAT (Consorci de Serveis Universitaris de Catalunya)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I4210090028","host_organization_name":"Consorci de Serveis Universitaris de Catalunya","host_organization_lineage":["https://openalex.org/I4210090028"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:upcommons.upc.edu:2117/76612","doi":null,"is_oa":true,"landing_page_url":"https://hdl.handle.net/2117/76612","pdf_url":"https://upcommons.upc.edu/bitstreams/3676449f-8f32-4ebb-bed9-7f452a70d586/download","source":{"id":"https://openalex.org/S4377196262","display_name":"UPCommons institutional repository (Universitat Polit\u00e8cnica de Catalunya)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I9617848","host_organization_name":"Universitat Polit\u00e8cnica de Catalunya","host_organization_lineage":["https://openalex.org/I9617848"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference report"},"sustainable_development_goals":[],"sustainable_development_goals_aurora":[],"study_designs":[],"awards":[{"id":"https://openalex.org/G5220784469","display_name":"Annotation de donn\u00e9es visuelles avec des descriptions s\u00e9mantiques","funder_award_id":"ANR-12-CHRI-0002","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"}],"funders":[{"id":"https://openalex.org/F4320320883","display_name":"Agence Nationale de la Recherche","ror":"https://ror.org/00rbzpz17"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W1975461372.pdf","grobid_xml":"https://content.openalex.org/works/W1975461372.grobid-xml"},"referenced_works_count":34,"referenced_works":["https://openalex.org/W1513013675","https://openalex.org/W1976214939","https://openalex.org/W1981609785","https://openalex.org/W1984667320","https://openalex.org/W1991544872","https://openalex.org/W2026888851","https://openalex.org/W2027543669","https://openalex.org/W2033819227","https://openalex.org/W2036273537","https://openalex.org/W2042799324","https://openalex.org/W2046335473","https://openalex.org/W2061781270","https://openalex.org/W2065162099","https://openalex.org/W2079255216","https://openalex.org/W2085261163","https://openalex.org/W2095627417","https://openalex.org/W2096758544","https://openalex.org/W2097649661","https://openalex.org/W2106199912","https://openalex.org/W2111722205","https://openalex.org/W2113622401","https://openalex.org/W2115001439","https://openalex.org/W2122612384","https://openalex.org/W2125741068","https://openalex.org/W2134237713","https://openalex.org/W2139103507","https://openalex.org/W2142482451","https://openalex.org/W2145962650","https://openalex.org/W2151103935","https://openalex.org/W2155056756","https://openalex.org/W2162440713","https://openalex.org/W2168104347","https://openalex.org/W2489822048","https://openalex.org/W3021282624"],"related_works":["https://openalex.org/W2131378265","https://openalex.org/W2984240274","https://openalex.org/W2981196697","https://openalex.org/W3012182724","https://openalex.org/W2115876589","https://openalex.org/W1988708904","https://openalex.org/W2091196744","https://openalex.org/W2769402452","https://openalex.org/W2091258128","https://openalex.org/W1983540692"],"abstract_inverted_index":{"We":[0],"propose":[1],"a":[2,36,53,64],"real-time,":[3],"robust":[4],"to":[5,10,45,148,169],"outliers":[6],"and":[7,40,92,126,173],"accurate":[8],"solution":[9,20,71,103,160],"the":[11,27,31,70,84,89,105,124,133],"Perspective-n-Point":[12],"(PnP)":[13],"problem.":[14],"The":[15],"main":[16],"advantages":[17],"of":[18,49,55,83,104,143,171],"our":[19,109,159],"are":[21,80,93],"twofold:":[22],"first,":[23],"it":[24],"in-":[25],"tegrates":[26],"outlier":[28,110],"rejection":[29],"within":[30],"pose":[32,60],"estimation":[33,61],"pipeline":[34],"with":[35,167],"negligible":[37],"computational":[38],"overhead,":[39],"sec-":[41],"ond,":[42],"its":[43,74],"scalability":[44],"arbitrarily":[46],"large":[47],"number":[48],"correspon-":[50],"dences.":[51],"Given":[52],"set":[54],"3D-to-2D":[56],"matches,":[57],"we":[58,139],"formulate":[59],"problem":[62],"as":[63],"low-rank":[65],"homogeneous":[66],"sys-":[67],"tem":[68],"where":[69],"lies":[72],"on":[73,99,115,132],"1D":[75],"null":[76,90,106],"space.":[77,107],"Outlier":[78],"correspondences":[79,179],"those":[81],"rows":[82],"linear":[85],"system":[86],"which":[87,119],"perturb":[88],"space":[91],"progressively":[94],"detected":[95],"by":[96],"projecting":[97],"them":[98],"an":[100,116],"iteratively":[101],"estimated":[102],"Since":[108],"removal":[111],"process":[112,175],"is":[113],"based":[114],"algebraic":[117],"criterion":[118],"does":[120],"not":[121],"require":[122],"computing":[123],"full-pose":[125],"reprojecting":[127],"back":[128],"all":[129],"3D":[130],"points":[131],"image":[134],"plane":[135],"at":[136],"each":[137],"step,":[138],"achieve":[140],"speed":[141],"gains":[142],"more":[144,176],"than":[145,177,182],"100\u00d7":[146],"compared":[147],"RANSAC":[149],"strategies.":[150],"An":[151],"extensive":[152],"exper-":[153],"imental":[154],"evaluation":[155],"will":[156],"show":[157],"that":[158],"yields":[161],"accu-":[162],"rate":[163],"results":[164],"in":[165,180],"situations":[166],"up":[168],"50%":[170],"outliers,":[172],"can":[174],"1000":[178],"less":[181],"5ms.":[183]},"counts_by_year":[{"year":2026,"cited_by_count":12},{"year":2025,"cited_by_count":15},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":19},{"year":2022,"cited_by_count":15},{"year":2021,"cited_by_count":25},{"year":2020,"cited_by_count":24},{"year":2019,"cited_by_count":18},{"year":2018,"cited_by_count":18},{"year":2017,"cited_by_count":14},{"year":2016,"cited_by_count":15},{"year":2015,"cited_by_count":8},{"year":2014,"cited_by_count":3}],"updated_date":"2026-10-16T09:59:22.235173","created_date":"2025-10-10T00:00:00"}
