{"id":"https://openalex.org/W2991360464","doi":"https://doi.org/10.1109/ismar.2019.00017","title":"Camera Relocalization with Ellipsoidal Abstraction of Objects","display_name":"Camera Relocalization with Ellipsoidal Abstraction of Objects","publication_year":2019,"publication_date":"2019-10-01","ids":{"openalex":"https://openalex.org/W2991360464","doi":"https://doi.org/10.1109/ismar.2019.00017","mag":"2991360464"},"language":"en","primary_location":{"id":"doi:10.1109/ismar.2019.00017","doi":"https://doi.org/10.1109/ismar.2019.00017","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ismar.2019.00017","pdf_url":null,"source":{"id":"https://openalex.org/S4393917577","display_name":"Proceedings - International Symposium on Mixed and Augmented Reality, ISMAR","issn_l":"1554-7868","issn":["1554-7868"],"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":["jufo-1"],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Symposium on Mixed and Augmented Reality (ISMAR)","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","is_traditional":true,"indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-02170784","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5034669428","display_name":"Vincent Gaudilli\u00e8re","orcid":"https://orcid.org/0000-0002-6498-7823","observed_orcids":["https://orcid.org/0000-0002-6498-7823"]},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I4210121838","display_name":"Laboratoire Lorrain de Recherche en Informatique et ses Applications","ror":"https://ror.org/02vnf0c38","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I277688954","https://openalex.org/I4210107720","https://openalex.org/I4210121838","https://openalex.org/I4210159245","https://openalex.org/I90183372"]},{"id":"https://openalex.org/I90183372","display_name":"Universit\u00e9 de Lorraine","ror":"https://ror.org/04vfs2w97","country_code":"FR","type":"education","lineage":["https://openalex.org/I90183372"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Vincent Gaudilliere","raw_affiliation_strings":["CNRS, Inria, LORIA, Universite de Lorraine, Nancy, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CNRS, Inria, LORIA, Universite de Lorraine, Nancy, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I4210121838","https://openalex.org/I90183372"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002741098","display_name":"Gilles Simon","orcid":"https://orcid.org/0000-0002-5909-6524","observed_orcids":["https://orcid.org/0000-0002-5909-6524"]},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I4210121838","display_name":"Laboratoire Lorrain de Recherche en Informatique et ses Applications","ror":"https://ror.org/02vnf0c38","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I277688954","https://openalex.org/I4210107720","https://openalex.org/I4210121838","https://openalex.org/I4210159245","https://openalex.org/I90183372"]},{"id":"https://openalex.org/I90183372","display_name":"Universit\u00e9 de Lorraine","ror":"https://ror.org/04vfs2w97","country_code":"FR","type":"education","lineage":["https://openalex.org/I90183372"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Gilles Simon","raw_affiliation_strings":["CNRS, Inria, LORIA, Universite de Lorraine, Nancy, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CNRS, Inria, LORIA, Universite de Lorraine, Nancy, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I4210121838","https://openalex.org/I90183372"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5027151885","display_name":"Marie\u2010Odile Berger","orcid":"https://orcid.org/0000-0002-9371-1367","observed_orcids":["https://orcid.org/0000-0002-9371-1367"]},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I4210121838","display_name":"Laboratoire Lorrain de Recherche en Informatique et ses Applications","ror":"https://ror.org/02vnf0c38","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I277688954","https://openalex.org/I4210107720","https://openalex.org/I4210121838","https://openalex.org/I4210159245","https://openalex.org/I90183372"]},{"id":"https://openalex.org/I90183372","display_name":"Universit\u00e9 de Lorraine","ror":"https://ror.org/04vfs2w97","country_code":"FR","type":"education","lineage":["https://openalex.org/I90183372"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Marie-Odile Berger","raw_affiliation_strings":["CNRS, Inria, LORIA, Universite de Lorraine, Nancy, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CNRS, Inria, LORIA, Universite de Lorraine, Nancy, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I4210121838","https://openalex.org/I90183372"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.97,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.84465743,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":88,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"8","last_page":"18"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9473000168800354,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9473000168800354,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.020800000056624413,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.007699999958276749,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/camera-relocalization","display_name":"camera relocalization","score":0.9919999837875366},{"id":"https://openalex.org/keywords/elliptic-approximation","display_name":"elliptic approximation","score":0.5839999914169312},{"id":"https://openalex.org/keywords/object-detection","display_name":"object detection","score":0.5910000205039978},{"id":"https://openalex.org/keywords/gps-denied-environments","display_name":"GPS-denied environments","score":0.8289999961853027},{"id":"https://openalex.org/keywords/indoor-positioning","display_name":"indoor positioning","score":0.6859999895095825},{"id":"https://openalex.org/keywords/vanishing-point","display_name":"vanishing points","score":0.5770000219345093},{"id":"https://openalex.org/keywords/reprojection-error","display_name":"reprojection error","score":0.7160000205039978},{"id":"https://openalex.org/keywords/linemod","display_name":"LINEMOD","score":0.6499999761581421},{"id":"https://openalex.org/keywords/yolo","display_name":"YOLO","score":0.9629999995231628}],"concepts":[{"id":"https://openalex.org/C57489055","wikidata":"https://www.wikidata.org/wiki/Q190046","display_name":"Ellipsoid","level":2,"score":0.8271541595458984},{"id":"https://openalex.org/C74261601","wikidata":"https://www.wikidata.org/wiki/Q40112","display_name":"Ellipse","level":2,"score":0.8223476409912109},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6773750185966492},{"id":"https://openalex.org/C23903533","wikidata":"https://www.wikidata.org/wiki/Q17122739","display_name":"Reprojection error","level":3,"score":0.6749200224876404},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.6729740500450134},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6686383485794067},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6340717077255249},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6204612851142883},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.5784848928451538},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5294981598854065},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.5253507494926453},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.42951512336730957},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.418843150138855},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3564709722995758},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.26394444704055786},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.18351632356643677},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.15557897090911865},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C105580179","wikidata":"https://www.wikidata.org/wiki/Q188928","display_name":"Messenger RNA","level":3,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ismar.2019.00017","doi":"https://doi.org/10.1109/ismar.2019.00017","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ismar.2019.00017","pdf_url":null,"source":{"id":"https://openalex.org/S4393917577","display_name":"Proceedings - International Symposium on Mixed and Augmented Reality, ISMAR","issn_l":"1554-7868","issn":["1554-7868"],"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":["jufo-1"],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Symposium on Mixed and Augmented Reality (ISMAR)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-02170784v1","doi":null,"is_oa":true,"landing_page_url":"https://hal.science/hal-02170784","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I4405252976","host_organization_name":"Centre pour la Communication Scientifique Directe","host_organization_lineage":["https://openalex.org/I4405252976"],"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":"ISMAR 2019 - 18th IEEE International Symposium on Mixed and Augmented Reality, Oct 2019, Beijing, China. pp.19-29, &#x27E8;10.1109/ISMAR.2019.00017&#x27E9;","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-02170784v1","doi":null,"is_oa":true,"landing_page_url":"https://hal.science/hal-02170784","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I4405252976","host_organization_name":"Centre pour la Communication Scientifique Directe","host_organization_lineage":["https://openalex.org/I4405252976"],"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":"ISMAR 2019 - 18th IEEE International Symposium on Mixed and Augmented Reality, Oct 2019, Beijing, China. pp.19-29, &#x27E8;10.1109/ISMAR.2019.00017&#x27E9;","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W639708223","https://openalex.org/W1483870316","https://openalex.org/W1526868886","https://openalex.org/W1536680647","https://openalex.org/W1798868054","https://openalex.org/W1991544872","https://openalex.org/W2000433020","https://openalex.org/W2016100925","https://openalex.org/W2017587562","https://openalex.org/W2021851106","https://openalex.org/W2033819227","https://openalex.org/W2083361907","https://openalex.org/W2085261163","https://openalex.org/W2129201358","https://openalex.org/W2151103935","https://openalex.org/W2282685806","https://openalex.org/W2284029970","https://openalex.org/W2313038810","https://openalex.org/W2320444803","https://openalex.org/W2348809881","https://openalex.org/W2465106705","https://openalex.org/W2570343428","https://openalex.org/W2610694266","https://openalex.org/W2768840867","https://openalex.org/W2768879211","https://openalex.org/W2773365015","https://openalex.org/W2779423082","https://openalex.org/W2796347433","https://openalex.org/W2797394534","https://openalex.org/W2798909945","https://openalex.org/W2887751724","https://openalex.org/W2889493913","https://openalex.org/W2904859695","https://openalex.org/W2911355490","https://openalex.org/W2963150697","https://openalex.org/W3106250896","https://openalex.org/W6631711059","https://openalex.org/W6750227808","https://openalex.org/W6750445966","https://openalex.org/W6758369597"],"related_works":["https://openalex.org/W4400727717","https://openalex.org/W4220952175","https://openalex.org/W4311841579","https://openalex.org/W4404229608","https://openalex.org/W4311912364","https://openalex.org/W7165771546","https://openalex.org/W4362598787","https://openalex.org/W4281981430","https://openalex.org/W7147352814","https://openalex.org/W3126254937"],"abstract_inverted_index":{"We":[0,41,87,104],"are":[1,142],"interested":[2],"in":[3,9,31,39,43,66,85,106,263],"AR":[4],"applications":[5],"which":[6,33,51],"take":[7],"place":[8],"man-made":[10],"GPS-denied":[11],"environments,":[12,20],"as":[13],"industrial":[14],"or":[15,132],"indoor":[16],"scenes.":[17],"In":[18,242],"such":[19],"relocalization":[21,50],"may":[22],"fail":[23],"due":[24,238,244],"to":[25,202,234,239,245,258],"repeated":[26,240],"patterns":[27],"and":[28,58,92,211],"large":[29,264],"changes":[30,38],"appearance":[32],"occur":[34],"even":[35,262],"for":[36,49,97,126],"small":[37,247],"viewpoint.":[40],"investigate":[42],"this":[44,107],"paper":[45,108],"a":[46,94,147,188],"new":[47,95],"method":[48,96,165,183,254],"operates":[52],"at":[53,227],"the":[54,62,73,109,118,122,134,152,164,169,179,182,204,219,228,246],"level":[55,229],"of":[56,61,82,117,121,136,151,163,181,190,207,218,222,230],"objects":[57,83],"takes":[59],"advantage":[60],"impressive":[63],"progress":[64],"realized":[65],"object":[67,76,191,231,251],"detection.":[68],"Recent":[69],"works":[70],"have":[71],"opened":[72],"way":[74],"towards":[75],"oriented":[77],"reconstruction":[78],"from":[79,133,157,187],"elliptic":[80],"approximation":[81],"detected":[84],"images.":[86],"go":[88],"one":[89,158,174],"step":[90],"further":[91],"propose":[93],"pose":[98,123,226],"computation":[99],"based":[100,213],"on":[101,168,184,214],"ellipse/ellipsoid":[102],"correspondences.":[103],"consider":[105],"practical":[110],"common":[111,236],"case":[112],"where":[113],"an":[114,129,215],"initial":[115],"guess":[116],"rotation":[119],"matrix":[120],"is":[124,166,200,209,212,255],"known,":[125],"instance":[127],"with":[128],"inertial":[130],"sensor":[131],"estimation":[135,217],"orthogonal":[137],"vanishing":[138],"points.":[139],"Our":[140],"contributions":[141],"twofold:":[143],"we":[144,177],"prove":[145,178],"that":[146,199],"closed":[148],"form":[149],"estimate":[150],"translation":[153],"can":[154],"be":[155],"computed":[156],"ellipse-ellipsoid":[159],"correspondence.":[160,175],"The":[161],"accuracy":[162],"assessed":[167],"LINEMOD":[170],"database":[171],"using":[172],"only":[173],"Second,":[176],"effectiveness":[180],"real":[185],"scenes":[186],"set":[189,206],"detections":[192],"generated":[193],"by":[194,250],"YOLO.":[195],"A":[196],"robust":[197],"framework":[198],"able":[201],"choose":[203],"best":[205],"hypotheses":[208],"proposed":[210],"appropriate":[216],"reprojection":[220],"error":[221],"ellipsoids.":[223],"Globally,":[224],"considering":[225],"allows":[232],"us":[233],"avoid":[235],"failures":[237],"structures.":[241],"addition,":[243],"combinatory":[248],"induced":[249],"correspondences,":[252],"our":[253],"well":[256],"suited":[257],"fast":[259],"rough":[260],"localization":[261],"environments.":[265]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":7},{"year":2020,"cited_by_count":5}],"updated_date":"2026-11-07T11:25:07.637180","created_date":"2019-12-05T00:00:00"}
