{"id":"https://openalex.org/W1981985525","doi":"https://doi.org/10.1007/s11263-009-0314-1","title":"Robust Algebraic Segmentation of Mixed Rigid-Body and Planar Motions from Two Views","display_name":"Robust Algebraic Segmentation of Mixed Rigid-Body and Planar Motions from Two Views","publication_year":2010,"publication_date":"2010-01-06","ids":{"openalex":"https://openalex.org/W1981985525","doi":"https://doi.org/10.1007/s11263-009-0314-1","mag":"1981985525"},"language":"en","primary_location":{"id":"doi:10.1007/s11263-009-0314-1","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s11263-009-0314-1","pdf_url":"https://link.springer.com/content/pdf/10.1007/s11263-009-0314-1.pdf","source":{"id":"https://openalex.org/S25538012","display_name":"International Journal of Computer Vision","issn_l":"0920-5691","issn":["0920-5691","1573-1405"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Computer Vision","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://link.springer.com/content/pdf/10.1007/s11263-009-0314-1.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5111785230","display_name":"Shankar Rao","orcid":null},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]},{"id":"https://openalex.org/I200576644","display_name":"HRL Laboratories (United States)","ror":"https://ror.org/05p7te762","country_code":"US","type":"company","lineage":["https://openalex.org/I200576644"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Shankar R. Rao","raw_affiliation_strings":["Department of ECE, University of Illinois at Urbana-Champaign, Coordinate Science Laboratory, Urbana, IL, 61801, USA","HRL Laboratories, LLC, Malibu, CA, 90265, USA"],"affiliations":[{"raw_affiliation_string":"Department of ECE, University of Illinois at Urbana-Champaign, Coordinate Science Laboratory, Urbana, IL, 61801, USA","institution_ids":["https://openalex.org/I157725225"]},{"raw_affiliation_string":"HRL Laboratories, LLC, Malibu, CA, 90265, USA","institution_ids":["https://openalex.org/I200576644"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107790029","display_name":"Allen Y. Yang","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Allen Y. Yang","raw_affiliation_strings":["Department of EECS, University of California, Cory Hall, Berkeley, CA, 94720, USA"],"affiliations":[{"raw_affiliation_string":"Department of EECS, University of California, Cory Hall, Berkeley, CA, 94720, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103101043","display_name":"S. Shankar Sastry","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"S. Shankar Sastry","raw_affiliation_strings":["Department of EECS, University of California, Cory Hall, Berkeley, CA, 94720, USA"],"affiliations":[{"raw_affiliation_string":"Department of EECS, University of California, Cory Hall, Berkeley, CA, 94720, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5062841020","display_name":"Yi Ma","orcid":"https://orcid.org/0000-0001-5485-419X"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]},{"id":"https://openalex.org/I4210113369","display_name":"Microsoft Research Asia (China)","ror":"https://ror.org/0300m5276","country_code":"CN","type":"company","lineage":["https://openalex.org/I1290206253","https://openalex.org/I4210113369"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Yi Ma","raw_affiliation_strings":["Department of ECE, University of Illinois at Urbana-Champaign, Coordinate Science Laboratory, Urbana, IL, 61801, USA","Visual Computing Group, Microsoft Research Asia, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Department of ECE, University of Illinois at Urbana-Champaign, Coordinate Science Laboratory, Urbana, IL, 61801, USA","institution_ids":["https://openalex.org/I157725225"]},{"raw_affiliation_string":"Visual Computing Group, Microsoft Research Asia, Beijing, China","institution_ids":["https://openalex.org/I4210113369"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5111785230"],"corresponding_institution_ids":["https://openalex.org/I157725225","https://openalex.org/I200576644"],"apc_list":{"value":2890,"currency":"EUR","value_usd":3690},"apc_paid":{"value":2890,"currency":"EUR","value_usd":3690},"fwci":4.8489,"has_fulltext":true,"cited_by_count":51,"citation_normalized_percentile":{"value":0.95440506,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"88","issue":"3","first_page":"425","last_page":"446"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9998999834060669,"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":0.9998999834060669,"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/T12549","display_name":"Image and Object Detection Techniques","score":0.9983000159263611,"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9965000152587891,"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/ransac","display_name":"RANSAC","score":0.6752496957778931},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.5704495906829834},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.5610814094543457},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.4377089738845825},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41131383180618286},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.41088417172431946},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.38655945658683777},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.36854174733161926},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.29095572233200073}],"concepts":[{"id":"https://openalex.org/C114744707","wikidata":"https://www.wikidata.org/wiki/Q218533","display_name":"RANSAC","level":3,"score":0.6752496957778931},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.5704495906829834},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.5610814094543457},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.4377089738845825},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41131383180618286},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.41088417172431946},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.38655945658683777},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.36854174733161926},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.29095572233200073}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1007/s11263-009-0314-1","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s11263-009-0314-1","pdf_url":"https://link.springer.com/content/pdf/10.1007/s11263-009-0314-1.pdf","source":{"id":"https://openalex.org/S25538012","display_name":"International Journal of Computer Vision","issn_l":"0920-5691","issn":["0920-5691","1573-1405"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Computer Vision","raw_type":"journal-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.188.8237","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.188.8237","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.eecs.berkeley.edu/%7Eyang/paper/RaoS2010-IJCV.pdf","raw_type":"text"},{"id":"pmh:oai:escholarship.org/ark:/13030/qt33q763mg","is_oa":false,"landing_page_url":"https://escholarship.org/uc/item/33q763mg","pdf_url":null,"source":{"id":"https://openalex.org/S4306400115","display_name":"eScholarship (California Digital Library)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2801248553","host_organization_name":"California Digital Library","host_organization_lineage":["https://openalex.org/I2801248553"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"International Journal of Computer Vision, vol 88, iss 3","raw_type":"article"},{"id":"pmh:qt33q763mg","is_oa":false,"landing_page_url":"http://www.escholarship.org/uc/item/33q763mg","pdf_url":null,"source":{"id":"https://openalex.org/S4306400115","display_name":"eScholarship (California Digital Library)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2801248553","host_organization_name":"California Digital Library","host_organization_lineage":["https://openalex.org/I2801248553"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Rao, Shankar R.; Yang, Allen Y.; Sastry, S. Shankar; &amp; Ma, Yi. (2010). Robust Algebraic Segmentation of Mixed Rigid-Body and Planar Motions from Two Views. International Journal of Computer Vision, 88(3), pp 425-446. doi: 10.1007/s11263-009-0314-1. Retrieved from: http://www.escholarship.org/uc/item/33q763mg","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1007/s11263-009-0314-1","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s11263-009-0314-1","pdf_url":"https://link.springer.com/content/pdf/10.1007/s11263-009-0314-1.pdf","source":{"id":"https://openalex.org/S25538012","display_name":"International Journal of Computer Vision","issn_l":"0920-5691","issn":["0920-5691","1573-1405"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Computer Vision","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1171700966","display_name":null,"funder_award_id":"NSF CAREER","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G2273398380","display_name":null,"funder_award_id":"NSF CAREER","funder_id":"https://openalex.org/F4320338281","funder_display_name":"Army Research Office"},{"id":"https://openalex.org/G414638342","display_name":null,"funder_award_id":"W911NF-06-1-0076","funder_id":"https://openalex.org/F4320333591","funder_display_name":"Multidisciplinary University Research Initiative"},{"id":"https://openalex.org/G5968161667","display_name":null,"funder_award_id":"W911NF-06-1-0076","funder_id":"https://openalex.org/F4320338281","funder_display_name":"Army Research Office"},{"id":"https://openalex.org/G6671297155","display_name":null,"funder_award_id":"CAREER","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G7452299184","display_name":null,"funder_award_id":"W911NF","funder_id":"https://openalex.org/F4320338281","funder_display_name":"Army Research Office"},{"id":"https://openalex.org/G8003992749","display_name":"CAREER: Identifying Spatial and Dynamical Patterns from Images","funder_award_id":"0347456","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G8876996369","display_name":null,"funder_award_id":"N00014","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"},{"id":"https://openalex.org/G8998121839","display_name":null,"funder_award_id":"911NF","funder_id":"https://openalex.org/F4320338281","funder_display_name":"Army Research Office"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320310145","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95"},{"id":"https://openalex.org/F4320321652","display_name":"Eidgen\u00f6ssische Technische Hochschule Z\u00fcrich","ror":"https://ror.org/05a28rw58"},{"id":"https://openalex.org/F4320333591","display_name":"Multidisciplinary University Research Initiative","ror":null},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"},{"id":"https://openalex.org/F4320338281","display_name":"Army Research Office","ror":"https://ror.org/05epdh915"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W1981985525.pdf","grobid_xml":"https://content.openalex.org/works/W1981985525.grobid-xml"},"referenced_works_count":67,"referenced_works":["https://openalex.org/W20363889","https://openalex.org/W22745672","https://openalex.org/W151981251","https://openalex.org/W1493914388","https://openalex.org/W1498202005","https://openalex.org/W1535312509","https://openalex.org/W1564153557","https://openalex.org/W1950520880","https://openalex.org/W1977496278","https://openalex.org/W1982475475","https://openalex.org/W1989638282","https://openalex.org/W2002875082","https://openalex.org/W2003361735","https://openalex.org/W2010016312","https://openalex.org/W2012712694","https://openalex.org/W2033657798","https://openalex.org/W2046434485","https://openalex.org/W2052311585","https://openalex.org/W2058266723","https://openalex.org/W2061938589","https://openalex.org/W2085261163","https://openalex.org/W2101785650","https://openalex.org/W2102747584","https://openalex.org/W2109283026","https://openalex.org/W2115659783","https://openalex.org/W2116706028","https://openalex.org/W2118154608","https://openalex.org/W2121148353","https://openalex.org/W2125874614","https://openalex.org/W2129398018","https://openalex.org/W2133917829","https://openalex.org/W2134112196","https://openalex.org/W2137564964","https://openalex.org/W2140095548","https://openalex.org/W2142655508","https://openalex.org/W2143679755","https://openalex.org/W2144582955","https://openalex.org/W2146610201","https://openalex.org/W2149659501","https://openalex.org/W2150903798","https://openalex.org/W2151155403","https://openalex.org/W2152128146","https://openalex.org/W2152701363","https://openalex.org/W2156750336","https://openalex.org/W2160167256","https://openalex.org/W2162137128","https://openalex.org/W2162319917","https://openalex.org/W2163002569","https://openalex.org/W2164931791","https://openalex.org/W2165874743","https://openalex.org/W2166730729","https://openalex.org/W2177347332","https://openalex.org/W2295046650","https://openalex.org/W2489822048","https://openalex.org/W2592571769","https://openalex.org/W2638156142","https://openalex.org/W2801647070","https://openalex.org/W3099514962","https://openalex.org/W4231149835","https://openalex.org/W4244593923","https://openalex.org/W4250857377","https://openalex.org/W4251653680","https://openalex.org/W4252614677","https://openalex.org/W4285719527","https://openalex.org/W6684578312","https://openalex.org/W6696811036","https://openalex.org/W7052421801"],"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/W2769402452","https://openalex.org/W2091258128","https://openalex.org/W1983540692","https://openalex.org/W2553945284"],"abstract_inverted_index":{"This":[0],"paper":[1],"studies":[2],"segmentation":[3],"of":[4,53,61,92,101,111,114,123,133,158,175,204,220],"multiple":[5],"rigid-body":[6,25,54],"motions":[7,113],"in":[8,155],"a":[9,44,59,99,105,127],"3-D":[10,24,78],"dynamic":[11,19],"scene":[12],"under":[13],"perspective":[14,46,64],"camera":[15],"projection.":[16],"We":[17,164],"consider":[18],"scenes":[20],"that":[21,88,148,182],"contain":[22],"both":[23],"structures":[26],"and":[27,36,55,120,162,168,199,223],"2-D":[28],"planar":[29,56],"structures.":[30],"Based":[31],"on":[32],"the":[33,51,76,89,109,131,134,149,156,173,176,205,215,221,224],"well-known":[34],"epipolar":[35],"homography":[37],"constraints":[38],"between":[39],"two":[40,209],"views,":[41],"we":[42,66,86,146],"propose":[43,67],"hybrid":[45,63],"constraint":[47],"(HPC)":[48],"to":[49,71,75,129,138,171,210],"unify":[50],"representation":[52],"motions.":[57,141],"Given":[58],"mixture":[60],"K":[62,112],"constraints,":[65],"an":[68],"algebraic":[69],"process":[70],"partition":[72],"image":[73,93,136,160],"correspondences":[74,94],"individual":[77,135],"motions,":[79],"called":[80],"Robust":[81],"Algebraic":[82],"Segmentation":[83],"(RAS).":[84],"Particularly,":[85],"prove":[87],"joint":[90],"distribution":[91],"is":[95,207],"uniquely":[96],"determined":[97],"by":[98],"set":[100],"(2K)-th":[102],"degree":[103],"polynomials,":[104],"global":[106],"signature":[107],"for":[108],"union":[110],"possibly":[115],"mixed":[116],"type.":[117],"The":[118,179,202,218],"first":[119],"second":[121],"derivatives":[122],"these":[124],"polynomials":[125,150],"provide":[126],"means":[128],"recover":[130],"association":[132],"samples":[137],"their":[139],"respective":[140],"Finally,":[142],"using":[143],"robust":[144,191],"statistics,":[145],"show":[147],"can":[151],"be":[152],"robustly":[153],"estimated":[154],"presence":[157],"moderate":[159],"noise":[161],"outliers.":[163],"conduct":[165],"extensive":[166],"simulations":[167],"real":[169],"experiments":[170],"validate":[172],"performance":[174],"new":[177],"algorithm.":[178],"results":[180],"demonstrate":[181],"RAS":[183],"achieves":[184],"notably":[185],"higher":[186],"accuracy":[187],"than":[188,214],"most":[189],"existing":[190,216],"motion-segmentation":[192],"methods,":[193],"including":[194],"random":[195],"sample":[196],"consensus":[197],"(RANSAC)":[198],"its":[200],"variations.":[201],"implementation":[203,219],"algorithm":[206,222],"also":[208],"three":[211],"times":[212],"faster":[213],"methods.":[217],"benchmark":[225],"scripts":[226],"are":[227],"available":[228],"at":[229],"http://perception.csl.illinois.edu/ras/":[230],".":[231]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":9},{"year":2013,"cited_by_count":6},{"year":2012,"cited_by_count":3}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}
