{"id":"https://openalex.org/W7119466108","doi":"https://doi.org/10.1007/s11263-025-02657-3","title":"Are Minimal Radial Distortion Solvers Really Necessary for Relative Pose Estimation?","display_name":"Are Minimal Radial Distortion Solvers Really Necessary for Relative Pose Estimation?","publication_year":2026,"publication_date":"2026-01-09","ids":{"openalex":"https://openalex.org/W7119466108","doi":"https://doi.org/10.1007/s11263-025-02657-3","pmid":"https://pubmed.ncbi.nlm.nih.gov/41523951"},"language":"en","primary_location":{"id":"doi:10.1007/s11263-025-02657-3","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s11263-025-02657-3","pdf_url":"https://link.springer.com/content/pdf/10.1007/s11263-025-02657-3.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","license_id":"https://openalex.org/licenses/cc-by","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","pubmed"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://link.springer.com/content/pdf/10.1007/s11263-025-02657-3.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Viktor Kocur","orcid":"https://orcid.org/0000-0001-8752-2685"},"institutions":[{"id":"https://openalex.org/I74788687","display_name":"Comenius University Bratislava","ror":"https://ror.org/0587ef340","country_code":"SK","type":"education","lineage":["https://openalex.org/I74788687"]}],"countries":["SK"],"is_corresponding":false,"raw_author_name":"Viktor Kocur","raw_affiliation_strings":["Faculty of Mathematics, Physics and Informatics, Comenius University Bratislava, Bratislava, Slovakia"],"raw_orcid":"https://orcid.org/0000-0001-8752-2685","affiliations":[{"raw_affiliation_string":"Faculty of Mathematics, Physics and Informatics, Comenius University Bratislava, Bratislava, Slovakia","institution_ids":["https://openalex.org/I74788687"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051757549","display_name":"Charalambos Tzamos","orcid":"https://orcid.org/0000-0001-7029-6431"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":true,"raw_author_name":"Charalambos Tzamos","raw_affiliation_strings":["Visual Recognition Group, Faculty of Electrical Engineering, Czech Technical University in Prague, Prague, Czech Republic"],"raw_orcid":"https://orcid.org/0000-0001-7029-6431","affiliations":[{"raw_affiliation_string":"Visual Recognition Group, Faculty of Electrical Engineering, Czech Technical University in Prague, Prague, Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5122341654","display_name":"Yaqing Ding","orcid":null},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Yaqing Ding","raw_affiliation_strings":["Visual Recognition Group, Faculty of Electrical Engineering, Czech Technical University in Prague, Prague, Czech Republic"],"raw_orcid":"https://orcid.org/0000-0002-7448-6686","affiliations":[{"raw_affiliation_string":"Visual Recognition Group, Faculty of Electrical Engineering, Czech Technical University in Prague, Prague, Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070554177","display_name":"Zuzana Berger Haladov\u00e1","orcid":"https://orcid.org/0000-0002-5947-8063"},"institutions":[{"id":"https://openalex.org/I74788687","display_name":"Comenius University Bratislava","ror":"https://ror.org/0587ef340","country_code":"SK","type":"education","lineage":["https://openalex.org/I74788687"]}],"countries":["SK"],"is_corresponding":false,"raw_author_name":"Zuzana Berger Haladova","raw_affiliation_strings":["Faculty of Mathematics, Physics and Informatics, Comenius University Bratislava, Bratislava, Slovakia"],"raw_orcid":"https://orcid.org/0000-0002-5947-8063","affiliations":[{"raw_affiliation_string":"Faculty of Mathematics, Physics and Informatics, Comenius University Bratislava, Bratislava, Slovakia","institution_ids":["https://openalex.org/I74788687"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011683384","display_name":"Torsten Sattler","orcid":"https://orcid.org/0000-0001-9760-4553"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Torsten Sattler","raw_affiliation_strings":["Czech Institute of Informatics, Robotics and Cybernetics, Czech Technical University in Prague, Prague, Czech Republic"],"raw_orcid":"https://orcid.org/0000-0001-9760-4553","affiliations":[{"raw_affiliation_string":"Czech Institute of Informatics, Robotics and Cybernetics, Czech Technical University in Prague, Prague, Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"last","author":{"id":null,"display_name":"Zuzana Kukelova","orcid":"https://orcid.org/0000-0002-1916-8829"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Zuzana Kukelova","raw_affiliation_strings":["Visual Recognition Group, Faculty of Electrical Engineering, Czech Technical University in Prague, Prague, Czech Republic"],"raw_orcid":"https://orcid.org/0000-0002-1916-8829","affiliations":[{"raw_affiliation_string":"Visual Recognition Group, Faculty of Electrical Engineering, Czech Technical University in Prague, Prague, Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5051757549"],"corresponding_institution_ids":["https://openalex.org/I44504214"],"apc_list":{"value":3690,"currency":"USD","value_usd":3690},"apc_paid":{"value":3690,"currency":"USD","value_usd":3690},"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.03721141,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"134","issue":"2","first_page":"48","last_page":"48"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10638","display_name":"Optical measurement and interference techniques","score":0.5066999793052673,"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/T10638","display_name":"Optical measurement and interference techniques","score":0.5066999793052673,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.1979999989271164,"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":0.06610000133514404,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/distortion","display_name":"Distortion (music)","score":0.7084000110626221},{"id":"https://openalex.org/keywords/solver","display_name":"Solver","score":0.5906000137329102},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.54339998960495},{"id":"https://openalex.org/keywords/pinhole","display_name":"Pinhole (optics)","score":0.4945000112056732},{"id":"https://openalex.org/keywords/ransac","display_name":"RANSAC","score":0.4496999979019165},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.4205999970436096}],"concepts":[{"id":"https://openalex.org/C126780896","wikidata":"https://www.wikidata.org/wiki/Q899871","display_name":"Distortion (music)","level":4,"score":0.7084000110626221},{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.5906000137329102},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.54339998960495},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5241000056266785},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5084999799728394},{"id":"https://openalex.org/C2776700484","wikidata":"https://www.wikidata.org/wiki/Q15832623","display_name":"Pinhole (optics)","level":2,"score":0.4945000112056732},{"id":"https://openalex.org/C114744707","wikidata":"https://www.wikidata.org/wiki/Q218533","display_name":"RANSAC","level":3,"score":0.4496999979019165},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.42829999327659607},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.4205999970436096},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4117000102996826},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.38960000872612},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.37599998712539673},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3467000126838684},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.2847000062465668},{"id":"https://openalex.org/C199996500","wikidata":"https://www.wikidata.org/wiki/Q14369636","display_name":"Pinhole camera model","level":4,"score":0.26910001039505005},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.2648000121116638},{"id":"https://openalex.org/C2776374813","wikidata":"https://www.wikidata.org/wiki/Q313742","display_name":"Pinhole camera","level":2,"score":0.2648000121116638}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1007/s11263-025-02657-3","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s11263-025-02657-3","pdf_url":"https://link.springer.com/content/pdf/10.1007/s11263-025-02657-3.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","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Computer Vision","raw_type":"journal-article"},{"id":"pmid:41523951","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/41523951","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International journal of computer vision","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:12789112","is_oa":true,"landing_page_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC12789112/","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Int J Comput Vis","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.1007/s11263-025-02657-3","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s11263-025-02657-3","pdf_url":"https://link.springer.com/content/pdf/10.1007/s11263-025-02657-3.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","license_id":"https://openalex.org/licenses/cc-by","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/G2395073413","display_name":null,"funder_award_id":"22-23183M","funder_id":"https://openalex.org/F4320321006","funder_display_name":"Grantov\u00e1 Agentura \u010cesk\u00e9 Republiky"},{"id":"https://openalex.org/G5445372856","display_name":null,"funder_award_id":"IIS-1160995","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G7758855706","display_name":null,"funder_award_id":"311070AKF2","funder_id":"https://openalex.org/F4320335322","funder_display_name":"European Regional Development Fund"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320321006","display_name":"Grantov\u00e1 Agentura \u010cesk\u00e9 Republiky","ror":"https://ror.org/01pv73b02"},{"id":"https://openalex.org/F4320335322","display_name":"European Regional Development Fund","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W7119466108.pdf"},"referenced_works_count":44,"referenced_works":["https://openalex.org/W226250005","https://openalex.org/W1608655332","https://openalex.org/W1612997784","https://openalex.org/W1660742177","https://openalex.org/W2009529232","https://openalex.org/W2044807529","https://openalex.org/W2054157433","https://openalex.org/W2085261163","https://openalex.org/W2102756793","https://openalex.org/W2103569660","https://openalex.org/W2109635530","https://openalex.org/W2111073598","https://openalex.org/W2114274324","https://openalex.org/W2125774547","https://openalex.org/W2129201358","https://openalex.org/W2129730824","https://openalex.org/W2130017587","https://openalex.org/W2133813984","https://openalex.org/W2143221441","https://openalex.org/W2150207818","https://openalex.org/W2171271990","https://openalex.org/W2208111078","https://openalex.org/W2241715387","https://openalex.org/W2396274919","https://openalex.org/W2471962767","https://openalex.org/W2495591376","https://openalex.org/W2522940611","https://openalex.org/W2535547924","https://openalex.org/W2737777105","https://openalex.org/W2741885505","https://openalex.org/W2922243907","https://openalex.org/W2962705366","https://openalex.org/W2962828767","https://openalex.org/W3010242131","https://openalex.org/W3043075211","https://openalex.org/W3089477233","https://openalex.org/W3120162918","https://openalex.org/W3174324062","https://openalex.org/W4386076020","https://openalex.org/W4386076178","https://openalex.org/W4390872507","https://openalex.org/W4390874553","https://openalex.org/W4404199195","https://openalex.org/W4410706534"],"related_works":[],"abstract_inverted_index":{"Estimating":[0],"the":[1,109,119,132],"relative":[2,21,194],"pose":[3,22,195],"between":[4],"two":[5,84],"cameras":[6,44,182],"is":[7,24,178],"a":[8,27,31,126,140,171,184],"fundamental":[9],"step":[10],"in":[11,70,164],"many":[12],"applications":[13],"such":[14],"as":[15],"Structure-from-Motion.":[16],"The":[17,95,122],"common":[18],"approach":[19,97,124],"to":[20,25,53,117,130],"estimation":[23,196],"apply":[26],"minimal":[28,58,91,157],"solver":[29,102],"inside":[30],"RANSAC":[32],"loop.":[33],"Highly":[34],"efficient":[35,100],"solvers":[36,61,82,160],"exist":[37],"for":[38,114,193],"pinhole":[39,67,101,120],"cameras.":[40],"Yet,":[41],"(nearly)":[42],"all":[43],"exhibit":[45],"radial":[46,50,59,80,92,105,158,175,198],"distortion.":[47],"Not":[48],"modeling":[49],"distortion":[51,60,81,93,133,159,199],"leads":[52],"(significantly)":[54],"worse":[55],"results.":[56],"However,":[57],"are":[62,112,161,200],"significantly":[63],"more":[64],"complex":[65,156],"than":[66,136],"solvers,":[68],"both":[69],"terms":[71],"of":[72,142,174],"run-time":[73],"and":[74,150,189],"implementation":[75],"efforts.":[76],"This":[77],"paper":[78],"compares":[79],"with":[83,103],"simple-to-implement":[85],"approaches":[86],"that":[87,155],"do":[88],"not":[89,162],"use":[90],"solvers:":[94],"first":[96],"combines":[98],"an":[99],"sampled":[104,110],"undistortion":[106,115,176],"parameters,":[107],"where":[108],"parameters":[111,134,177],"used":[113],"prior":[116,186],"applying":[118],"solver.":[121],"second":[123],"uses":[125],"state-of-the-art":[127],"neural":[128],"network":[129],"estimate":[131],"rather":[135],"sampling":[137,173],"them":[138],"from":[139],"set":[141],"potential":[143],"values.":[144],"Extensive":[145],"experiments":[146],"on":[147],"multiple":[148],"datasets,":[149],"different":[151],"camera":[152],"setups,":[153],"show":[154],"necessary":[163],"practice.":[165],"We":[166],"discuss":[167],"under":[168,197],"which":[169],"conditions":[170],"simple":[172],"preferable":[179],"over":[180],"calibrating":[181],"using":[183],"learning-based":[185],"approach.":[187],"Code":[188],"newly":[190],"created":[191],"benchmark":[192],"available":[201],"at":[202],"https://github.com/kocurvik/rdnet.":[203]},"counts_by_year":[],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2026-01-09T00:00:00"}