{"id":"https://openalex.org/W2164937462","doi":"https://doi.org/10.1109/cvpr.2009.5206756","title":"Pose estimation with radial distortion and unknown focal length","display_name":"Pose estimation with radial distortion and unknown focal length","publication_year":2009,"publication_date":"2009-06-01","ids":{"openalex":"https://openalex.org/W2164937462","doi":"https://doi.org/10.1109/cvpr.2009.5206756","mag":"2164937462"},"language":"en","primary_location":{"id":"doi:10.1109/cvpr.2009.5206756","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cvpr.2009.5206756","pdf_url":null,"source":{"id":"https://openalex.org/S4363607795","display_name":"2009 IEEE Conference on Computer Vision and Pattern Recognition","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"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":"2009 IEEE Conference on Computer Vision and Pattern Recognition","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://lup.lub.lu.se/record/1391281","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5056056500","display_name":"Klas Josephson","orcid":null},"institutions":[{"id":"https://openalex.org/I187531555","display_name":"Lund University","ror":"https://ror.org/012a77v79","country_code":"SE","type":"education","lineage":["https://openalex.org/I187531555"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Klas Josephson","raw_affiliation_strings":["Centre for Mathematical Sciences, Lund University, Lund, Sweden"],"affiliations":[{"raw_affiliation_string":"Centre for Mathematical Sciences, Lund University, Lund, Sweden","institution_ids":["https://openalex.org/I187531555"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5022042838","display_name":"Martin Byr\u00f6d","orcid":null},"institutions":[{"id":"https://openalex.org/I187531555","display_name":"Lund University","ror":"https://ror.org/012a77v79","country_code":"SE","type":"education","lineage":["https://openalex.org/I187531555"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Martin Byrod","raw_affiliation_strings":["Centre for Mathematical Sciences, Lund University, Lund, Sweden"],"affiliations":[{"raw_affiliation_string":"Centre for Mathematical Sciences, Lund University, Lund, Sweden","institution_ids":["https://openalex.org/I187531555"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5056056500"],"corresponding_institution_ids":["https://openalex.org/I187531555"],"apc_list":null,"apc_paid":null,"fwci":2.1138,"has_fulltext":false,"cited_by_count":93,"citation_normalized_percentile":{"value":0.89766607,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2419","last_page":"2426"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9995999932289124,"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/T10638","display_name":"Optical measurement and interference techniques","score":0.9991999864578247,"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":0.8529502153396606},{"id":"https://openalex.org/keywords/distortion","display_name":"Distortion (music)","score":0.6643619537353516},{"id":"https://openalex.org/keywords/bundle-adjustment","display_name":"Bundle adjustment","score":0.662195086479187},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6114112138748169},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5157416462898254},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.5075422525405884},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.5057456493377686},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.4703868627548218},{"id":"https://openalex.org/keywords/focal-length","display_name":"Focal length","score":0.44671887159347534},{"id":"https://openalex.org/keywords/pixel","display_name":"Pixel","score":0.43014734983444214},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.42956677079200745},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3791987895965576},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.3246501088142395},{"id":"https://openalex.org/keywords/lens","display_name":"Lens (geology)","score":0.11549186706542969}],"concepts":[{"id":"https://openalex.org/C114744707","wikidata":"https://www.wikidata.org/wiki/Q218533","display_name":"RANSAC","level":3,"score":0.8529502153396606},{"id":"https://openalex.org/C126780896","wikidata":"https://www.wikidata.org/wiki/Q899871","display_name":"Distortion (music)","level":4,"score":0.6643619537353516},{"id":"https://openalex.org/C179458375","wikidata":"https://www.wikidata.org/wiki/Q1020763","display_name":"Bundle adjustment","level":3,"score":0.662195086479187},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6114112138748169},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5157416462898254},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.5075422525405884},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.5057456493377686},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.4703868627548218},{"id":"https://openalex.org/C82552819","wikidata":"https://www.wikidata.org/wiki/Q193540","display_name":"Focal length","level":3,"score":0.44671887159347534},{"id":"https://openalex.org/C160633673","wikidata":"https://www.wikidata.org/wiki/Q355198","display_name":"Pixel","level":2,"score":0.43014734983444214},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.42956677079200745},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3791987895965576},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.3246501088142395},{"id":"https://openalex.org/C15336307","wikidata":"https://www.wikidata.org/wiki/Q1766051","display_name":"Lens (geology)","level":2,"score":0.11549186706542969},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C194257627","wikidata":"https://www.wikidata.org/wiki/Q211554","display_name":"Amplifier","level":3,"score":0.0},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"score":0.0},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.0},{"id":"https://openalex.org/C78762247","wikidata":"https://www.wikidata.org/wiki/Q1273174","display_name":"Petroleum engineering","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/cvpr.2009.5206756","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cvpr.2009.5206756","pdf_url":null,"source":{"id":"https://openalex.org/S4363607795","display_name":"2009 IEEE Conference on Computer Vision and Pattern Recognition","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"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":"2009 IEEE Conference on Computer Vision and Pattern Recognition","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.218.6978","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.218.6978","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.maths.lth.se/vision/publdb/reports/pdf/josephson-byrod-ccvpr-09.pdf","raw_type":"text"},{"id":"pmh:oai:lup.lub.lu.se:b3ae731e-5c89-45ac-8081-d9ffee9a4a8d","is_oa":true,"landing_page_url":"https://lup.lub.lu.se/record/1391281","pdf_url":null,"source":{"id":"https://openalex.org/S4306400536","display_name":"Lund University Publications (Lund University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I187531555","host_organization_name":"Lund University","host_organization_lineage":["https://openalex.org/I187531555"],"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":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:lup.lub.lu.se:b3ae731e-5c89-45ac-8081-d9ffee9a4a8d","is_oa":true,"landing_page_url":"https://lup.lub.lu.se/record/1391281","pdf_url":null,"source":{"id":"https://openalex.org/S4306400536","display_name":"Lund University Publications (Lund University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I187531555","host_organization_name":"Lund University","host_organization_lineage":["https://openalex.org/I187531555"],"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":null,"raw_type":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/10","score":0.6499999761581421,"display_name":"Reduced inequalities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1483218536","https://openalex.org/W1579716201","https://openalex.org/W1608655332","https://openalex.org/W1677409904","https://openalex.org/W1740452793","https://openalex.org/W2021020085","https://openalex.org/W2033819227","https://openalex.org/W2058946587","https://openalex.org/W2085261163","https://openalex.org/W2095627417","https://openalex.org/W2102756793","https://openalex.org/W2103569660","https://openalex.org/W2109191068","https://openalex.org/W2120333476","https://openalex.org/W2124404372","https://openalex.org/W2125774547","https://openalex.org/W2129201358","https://openalex.org/W2129730824","https://openalex.org/W2135973942","https://openalex.org/W2142105429","https://openalex.org/W2147319124","https://openalex.org/W2150495450","https://openalex.org/W2151103935","https://openalex.org/W2319466955","https://openalex.org/W4292096448","https://openalex.org/W6636383490","https://openalex.org/W6637400245","https://openalex.org/W6681888881"],"related_works":["https://openalex.org/W2131378265","https://openalex.org/W2984240274","https://openalex.org/W4229588126","https://openalex.org/W2769402452","https://openalex.org/W2091258128","https://openalex.org/W1018308721","https://openalex.org/W1983540692","https://openalex.org/W4229059082","https://openalex.org/W4390872624","https://openalex.org/W3185102033"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,19,42,58,63,83,118],"solution":[4],"to":[5,61,92,138,177],"the":[6,12,99,106,116,131,139,172],"problem":[7],"of":[8,14,23,45,65,108,115,121],"pose":[9,40],"estimation":[10],"in":[11,111],"presence":[13],"heavy":[15],"radial":[16,34,95,109],"distortion":[17,110],"and":[18,38,53,67,148,167],"potentially":[20],"large":[21,94],"number":[22],"outliers.":[24],"The":[25],"main":[26],"contribution":[27],"is":[28,136,175],"an":[29,68,112],"algorithm":[30],"that":[31,104,161,169,171],"solves":[32],"for":[33,71],"distortion,":[35],"focal":[36],"length":[37],"camera":[39],"using":[41],"minimal":[43,88],"set":[44,64],"four":[46],"point":[47],"correspondences":[48],"between":[49],"3D":[50],"world":[51],"points":[52],"image":[54],"points.":[55],"We":[56,102],"use":[57],"RANSAC":[59,100],"loop":[60],"find":[62],"inliers":[66],"initial":[69],"estimate":[70],"bundle":[72],"adjustment.":[73],"Unlike":[74],"previous":[75],"approaches":[76],"where":[77],"one":[78],"starts":[79],"out":[80],"by":[81,168],"assuming":[82],"linear":[84],"projection":[85],"model,":[86],"our":[87],"solver":[89],"allows":[90],"us":[91],"handle":[93],"distortions":[96],"already":[97],"at":[98],"stage.":[101],"demonstrate":[103],"with":[105],"inclusion":[107],"early":[113],"stage":[114],"process,":[117],"broader":[119],"variety":[120],"cameras":[122],"can":[123],"be":[124],"handled":[125],"than":[126],"was":[127],"previously":[128],"possible.":[129],"In":[130],"experiments,":[132],"no":[133],"calibration":[134],"whatsoever":[135],"applied":[137],"camera.":[140],"Instead":[141],"we":[142,159],"assume":[143],"square":[144],"pixels,":[145],"zero":[146],"skew":[147],"centered":[149],"principal":[150],"point.":[151],"Although":[152],"these":[153],"assumptions":[154],"are":[155,164],"not":[156],"strictly":[157],"true,":[158],"show":[160],"good":[162],"results":[163],"still":[165],"obtained":[166],"conclude":[170],"proposed":[173],"method":[174],"applicable":[176],"uncalibrated":[178],"photographs.":[179]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":7},{"year":2015,"cited_by_count":9},{"year":2014,"cited_by_count":10},{"year":2013,"cited_by_count":9},{"year":2012,"cited_by_count":5}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}