{"id":"https://openalex.org/W1980907799","doi":"https://doi.org/10.1109/cvpr.2012.6247861","title":"Robust Maximum Likelihood estimation by sparse bundle adjustment using the L&lt;inf&gt;1&lt;/inf&gt; norm","display_name":"Robust Maximum Likelihood estimation by sparse bundle adjustment using the L&lt;inf&gt;1&lt;/inf&gt; norm","publication_year":2012,"publication_date":"2012-06-01","ids":{"openalex":"https://openalex.org/W1980907799","doi":"https://doi.org/10.1109/cvpr.2012.6247861","mag":"1980907799"},"language":"en","primary_location":{"id":"doi:10.1109/cvpr.2012.6247861","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cvpr.2012.6247861","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE Conference on Computer Vision and Pattern Recognition","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5081012496","display_name":"Zhijun Dai","orcid":"https://orcid.org/0000-0001-5209-8626"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210128818","display_name":"Institute of Software","ror":"https://ror.org/033dfsn42","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210128818"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhijun Dai","raw_affiliation_strings":["Intelligence Engineering Laboratory, Institute of Software, Chinese Academy of Sciences, China","Intelligence Engineering Lab, Institute of Software, Chinese Academy of Sciences"],"affiliations":[{"raw_affiliation_string":"Intelligence Engineering Laboratory, Institute of Software, Chinese Academy of Sciences, China","institution_ids":["https://openalex.org/I4210128818","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Intelligence Engineering Lab, Institute of Software, Chinese Academy of Sciences","institution_ids":["https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101846515","display_name":"Fengjun Zhang","orcid":"https://orcid.org/0000-0002-3830-8786"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210128818","display_name":"Institute of Software","ror":"https://ror.org/033dfsn42","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210128818"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fengjun Zhang","raw_affiliation_strings":["Intelligence Engineering Laboratory, Institute of Software, Chinese Academy of Sciences, China","Intelligence Engineering Lab, Institute of Software, Chinese Academy of Sciences"],"affiliations":[{"raw_affiliation_string":"Intelligence Engineering Laboratory, Institute of Software, Chinese Academy of Sciences, China","institution_ids":["https://openalex.org/I4210128818","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Intelligence Engineering Lab, Institute of Software, Chinese Academy of Sciences","institution_ids":["https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013118329","display_name":"Hongan Wang","orcid":"https://orcid.org/0000-0002-9320-4920"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210128818","display_name":"Institute of Software","ror":"https://ror.org/033dfsn42","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210128818"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongan Wang","raw_affiliation_strings":["Intelligence Engineering Lab, Institute of Software, State Key Laboratory of Computer Science, Institute of Software, Chinese Academy of Sciences, China","Intelligence Engineering Lab, Institute of Software, Chinese Academy of Sciences"],"affiliations":[{"raw_affiliation_string":"Intelligence Engineering Lab, Institute of Software, State Key Laboratory of Computer Science, Institute of Software, Chinese Academy of Sciences, China","institution_ids":["https://openalex.org/I4210128818","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Intelligence Engineering Lab, Institute of Software, Chinese Academy of Sciences","institution_ids":["https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5081012496"],"corresponding_institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210128818"],"apc_list":null,"apc_paid":null,"fwci":0.5491,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.66114027,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"1","issue":null,"first_page":"1672","last_page":"1679"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9995999932289124,"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":0.9995999932289124,"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/T10638","display_name":"Optical measurement and interference techniques","score":0.9994999766349792,"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":0.9970999956130981,"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/norm","display_name":"Norm (philosophy)","score":0.5889740586280823},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.5048642754554749},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.45314085483551025},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.44458386301994324},{"id":"https://openalex.org/keywords/bundle","display_name":"Bundle","score":0.4418072998523712},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4242507815361023},{"id":"https://openalex.org/keywords/differentiable-function","display_name":"Differentiable function","score":0.4138810336589813},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.3722638487815857},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3691444993019104},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2842773199081421},{"id":"https://openalex.org/keywords/pure-mathematics","display_name":"Pure mathematics","score":0.17087247967720032}],"concepts":[{"id":"https://openalex.org/C191795146","wikidata":"https://www.wikidata.org/wiki/Q3878446","display_name":"Norm (philosophy)","level":2,"score":0.5889740586280823},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.5048642754554749},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.45314085483551025},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.44458386301994324},{"id":"https://openalex.org/C2778134712","wikidata":"https://www.wikidata.org/wiki/Q1047307","display_name":"Bundle","level":2,"score":0.4418072998523712},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4242507815361023},{"id":"https://openalex.org/C202615002","wikidata":"https://www.wikidata.org/wiki/Q783507","display_name":"Differentiable function","level":2,"score":0.4138810336589813},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.3722638487815857},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3691444993019104},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2842773199081421},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.17087247967720032},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","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/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.0},{"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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cvpr.2012.6247861","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cvpr.2012.6247861","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE Conference on Computer Vision and Pattern Recognition","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1484371059","https://openalex.org/W1992989752","https://openalex.org/W2026888851","https://openalex.org/W2044708244","https://openalex.org/W2058670155","https://openalex.org/W2078337376","https://openalex.org/W2098012923","https://openalex.org/W2101117936","https://openalex.org/W2113622401","https://openalex.org/W2124584309","https://openalex.org/W2134923139","https://openalex.org/W2156539155","https://openalex.org/W2169657771","https://openalex.org/W2236623899","https://openalex.org/W2803670972","https://openalex.org/W4250589301","https://openalex.org/W4250955649","https://openalex.org/W4251339212","https://openalex.org/W4291236916","https://openalex.org/W6629250111","https://openalex.org/W6675479683","https://openalex.org/W7073876970"],"related_works":["https://openalex.org/W4285277090","https://openalex.org/W4327738859","https://openalex.org/W2348722996","https://openalex.org/W2334570605","https://openalex.org/W3181683615","https://openalex.org/W4286826125","https://openalex.org/W1633485514","https://openalex.org/W1980454230","https://openalex.org/W2300851791","https://openalex.org/W1604739066"],"abstract_inverted_index":{"Sparse":[0],"bundle":[1,20,35,167],"adjustment":[2,36],"is":[3,44,80,107,172],"widely":[4],"used":[5],"in":[6,34,61,151],"many":[7],"computer":[8],"vision":[9],"applications.":[10],"In":[11],"this":[12],"paper,":[13],"we":[14,63],"propose":[15],"a":[16,90,94,108],"method":[17,110,140,171],"for":[18,143],"performing":[19],"adjustments":[21],"using":[22],"the":[23,31,41,47,55,58,70,86,104,113,120,129,139,152,161,170,175,178],"L":[24,48,71,97,162,180],"<sub":[25,49,72,98,163,181],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[26,50,73,99,164,182],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">1</sub>":[27,51,74,183],"norm.":[28],"After":[29],"linearizing":[30],"mapping":[32],"function":[33],"on":[37],"its":[38],"first":[39,78],"order,":[40],"kernel":[42],"step":[43],"to":[45,68,89],"compute":[46],"norm":[52,75,101,166],"equations.":[53,76],"Considering":[54],"sparsity":[56],"of":[57,92,96,115,123,125,132,154,177],"Jacobian":[59],"matrix":[60],"linearizing,":[62],"find":[64],"two":[65],"practical":[66],"methods":[67],"solve":[69],"The":[77,135],"one":[79,106],"an":[81],"interior-point":[82],"method,":[83],"which":[84,111],"transfer":[85],"original":[87],"problem":[88,91],"solving":[93],"sequence":[95],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">2</sub>":[100,165],"equations,":[102],"and":[103,118,147,169],"second":[105],"decomposition":[109],"uses":[112],"differentiability":[114],"linear":[116],"programs":[117],"represents":[119],"optimal":[121],"updating":[122,130],"parameters":[124],"3D":[126],"points":[127],"by":[128],"variables":[131],"camera":[133],"parameters.":[134],"experiments":[136],"show":[137],"that":[138],"performs":[141],"better":[142],"both":[144],"synthetically":[145],"generated":[146],"real":[148],"data":[149],"sets":[150],"presence":[153],"outliers":[155],"or":[156],"Laplacian":[157],"noise":[158],"compared":[159],"with":[160],"adjustment,":[168],"efficient":[173],"among":[174],"state":[176],"art":[179],"minimization":[184],"methods.":[185]},"counts_by_year":[{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}