{"id":"https://openalex.org/W1955995711","doi":"https://doi.org/10.1109/cvpr.2015.7299001","title":"Robust Manhattan Frame estimation from a single RGB-D image","display_name":"Robust Manhattan Frame estimation from a single RGB-D image","publication_year":2015,"publication_date":"2015-06-01","ids":{"openalex":"https://openalex.org/W1955995711","doi":"https://doi.org/10.1109/cvpr.2015.7299001","mag":"1955995711"},"language":"en","primary_location":{"id":"doi:10.1109/cvpr.2015.7299001","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cvpr.2015.7299001","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE Conference on Computer Vision and Pattern Recognition (CVPR)","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/A5024763828","display_name":"Bernard Ghanem","orcid":"https://orcid.org/0000-0002-5534-587X"},"institutions":[{"id":"https://openalex.org/I71920554","display_name":"King Abdullah University of Science and Technology","ror":"https://ror.org/01q3tbs38","country_code":"SA","type":"education","lineage":["https://openalex.org/I71920554"]}],"countries":["SA"],"is_corresponding":true,"raw_author_name":"Bernard Ghanem","raw_affiliation_strings":["King Abdullah University of Science and Technology (KAUST), Saudi Arabia","King Abdullah University of Science and Technology (KAUST) - Saudi Arabia"],"affiliations":[{"raw_affiliation_string":"King Abdullah University of Science and Technology (KAUST), Saudi Arabia","institution_ids":["https://openalex.org/I71920554"]},{"raw_affiliation_string":"King Abdullah University of Science and Technology (KAUST) - Saudi Arabia","institution_ids":["https://openalex.org/I71920554"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026143507","display_name":"Ali Thabet","orcid":"https://orcid.org/0000-0001-7513-0748"},"institutions":[{"id":"https://openalex.org/I71920554","display_name":"King Abdullah University of Science and Technology","ror":"https://ror.org/01q3tbs38","country_code":"SA","type":"education","lineage":["https://openalex.org/I71920554"]}],"countries":["SA"],"is_corresponding":false,"raw_author_name":"Ali Thabet","raw_affiliation_strings":["King Abdullah University of Science and Technology (KAUST), Saudi Arabia","King Abdullah University of Science and Technology (KAUST) - Saudi Arabia"],"affiliations":[{"raw_affiliation_string":"King Abdullah University of Science and Technology (KAUST), Saudi Arabia","institution_ids":["https://openalex.org/I71920554"]},{"raw_affiliation_string":"King Abdullah University of Science and Technology (KAUST) - Saudi Arabia","institution_ids":["https://openalex.org/I71920554"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018518655","display_name":"Juan Carlos Niebles","orcid":"https://orcid.org/0000-0001-8225-9793"},"institutions":[{"id":"https://openalex.org/I142879360","display_name":"Universidad del Norte","ror":"https://ror.org/031e6xm45","country_code":"CO","type":"education","lineage":["https://openalex.org/I142879360"]}],"countries":["CO"],"is_corresponding":false,"raw_author_name":"Juan Carlos Niebles","raw_affiliation_strings":["Universidad del Norte, Colombia","Universidad Del Norte, Col\u00f4mbia"],"affiliations":[{"raw_affiliation_string":"Universidad del Norte, Colombia","institution_ids":["https://openalex.org/I142879360"]},{"raw_affiliation_string":"Universidad Del Norte, Col\u00f4mbia","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5022774523","display_name":"Fabian Caba Heilbron","orcid":"https://orcid.org/0000-0002-3129-1985"},"institutions":[{"id":"https://openalex.org/I71920554","display_name":"King Abdullah University of Science and Technology","ror":"https://ror.org/01q3tbs38","country_code":"SA","type":"education","lineage":["https://openalex.org/I71920554"]}],"countries":["SA"],"is_corresponding":false,"raw_author_name":"Fabian Caba Heilbron","raw_affiliation_strings":["King Abdullah University of Science and Technology (KAUST), Saudi Arabia","King Abdullah University of Science and Technology (KAUST) - Saudi Arabia"],"affiliations":[{"raw_affiliation_string":"King Abdullah University of Science and Technology (KAUST), Saudi Arabia","institution_ids":["https://openalex.org/I71920554"]},{"raw_affiliation_string":"King Abdullah University of Science and Technology (KAUST) - Saudi Arabia","institution_ids":["https://openalex.org/I71920554"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5024763828"],"corresponding_institution_ids":["https://openalex.org/I71920554"],"apc_list":null,"apc_paid":null,"fwci":96.2384,"has_fulltext":false,"cited_by_count":35,"citation_normalized_percentile":{"value":0.99774286,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"3772","last_page":"3780"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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/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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9991000294685364,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.7719756364822388},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7354156374931335},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.700190544128418},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.6942251324653625},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.6463595032691956},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.5978635549545288},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.5936152338981628},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.5282551050186157},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.511910080909729},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4953223764896393},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.4575244188308716},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3306419253349304},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1073775589466095}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7719756364822388},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7354156374931335},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.700190544128418},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.6942251324653625},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.6463595032691956},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.5978635549545288},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.5936152338981628},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.5282551050186157},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.511910080909729},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4953223764896393},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.4575244188308716},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3306419253349304},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1073775589466095},{"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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/cvpr.2015.7299001","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cvpr.2015.7299001","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE Conference on Computer Vision and Pattern Recognition (CVPR)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.869.5995","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.869.5995","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cv-foundation.org/openaccess/content_cvpr_2015/papers/Ghanem_Robust_Manhattan_Frame_2015_CVPR_paper.pdf","raw_type":"text"},{"id":"pmh:oai:repository.kaust.edu.sa:10754/556139","is_oa":false,"landing_page_url":"http://hdl.handle.net/10754/556139","pdf_url":null,"source":{"id":"https://openalex.org/S4306401596","display_name":"King Abdullah University of Science and Technology Repository (King Abdullah University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I71920554","host_organization_name":"King Abdullah University of Science and Technology","host_organization_lineage":["https://openalex.org/I71920554"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Paper"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.699999988079071}],"awards":[{"id":"https://openalex.org/G3631313543","display_name":null,"funder_award_id":"Fellowship","funder_id":"https://openalex.org/F4320308943","funder_display_name":"Microsoft Research"}],"funders":[{"id":"https://openalex.org/F4320308943","display_name":"Microsoft Research","ror":"https://ror.org/00d0nc645"},{"id":"https://openalex.org/F4320322320","display_name":"King Abdullah University of Science and Technology","ror":"https://ror.org/01q3tbs38"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W64973891","https://openalex.org/W125693051","https://openalex.org/W1481823314","https://openalex.org/W1818727054","https://openalex.org/W1965834447","https://openalex.org/W2011194978","https://openalex.org/W2067912884","https://openalex.org/W2073660060","https://openalex.org/W2092399515","https://openalex.org/W2097018403","https://openalex.org/W2102271310","https://openalex.org/W2102674365","https://openalex.org/W2112255529","https://openalex.org/W2113107168","https://openalex.org/W2113577207","https://openalex.org/W2116851763","https://openalex.org/W2123027991","https://openalex.org/W2126836862","https://openalex.org/W2128019145","https://openalex.org/W2129812935","https://openalex.org/W2135562430","https://openalex.org/W2135887870","https://openalex.org/W2145567954","https://openalex.org/W2158917775","https://openalex.org/W2293606632","https://openalex.org/W2296672305","https://openalex.org/W2534523274","https://openalex.org/W4285719527","https://openalex.org/W6602664633","https://openalex.org/W6605121731","https://openalex.org/W6628796103","https://openalex.org/W6638472885","https://openalex.org/W6674642818","https://openalex.org/W6683636472","https://openalex.org/W6940791371"],"related_works":["https://openalex.org/W2283162247","https://openalex.org/W4212983513","https://openalex.org/W2524507886","https://openalex.org/W2314488738","https://openalex.org/W2052518016","https://openalex.org/W2771653066","https://openalex.org/W2085956791","https://openalex.org/W2901949253","https://openalex.org/W3004045746","https://openalex.org/W2030712947"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,17,30,43,93,168],"new":[4,94,114],"framework":[5],"for":[6],"estimating":[7],"the":[8,27,36,39,56,59,62,75,85,107,132,136,152,165],"Manhattan":[9],"Frame":[10],"(MF)":[11],"of":[12,29,38,70,84,96,106,167],"an":[13],"indoor":[14,157],"scene":[15,41,57,63],"from":[16],"single":[18],"RGB-D":[19,153,170],"image.":[20],"Our":[21],"technique":[22,142],"formulates":[23],"this":[24,113],"problem":[25,155],"as":[26],"estimation":[28],"rotation":[31],"matrix":[32],"that":[33,64,78,119],"best":[34,66],"aligns":[35],"normals":[37],"captured":[40],"to":[42,68,98,116,150],"canonical":[44],"world":[45],"axes.":[46,86],"By":[47],"introducing":[48],"sparsity":[49],"constraints,":[50],"our":[51,89,120,141],"method":[52,121],"can":[53,147],"simultaneously":[54],"estimate":[55],"MF,":[58],"surfaces":[60,77],"in":[61,103,135,156],"are":[65],"aligned":[67],"one":[69],"three":[71],"coordinate":[72],"axes,":[73],"and":[74,128,163],"outlier":[76],"do":[79],"not":[80],"align":[81],"with":[82],"any":[83],"To":[87],"test":[88],"approach,":[90],"we":[91],"contribute":[92],"set":[95],"annotations":[97],"determine":[99],"ground":[100],"truth":[101],"MFs":[102],"each":[104],"image":[105],"popular":[108,169],"NYUv2":[109],"dataset.":[110],"We":[111,138],"use":[112],"benchmark":[115],"experimentally":[117],"demonstrate":[118],"is":[122],"more":[123,126,129],"accurate,":[124],"faster,":[125],"reliable":[127],"robust":[130],"than":[131],"methods":[133],"used":[134,149],"literature.":[137],"further":[139],"motivate":[140],"by":[143,159],"showing":[144],"how":[145],"it":[146,161],"be":[148],"address":[151],"SLAM":[154,171],"scenes":[158],"incorporating":[160],"into":[162],"improving":[164],"performance":[166],"method.":[172]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":8},{"year":2018,"cited_by_count":7},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":4}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}