{"id":"https://openalex.org/W4321192177","doi":"https://doi.org/10.1109/icce56470.2023.10043434","title":"An Efficient Bundle Adjustment Approach for Stereo Visual Odometry with Pose Consensus","display_name":"An Efficient Bundle Adjustment Approach for Stereo Visual Odometry with Pose Consensus","publication_year":2023,"publication_date":"2023-01-06","ids":{"openalex":"https://openalex.org/W4321192177","doi":"https://doi.org/10.1109/icce56470.2023.10043434"},"language":"en","primary_location":{"id":"doi:10.1109/icce56470.2023.10043434","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icce56470.2023.10043434","pdf_url":null,"source":{"id":"https://openalex.org/S4363607959","display_name":"2023 IEEE International Conference on Consumer Electronics (ICCE)","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":"2023 IEEE International Conference on Consumer Electronics (ICCE)","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/A5102262387","display_name":"Weili Jin","orcid":null},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weili Jin","raw_affiliation_strings":["State Key Lab of ASIC & System Fudan University,Shanghai,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Lab of ASIC & System Fudan University,Shanghai,China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006214126","display_name":"Xiaoyang Zeng","orcid":"https://orcid.org/0009-0001-9928-8782"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoyang Zeng","raw_affiliation_strings":["State Key Lab of ASIC & System Fudan University,Shanghai,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Lab of ASIC & System Fudan University,Shanghai,China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073266325","display_name":"Minge Jing","orcid":"https://orcid.org/0009-0005-0446-5600"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Minge Jing","raw_affiliation_strings":["State Key Lab of ASIC & System Fudan University,Shanghai,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Lab of ASIC & System Fudan University,Shanghai,China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100442556","display_name":"Jingjing Liu","orcid":"https://orcid.org/0000-0001-8948-5865"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingjing Liu","raw_affiliation_strings":["State Key Lab of ASIC & System Fudan University,Shanghai,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Lab of ASIC & System Fudan University,Shanghai,China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100350102","display_name":"Mingyu Wang","orcid":"https://orcid.org/0000-0001-5722-9752"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingyu Wang","raw_affiliation_strings":["State Key Lab of ASIC & System Fudan University,Shanghai,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Lab of ASIC & System Fudan University,Shanghai,China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101757625","display_name":"Wenhong Li","orcid":"https://orcid.org/0000-0002-0898-1881"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenhong Li","raw_affiliation_strings":["State Key Lab of ASIC & System Fudan University,Shanghai,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Lab of ASIC & System Fudan University,Shanghai,China","institution_ids":["https://openalex.org/I24943067"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.6565,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.64090675,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"01","last_page":"06"},"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":0.9998999834060669,"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/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/bundle-adjustment","display_name":"Bundle adjustment","score":0.9215146899223328},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.7686982750892639},{"id":"https://openalex.org/keywords/hessian-matrix","display_name":"Hessian matrix","score":0.745689868927002},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6813233494758606},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5640048980712891},{"id":"https://openalex.org/keywords/fundamental-matrix","display_name":"Fundamental matrix (linear differential equation)","score":0.5531960129737854},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5307265520095825},{"id":"https://openalex.org/keywords/structure-from-motion","display_name":"Structure from motion","score":0.47389736771583557},{"id":"https://openalex.org/keywords/epipolar-geometry","display_name":"Epipolar geometry","score":0.4522193372249603},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.4515749514102936},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4513295888900757},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.4207090735435486},{"id":"https://openalex.org/keywords/bundle","display_name":"Bundle","score":0.41159766912460327},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.41013598442077637},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3856760561466217},{"id":"https://openalex.org/keywords/motion-estimation","display_name":"Motion estimation","score":0.30053144693374634},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2641189992427826},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.16751572489738464},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.13129344582557678}],"concepts":[{"id":"https://openalex.org/C179458375","wikidata":"https://www.wikidata.org/wiki/Q1020763","display_name":"Bundle adjustment","level":3,"score":0.9215146899223328},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.7686982750892639},{"id":"https://openalex.org/C203616005","wikidata":"https://www.wikidata.org/wiki/Q620495","display_name":"Hessian matrix","level":2,"score":0.745689868927002},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6813233494758606},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5640048980712891},{"id":"https://openalex.org/C2780427248","wikidata":"https://www.wikidata.org/wiki/Q17014996","display_name":"Fundamental matrix (linear differential equation)","level":2,"score":0.5531960129737854},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5307265520095825},{"id":"https://openalex.org/C146159030","wikidata":"https://www.wikidata.org/wiki/Q7625099","display_name":"Structure from motion","level":3,"score":0.47389736771583557},{"id":"https://openalex.org/C23379248","wikidata":"https://www.wikidata.org/wiki/Q200904","display_name":"Epipolar geometry","level":3,"score":0.4522193372249603},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.4515749514102936},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4513295888900757},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.4207090735435486},{"id":"https://openalex.org/C2778134712","wikidata":"https://www.wikidata.org/wiki/Q1047307","display_name":"Bundle","level":2,"score":0.41159766912460327},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.41013598442077637},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3856760561466217},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.30053144693374634},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2641189992427826},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.16751572489738464},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.13129344582557678},{"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/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icce56470.2023.10043434","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icce56470.2023.10043434","pdf_url":null,"source":{"id":"https://openalex.org/S4363607959","display_name":"2023 IEEE International Conference on Consumer Electronics (ICCE)","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":"2023 IEEE International Conference on Consumer Electronics (ICCE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W2032386486","https://openalex.org/W2064451896","https://openalex.org/W2150066425","https://openalex.org/W2461937780","https://openalex.org/W2535547924","https://openalex.org/W2553603302","https://openalex.org/W2779304298","https://openalex.org/W2891633928","https://openalex.org/W2963052239","https://openalex.org/W3102327032","https://openalex.org/W3124420883","https://openalex.org/W3130070867","https://openalex.org/W4292363360","https://openalex.org/W6729999887"],"related_works":["https://openalex.org/W1533134004","https://openalex.org/W1990472106","https://openalex.org/W2755641224","https://openalex.org/W2394408411","https://openalex.org/W4221132921","https://openalex.org/W2751063144","https://openalex.org/W4210643770","https://openalex.org/W2336873990","https://openalex.org/W2134012606","https://openalex.org/W2004690548"],"abstract_inverted_index":{"In":[0],"simultaneous":[1],"localization":[2],"and":[3,6,26,65,107,115,174,188],"mapping":[4],"(SLAM)":[5],"structure":[7],"from":[8],"motion":[9],"(SFM),":[10],"bundle":[11,51,143],"adjustment":[12,52,144],"(BA)":[13],"plays":[14],"a":[15,56,84],"vital":[16],"role":[17],"in":[18,78,141,167],"adjusting":[19],"the":[20,23,27,30,35,38,43,63,69,73,79,92,95,100,104,112,117,121,127,130,142,149,154,160,164,178,197],"pose":[21,64,128],"of":[22,29,37,45,68,99,120,135,151],"6-DOF":[24],"camera":[25],"location":[28],"3D":[31],"landmark":[32],"points.":[33],"However,":[34],"usefulness":[36],"BA":[39,80,162],"is":[40,139,181,194],"affected":[41],"by":[42],"number":[44],"optimization":[46,150],"variables.":[47,152],"Thus,":[48],"an":[49],"efficient":[50],"(EBA)":[53],"based":[54,125],"on":[55,126],"fast":[57],"iteration":[58],"technique":[59],"can":[60],"effectively":[61],"estimate":[62,103],"feature":[66],"points":[67],"camera.":[70],"Firstly,":[71],"for":[72],"Levenberg-Marquardt":[74],"(LM)":[75],"solution":[76,113,119],"method":[77,134,165],"algorithm,":[81],"we":[82],"use":[83],"variable":[85],"block":[86],"to":[87,102,146,183],"add":[88],"constraints":[89],"when":[90],"solving":[91],"increment,":[93],"replacing":[94],"original":[96],"Hessian":[97],"matrix":[98],"LM":[101],"descending":[105],"direction":[106,133],"step":[108],"length":[109],"faster":[110],"during":[111],"process,":[114],"obtain":[116],"optimal":[118],"objective":[122],"function.":[123],"Secondly,":[124],"consensus,":[129],"manifold":[131],"alternating":[132],"multipliers":[136],"(MADMM)":[137],"algorithm":[138,180,193],"presented":[140],"problem":[145],"speed":[147],"up":[148],"Finally,":[153],"experiment":[155],"shows":[156],"that":[157,191],"compared":[158],"with":[159],"LM-based":[161],"method,":[163],"proposed":[166],"this":[168],"paper":[169],"has":[170],"improved":[171],"time":[172],"consumption":[173],"reconstruction":[175],"effect.":[176],"Simultaneously,":[177],"EBA":[179],"utilized":[182],"apply":[184],"stereo":[185],"visual":[186],"odometry,":[187],"experiments":[189],"demonstrate":[190],"our":[192],"better":[195],"than":[196],"previous.":[198]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}