{"id":"https://openalex.org/W3090383592","doi":"https://doi.org/10.1109/icra40945.2020.9196902","title":"Resolving Marker Pose Ambiguity by Robust Rotation Averaging with Clique Constraints","display_name":"Resolving Marker Pose Ambiguity by Robust Rotation Averaging with Clique Constraints","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3090383592","doi":"https://doi.org/10.1109/icra40945.2020.9196902","mag":"3090383592"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9196902","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196902","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5085100655","display_name":"Shin-Fang Chng","orcid":"https://orcid.org/0000-0003-1092-8921"},"institutions":[{"id":"https://openalex.org/I5681781","display_name":"The University of Adelaide","ror":"https://ror.org/00892tw58","country_code":"AU","type":"education","lineage":["https://openalex.org/I5681781"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Shin-Fang Ch'ng","raw_affiliation_strings":["School of Computer Science, The University of Adelaide, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science, The University of Adelaide, Australia","institution_ids":["https://openalex.org/I5681781"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004409803","display_name":"Naoya Sogi","orcid":"https://orcid.org/0000-0002-2560-4818"},"institutions":[{"id":"https://openalex.org/I146399215","display_name":"University of Tsukuba","ror":"https://ror.org/02956yf07","country_code":"JP","type":"education","lineage":["https://openalex.org/I146399215"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Naoya Sogi","raw_affiliation_strings":["Department of Computer Science, University of Tsukuba, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Tsukuba, Japan","institution_ids":["https://openalex.org/I146399215"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029106652","display_name":"Pulak Purkait","orcid":"https://orcid.org/0000-0003-0684-1209"},"institutions":[{"id":"https://openalex.org/I5681781","display_name":"The University of Adelaide","ror":"https://ror.org/00892tw58","country_code":"AU","type":"education","lineage":["https://openalex.org/I5681781"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Pulak Purkait","raw_affiliation_strings":["School of Computer Science, The University of Adelaide, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science, The University of Adelaide, Australia","institution_ids":["https://openalex.org/I5681781"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027317977","display_name":"Tat-Jun Chin","orcid":"https://orcid.org/0000-0003-2423-9342"},"institutions":[{"id":"https://openalex.org/I5681781","display_name":"The University of Adelaide","ror":"https://ror.org/00892tw58","country_code":"AU","type":"education","lineage":["https://openalex.org/I5681781"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Tat-Jun Chin","raw_affiliation_strings":["School of Computer Science, The University of Adelaide, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science, The University of Adelaide, Australia","institution_ids":["https://openalex.org/I5681781"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101567870","display_name":"Kazuhiro Fukui","orcid":"https://orcid.org/0000-0002-4201-1096"},"institutions":[{"id":"https://openalex.org/I146399215","display_name":"University of Tsukuba","ror":"https://ror.org/02956yf07","country_code":"JP","type":"education","lineage":["https://openalex.org/I146399215"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazuhiro Fukui","raw_affiliation_strings":["Department of Computer Science, University of Tsukuba, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Tsukuba, Japan","institution_ids":["https://openalex.org/I146399215"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"9680","last_page":"9686"},"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/T12549","display_name":"Image and Object Detection 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"}},{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.8203268051147461},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.718106210231781},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6730332374572754},{"id":"https://openalex.org/keywords/ambiguity","display_name":"Ambiguity","score":0.613410472869873},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.5360700488090515},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.5285360217094421},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4957054853439331},{"id":"https://openalex.org/keywords/clique","display_name":"Clique","score":0.4879571795463562},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.44485655426979065},{"id":"https://openalex.org/keywords/3d-pose-estimation","display_name":"3D pose estimation","score":0.442943811416626},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.43926316499710083},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.429570734500885},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3757237195968628},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2390267550945282},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2121107280254364}],"concepts":[{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.8203268051147461},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.718106210231781},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6730332374572754},{"id":"https://openalex.org/C2780522230","wikidata":"https://www.wikidata.org/wiki/Q1140419","display_name":"Ambiguity","level":2,"score":0.613410472869873},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.5360700488090515},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.5285360217094421},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4957054853439331},{"id":"https://openalex.org/C2777035058","wikidata":"https://www.wikidata.org/wiki/Q1662634","display_name":"Clique","level":2,"score":0.4879571795463562},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.44485655426979065},{"id":"https://openalex.org/C36613465","wikidata":"https://www.wikidata.org/wiki/Q4636322","display_name":"3D pose estimation","level":3,"score":0.442943811416626},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.43926316499710083},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.429570734500885},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3757237195968628},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2390267550945282},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2121107280254364},{"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra40945.2020.9196902","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196902","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:digital.library.adelaide.edu.au:2440/134098","is_oa":false,"landing_page_url":"https://hdl.handle.net/2440/134098","pdf_url":null,"source":{"id":"https://openalex.org/S4306401835","display_name":"Adelaide Research & Scholarship (AR&S) (University of Adelaide)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I5681781","host_organization_name":"The University of Adelaide","host_organization_lineage":["https://openalex.org/I5681781"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://dx.doi.org/10.1109/icra40945.2020.9196902","raw_type":"Conference paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1754079618","https://openalex.org/W1964339024","https://openalex.org/W1991172434","https://openalex.org/W1994349244","https://openalex.org/W2007806707","https://openalex.org/W2009151941","https://openalex.org/W2039156953","https://openalex.org/W2088563649","https://openalex.org/W2100505346","https://openalex.org/W2122788001","https://openalex.org/W2164139712","https://openalex.org/W2565233142","https://openalex.org/W2571329707","https://openalex.org/W2594519801","https://openalex.org/W2771387334","https://openalex.org/W2773353012","https://openalex.org/W2807785345","https://openalex.org/W2891111006","https://openalex.org/W2895046241","https://openalex.org/W2962711902","https://openalex.org/W2963043350","https://openalex.org/W2963348713","https://openalex.org/W3147173049","https://openalex.org/W3210232381","https://openalex.org/W4248598408","https://openalex.org/W6717357538","https://openalex.org/W6803376173","https://openalex.org/W6966860008"],"related_works":["https://openalex.org/W4253893311","https://openalex.org/W2798721181","https://openalex.org/W3201205132","https://openalex.org/W4287600488","https://openalex.org/W4312694060","https://openalex.org/W4281696776","https://openalex.org/W4318148659","https://openalex.org/W4387967917","https://openalex.org/W4299867837","https://openalex.org/W2951583186"],"abstract_inverted_index":{"Planar":[0],"markers":[1,124],"are":[2,47],"useful":[3],"in":[4,17,57],"robotics":[5],"and":[6,11,159,179,193,201],"computer":[7],"vision":[8],"for":[9,68],"mapping":[10,200],"localisation.":[12,202],"Given":[13],"a":[14,20,53,69,103,121,132,161],"detected":[15],"marker":[16,31,77,143,168,174],"an":[18,38],"image,":[19],"frequent":[21],"task":[22],"is":[23,37,79,82,186],"to":[24,33,85,112,165,188],"estimate":[25],"the":[26,30,34,76,87,99,114,118,153,157],"6DOF":[27],"pose":[28,42,66,88,169],"of":[29,40,75,120,123,156],"relative":[32],"camera,":[35],"which":[36],"instance":[39],"planar":[41],"estimation":[43],"(PPE).":[44],"Although":[45],"there":[46,59],"mature":[48],"techniques,":[49],"PPE":[50,70,149],"suffers":[51],"from":[52,148],"fundamental":[54],"ambiguity":[55],"problem,":[56,158],"that":[58,137,146,183],"can":[60],"be":[61],"more":[62,195],"than":[63],"one":[64],"plausible":[65],"solutions":[67,89,101,145],"instance.":[71],"Especially":[72],"when":[73],"localisation":[74],"corners":[78],"noisy,":[80],"it":[81],"often":[83],"difficult":[84],"disambiguate":[86],"based":[90],"on":[91,177],"reprojection":[92],"error":[93],"alone.":[94],"Previous":[95],"methods":[96],"choose":[97],"between":[98,141],"possible":[100,142],"using":[102],"heuristic":[104],"criterion,":[105],"or":[106],"simply":[107],"ignore":[108],"ambiguous":[109,191],"markers.We":[110],"propose":[111],"resolve":[113,167],"ambiguities":[115],"by":[116],"examining":[117],"consistencies":[119],"set":[122],"across":[125],"multiple":[126],"views.":[127],"Our":[128],"specific":[129],"contributions":[130],"include":[131],"novel":[133,162],"rotation":[134],"averaging":[135],"formulation":[136],"incorporates":[138],"long-range":[139],"dependencies":[140],"orientation":[144],"arise":[147],"ambiguities.":[150],"We":[151],"analyse":[152],"combinatorial":[154],"complexity":[155],"develop":[160],"lifted":[163],"algorithm":[164],"effectively":[166],"ambiguities,":[170],"without":[171],"discarding":[172],"any":[173],"observations.":[175],"Results":[176],"real":[178],"synthetic":[180],"data":[181],"show":[182],"our":[184],"method":[185],"able":[187],"handle":[189],"highly":[190],"inputs,":[192],"provides":[194],"accurate":[196],"and/or":[197],"complete":[198],"marker-based":[199]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":4}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}