{"id":"https://openalex.org/W3156938724","doi":"https://doi.org/10.1109/icra48506.2021.9560888","title":"Robust 360-8PA: Redesigning The Normalized 8-point Algorithm for 360-FoV Images","display_name":"Robust 360-8PA: Redesigning The Normalized 8-point Algorithm for 360-FoV Images","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3156938724","doi":"https://doi.org/10.1109/icra48506.2021.9560888","mag":"3156938724"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9560888","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9560888","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2104.10900","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5012726758","display_name":"Bolivar Solarte","orcid":"https://orcid.org/0000-0003-3518-755X"},"institutions":[{"id":"https://openalex.org/I25846049","display_name":"National Tsing Hua University","ror":"https://ror.org/00zdnkx70","country_code":"TW","type":"education","lineage":["https://openalex.org/I25846049"]}],"countries":["TW"],"is_corresponding":true,"raw_author_name":"Bolivar Solarte","raw_affiliation_strings":["National Tsing Hua University"],"affiliations":[{"raw_affiliation_string":"National Tsing Hua University","institution_ids":["https://openalex.org/I25846049"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066546337","display_name":"Chin-Hsuan Wu","orcid":"https://orcid.org/0000-0003-1547-0825"},"institutions":[{"id":"https://openalex.org/I25846049","display_name":"National Tsing Hua University","ror":"https://ror.org/00zdnkx70","country_code":"TW","type":"education","lineage":["https://openalex.org/I25846049"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Chin-Hsuan Wu","raw_affiliation_strings":["National Tsing Hua University"],"affiliations":[{"raw_affiliation_string":"National Tsing Hua University","institution_ids":["https://openalex.org/I25846049"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032321053","display_name":"Kuan-Wei Lu","orcid":"https://orcid.org/0000-0001-5253-6120"},"institutions":[{"id":"https://openalex.org/I25846049","display_name":"National Tsing Hua University","ror":"https://ror.org/00zdnkx70","country_code":"TW","type":"education","lineage":["https://openalex.org/I25846049"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Kuan-Wei Lu","raw_affiliation_strings":["National Tsing Hua University"],"affiliations":[{"raw_affiliation_string":"National Tsing Hua University","institution_ids":["https://openalex.org/I25846049"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112904753","display_name":"Yi\u2010Hsuan Tsai","orcid":null},"institutions":[{"id":"https://openalex.org/I25846049","display_name":"National Tsing Hua University","ror":"https://ror.org/00zdnkx70","country_code":"TW","type":"education","lineage":["https://openalex.org/I25846049"]},{"id":"https://openalex.org/I4210107353","display_name":"NEC (United States)","ror":"https://ror.org/01v791m31","country_code":"US","type":"company","lineage":["https://openalex.org/I118347220","https://openalex.org/I4210107353"]}],"countries":["TW","US"],"is_corresponding":false,"raw_author_name":"Yi-Hsuan Tsai","raw_affiliation_strings":["NEC Labs America","National Tsing Hua University"],"affiliations":[{"raw_affiliation_string":"NEC Labs America","institution_ids":["https://openalex.org/I4210107353"]},{"raw_affiliation_string":"National Tsing Hua University","institution_ids":["https://openalex.org/I25846049"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038549076","display_name":"Wei-Chen Chiu","orcid":"https://orcid.org/0000-0001-7715-8306"},"institutions":[{"id":"https://openalex.org/I148366613","display_name":"National Yang Ming Chiao Tung University","ror":"https://ror.org/00se2k293","country_code":"TW","type":"education","lineage":["https://openalex.org/I148366613"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Wei-Chen Chiu","raw_affiliation_strings":["National Chiao Tung University","National Chiao Tung Univ.#TAB#"],"affiliations":[{"raw_affiliation_string":"National Chiao Tung University","institution_ids":["https://openalex.org/I148366613"]},{"raw_affiliation_string":"National Chiao Tung Univ.#TAB#","institution_ids":["https://openalex.org/I148366613"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102008600","display_name":"Min Sun","orcid":"https://orcid.org/0000-0001-9598-8178"},"institutions":[{"id":"https://openalex.org/I25846049","display_name":"National Tsing Hua University","ror":"https://ror.org/00zdnkx70","country_code":"TW","type":"education","lineage":["https://openalex.org/I25846049"]},{"id":"https://openalex.org/I4210107353","display_name":"NEC (United States)","ror":"https://ror.org/01v791m31","country_code":"US","type":"company","lineage":["https://openalex.org/I118347220","https://openalex.org/I4210107353"]}],"countries":["TW","US"],"is_corresponding":false,"raw_author_name":"Min Sun","raw_affiliation_strings":["National Tsing Hua University","NEC Labs America"],"affiliations":[{"raw_affiliation_string":"National Tsing Hua University","institution_ids":["https://openalex.org/I25846049"]},{"raw_affiliation_string":"NEC Labs America","institution_ids":["https://openalex.org/I4210107353"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5012726758"],"corresponding_institution_ids":["https://openalex.org/I25846049"],"apc_list":null,"apc_paid":null,"fwci":1.0946,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.88556937,"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":"11032","last_page":"11038"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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/T10638","display_name":"Optical measurement and interference techniques","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"}}],"keywords":[{"id":"https://openalex.org/keywords/ransac","display_name":"RANSAC","score":0.7570980787277222},{"id":"https://openalex.org/keywords/essential-matrix","display_name":"Essential matrix","score":0.739963173866272},{"id":"https://openalex.org/keywords/epipolar-geometry","display_name":"Epipolar geometry","score":0.7232277989387512},{"id":"https://openalex.org/keywords/normalization","display_name":"Normalization (sociology)","score":0.6196479797363281},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5925107002258301},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.5731185078620911},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5575025081634521},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.5493029952049255},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5160881876945496},{"id":"https://openalex.org/keywords/transformation-matrix","display_name":"Transformation matrix","score":0.5107846260070801},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.47432512044906616},{"id":"https://openalex.org/keywords/affine-transformation","display_name":"Affine transformation","score":0.4457835257053375},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.30744796991348267},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.20595142245292664},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.13195699453353882}],"concepts":[{"id":"https://openalex.org/C114744707","wikidata":"https://www.wikidata.org/wiki/Q218533","display_name":"RANSAC","level":3,"score":0.7570980787277222},{"id":"https://openalex.org/C49996920","wikidata":"https://www.wikidata.org/wiki/Q17089185","display_name":"Essential matrix","level":5,"score":0.739963173866272},{"id":"https://openalex.org/C23379248","wikidata":"https://www.wikidata.org/wiki/Q200904","display_name":"Epipolar geometry","level":3,"score":0.7232277989387512},{"id":"https://openalex.org/C136886441","wikidata":"https://www.wikidata.org/wiki/Q926129","display_name":"Normalization (sociology)","level":2,"score":0.6196479797363281},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5925107002258301},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5731185078620911},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5575025081634521},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.5493029952049255},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5160881876945496},{"id":"https://openalex.org/C165443888","wikidata":"https://www.wikidata.org/wiki/Q1482183","display_name":"Transformation matrix","level":3,"score":0.5107846260070801},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.47432512044906616},{"id":"https://openalex.org/C92757383","wikidata":"https://www.wikidata.org/wiki/Q382497","display_name":"Affine transformation","level":2,"score":0.4457835257053375},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.30744796991348267},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.20595142245292664},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.13195699453353882},{"id":"https://openalex.org/C158693339","wikidata":"https://www.wikidata.org/wiki/Q190524","display_name":"Eigenvalues and eigenvectors","level":2,"score":0.0},{"id":"https://openalex.org/C144024400","wikidata":"https://www.wikidata.org/wiki/Q21201","display_name":"Sociology","level":0,"score":0.0},{"id":"https://openalex.org/C54848796","wikidata":"https://www.wikidata.org/wiki/Q339011","display_name":"Symmetric matrix","level":3,"score":0.0},{"id":"https://openalex.org/C19165224","wikidata":"https://www.wikidata.org/wiki/Q23404","display_name":"Anthropology","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C22629506","wikidata":"https://www.wikidata.org/wiki/Q7602993","display_name":"State-transition matrix","level":4,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra48506.2021.9560888","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9560888","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2104.10900","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2104.10900","pdf_url":"https://arxiv.org/pdf/2104.10900","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2104.10900","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2104.10900","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"},{"id":"mag:3156938724","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":null}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2104.10900","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2104.10900","pdf_url":"https://arxiv.org/pdf/2104.10900","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"score":0.44999998807907104,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320338440","display_name":"HORIZON EUROPE Health","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3156938724.pdf","grobid_xml":"https://content.openalex.org/works/W3156938724.grobid-xml"},"referenced_works_count":35,"referenced_works":["https://openalex.org/W94645952","https://openalex.org/W1575387439","https://openalex.org/W1597348563","https://openalex.org/W1598123022","https://openalex.org/W1598914752","https://openalex.org/W1984190176","https://openalex.org/W2015996585","https://openalex.org/W2021930164","https://openalex.org/W2033819227","https://openalex.org/W2044542697","https://openalex.org/W2046164006","https://openalex.org/W2095326957","https://openalex.org/W2102481828","https://openalex.org/W2109635530","https://openalex.org/W2117228865","https://openalex.org/W2118877769","https://openalex.org/W2142262446","https://openalex.org/W2152057784","https://openalex.org/W2166132830","https://openalex.org/W2168826976","https://openalex.org/W2539774955","https://openalex.org/W2604901014","https://openalex.org/W2613201842","https://openalex.org/W2772390515","https://openalex.org/W2797395780","https://openalex.org/W2884532224","https://openalex.org/W2948603267","https://openalex.org/W2964339842","https://openalex.org/W2977977449","https://openalex.org/W3103824264","https://openalex.org/W6674560930","https://openalex.org/W6677548441","https://openalex.org/W6681356515","https://openalex.org/W6736215941","https://openalex.org/W6746408764"],"related_works":["https://openalex.org/W2348578285","https://openalex.org/W2356147926","https://openalex.org/W1964157747","https://openalex.org/W2045636809","https://openalex.org/W2995990582","https://openalex.org/W2085800312","https://openalex.org/W55489707","https://openalex.org/W2638822030","https://openalex.org/W2962025597","https://openalex.org/W252513751","https://openalex.org/W2164034959","https://openalex.org/W1545298201","https://openalex.org/W2118909025","https://openalex.org/W1530923078","https://openalex.org/W2313184514","https://openalex.org/W2599692954","https://openalex.org/W2801834345","https://openalex.org/W1974504858","https://openalex.org/W2064499898","https://openalex.org/W3080311027"],"abstract_inverted_index":{"In":[0,111],"this":[1],"paper,":[2],"we":[3,92,113],"present":[4,114],"a":[5,53,58,62,67,71,122,146,160],"novel":[6],"preconditioning":[7],"strategy":[8],"for":[9,15,77],"the":[10,31,44,99,108,130,138,149],"classic":[11],"8-point":[12],"algorithm":[13],"(8-PA)":[14],"estimating":[16],"an":[17,47,78],"essential":[18,48,79],"matrix":[19],"from":[20],"360-FoV":[21],"images":[22],"(i.e.,":[23,137],"equirectangular":[24],"images)":[25],"in":[26],"spherical":[27,59],"projection.":[28],"To":[29],"alleviate":[30],"effect":[32],"of":[33,46,117,148,151],"uneven":[34],"key-feature":[35],"distributions":[36],"and":[37,70,74,89,145,164],"outlier":[38],"correspondences,":[39],"which":[40],"can":[41,97],"potentially":[42],"decrease":[43],"accuracy":[45,102],"matrix,":[49],"our":[50,95,118,157],"method":[51,119],"optimizes":[52],"non-rigid":[54],"transformation":[55],"to":[56],"deform":[57],"camera":[60,100],"into":[61],"new":[63,68],"spatial":[64],"domain,":[65],"defining":[66],"constraint":[69],"more":[72,161],"robust":[73],"accurate":[75,165],"solution":[76],"matrix.":[80],"Through":[81],"several":[82],"experiments":[83],"using":[84,142],"random":[85],"synthetic":[86],"points,":[87],"360-FoV,":[88],"fish-eye":[90],"images,":[91],"demonstrate":[93],"that":[94,127,156],"normalization":[96,158],"increase":[98],"pose":[101],"about":[103],"20%":[104],"without":[105],"significantly":[106],"overhead":[107],"computation":[109],"time.":[110],"addition,":[112],"further":[115,129],"benefits":[116],"through":[120],"both":[121,154],"constant":[123],"weighted":[124],"least-square":[125],"optimization":[126,140],"improves":[128],"well":[131],"known":[132],"Gold":[133],"Standard":[134],"Method":[135],"(GSM)":[136],"non-linear":[139],"by":[141],"epipolar":[143],"errors);":[144],"relaxation":[147],"number":[150],"RANSAC":[152],"iterations,":[153],"showing":[155],"outcomes":[159],"reliable,":[162],"robust,":[163],"solution.":[166]},"counts_by_year":[{"year":2023,"cited_by_count":1}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}