{"id":"https://openalex.org/W4383066550","doi":"https://doi.org/10.1109/icra48891.2023.10161140","title":"AdaSfM: From Coarse Global to Fine Incremental Adaptive Structure from Motion","display_name":"AdaSfM: From Coarse Global to Fine Incremental Adaptive Structure from Motion","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383066550","doi":"https://doi.org/10.1109/icra48891.2023.10161140"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10161140","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161140","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5101835714","display_name":"Yu Chen","orcid":"https://orcid.org/0000-0002-2825-6767"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Yu Chen","raw_affiliation_strings":["School of Computing, National University of Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computing, National University of Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100324772","display_name":"Zihao Yu","orcid":"https://orcid.org/0000-0001-7847-3359"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zihao Yu","raw_affiliation_strings":["Segway-Ninebot Robotics Co., Ltd"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Segway-Ninebot Robotics Co., Ltd","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101220263","display_name":"Song Shu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shu Song","raw_affiliation_strings":["Segway-Ninebot Robotics Co., Ltd"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Segway-Ninebot Robotics Co., Ltd","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058924296","display_name":"Tianning Yu","orcid":"https://orcid.org/0000-0001-7745-0649"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tianning Yu","raw_affiliation_strings":["Navimow B.V. Co., Ltd"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Navimow B.V. Co., Ltd","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100386435","display_name":"Jianming Li","orcid":"https://orcid.org/0000-0002-5919-3244"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jianming Li","raw_affiliation_strings":["Navimow B.V. Co., Ltd"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Navimow B.V. Co., Ltd","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071967339","display_name":"Gim Hee Lee","orcid":"https://orcid.org/0000-0002-1583-0475"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Gim Hee Lee","raw_affiliation_strings":["School of Computing, National University of Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computing, National University of Singapore","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2054","last_page":"2061"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9975000023841858,"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/computer-science","display_name":"Computer science","score":0.8029917478561401},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.6238491535186768},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6211901903152466},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.5793360471725464},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.576141893863678},{"id":"https://openalex.org/keywords/structure-from-motion","display_name":"Structure from motion","score":0.5596277713775635},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5358997583389282},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.48234909772872925},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.4370133876800537},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.41140875220298767},{"id":"https://openalex.org/keywords/motion-estimation","display_name":"Motion estimation","score":0.25018197298049927},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.13600051403045654},{"id":"https://openalex.org/keywords/database","display_name":"Database","score":0.08539509773254395}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8029917478561401},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.6238491535186768},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6211901903152466},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.5793360471725464},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.576141893863678},{"id":"https://openalex.org/C146159030","wikidata":"https://www.wikidata.org/wiki/Q7625099","display_name":"Structure from motion","level":3,"score":0.5596277713775635},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5358997583389282},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.48234909772872925},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.4370133876800537},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.41140875220298767},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.25018197298049927},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.13600051403045654},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.08539509773254395},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10161140","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161140","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":60,"referenced_works":["https://openalex.org/W840954190","https://openalex.org/W1484371059","https://openalex.org/W1612997784","https://openalex.org/W1958116060","https://openalex.org/W2007806707","https://openalex.org/W2033819227","https://openalex.org/W2050551672","https://openalex.org/W2084613528","https://openalex.org/W2085261163","https://openalex.org/W2105303354","https://openalex.org/W2105413810","https://openalex.org/W2112634643","https://openalex.org/W2113679823","https://openalex.org/W2121947440","https://openalex.org/W2124313187","https://openalex.org/W2155056756","https://openalex.org/W2155094592","https://openalex.org/W2163446794","https://openalex.org/W2199898507","https://openalex.org/W2214788824","https://openalex.org/W2217143704","https://openalex.org/W2471962767","https://openalex.org/W2495616481","https://openalex.org/W2520592772","https://openalex.org/W2605778869","https://openalex.org/W2606231668","https://openalex.org/W2736960679","https://openalex.org/W2745859992","https://openalex.org/W2753893487","https://openalex.org/W2783040330","https://openalex.org/W2797929305","https://openalex.org/W2798548676","https://openalex.org/W2798863836","https://openalex.org/W2962705366","https://openalex.org/W2962793285","https://openalex.org/W2963217126","https://openalex.org/W2963562098","https://openalex.org/W3020987090","https://openalex.org/W3034275286","https://openalex.org/W3039744162","https://openalex.org/W3043075211","https://openalex.org/W3087815220","https://openalex.org/W3105612746","https://openalex.org/W3174815767","https://openalex.org/W3176602998","https://openalex.org/W3180016284","https://openalex.org/W3204873281","https://openalex.org/W4200150166","https://openalex.org/W4206760982","https://openalex.org/W4214528542","https://openalex.org/W4214925515","https://openalex.org/W4248598408","https://openalex.org/W4292363360","https://openalex.org/W6675647860","https://openalex.org/W6682783967","https://openalex.org/W6687742793","https://openalex.org/W6688379175","https://openalex.org/W6776197037","https://openalex.org/W6792273056","https://openalex.org/W6801336377"],"related_works":["https://openalex.org/W2378211422","https://openalex.org/W4321353415","https://openalex.org/W2745001401","https://openalex.org/W2130974462","https://openalex.org/W2028665553","https://openalex.org/W2086519370","https://openalex.org/W4246352526","https://openalex.org/W2121910908","https://openalex.org/W915438175","https://openalex.org/W4230315250"],"abstract_inverted_index":{"Despite":[0],"the":[1,20,65,68,87,107,110,116,137],"impressive":[2],"results":[3],"achieved":[4],"by":[5,71,99,106],"many":[6,29],"existing":[7],"Structure":[8],"from":[9,74,109],"Motion":[10],"(SfM)":[11],"approaches,":[12],"there":[13],"is":[14,48,90],"still":[15],"a":[16,42,59,100,128],"need":[17],"to":[18,50,114,131,136],"improve":[19,115],"robustness,":[21],"accuracy,":[22],"and":[23,32,52,83,120,156],"efficiency":[24],"on":[25,145],"large-scale":[26,51,146],"scenes":[27],"with":[28],"outlier":[30],"matches":[31],"sparse":[33],"view":[34,69,88],"graphs.":[35],"In":[36],"this":[37],"paper,":[38],"we":[39],"propose":[40],"AdaSfM:":[41],"coarse-to-fine":[43],"adaptive":[44],"SfM":[45,62,104,113],"approach":[46,56,126,152],"that":[47,94,150],"scalable":[49],"challenging":[53],"datasets.":[54],"Our":[55],"first":[57],"does":[58],"coarse":[60,111],"global":[61,112,141],"which":[63],"improves":[64],"reliability":[66],"of":[67,140],"graph":[70,89],"leveraging":[72],"measurements":[73],"low-cost":[75],"sensors":[76],"such":[77],"as":[78],"Inertial":[79],"Measurement":[80],"Units":[81],"(IMUs)":[82],"wheel":[84],"encoders.":[85],"Subsequently,":[86],"divided":[91],"into":[92],"sub-scenes":[93],"are":[95],"refined":[96],"in":[97],"parallel":[98],"fine":[101],"local":[102,134],"incremental":[103],"regularised":[105],"result":[108],"camera":[117],"registration":[118],"accuracy":[119,155],"alleviate":[121],"scene":[122],"drifts.":[123],"Finally,":[124],"our":[125,151],"uses":[127],"threshold-adaptive":[129],"strategy":[130],"align":[132],"all":[133],"reconstructions":[135],"coordinate":[138],"frame":[139],"SfM.":[142],"Extensive":[143],"experiments":[144],"benchmark":[147],"datasets":[148],"show":[149],"achieves":[153],"state-of-the-art":[154],"efficiency.":[157],"[Project":[158],"Page]":[159]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
