{"id":"https://openalex.org/W3003406474","doi":"https://doi.org/10.1109/iros40897.2019.8968444","title":"Line-based Absolute and Relative Camera Pose Estimation in Structured Environments","display_name":"Line-based Absolute and Relative Camera Pose Estimation in Structured Environments","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W3003406474","doi":"https://doi.org/10.1109/iros40897.2019.8968444","mag":"3003406474"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8968444","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968444","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5040338788","display_name":"Haoang Li","orcid":"https://orcid.org/0000-0002-1576-9408"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Haoang Li","raw_affiliation_strings":["The Chinese University of Hong Kong,T Stone Robotics Institute and Department of Mechanical and Automation Engineering,Hong Kong,China","T Stone Robotics Institute and Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,T Stone Robotics Institute and Department of Mechanical and Automation Engineering,Hong Kong,China","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"T Stone Robotics Institute and Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068087511","display_name":"Ji Zhao","orcid":"https://orcid.org/0000-0002-0150-4601"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ji Zhao","raw_affiliation_strings":["TuSimple,Beijing,China","TuSimple, Beijing, China"],"affiliations":[{"raw_affiliation_string":"TuSimple,Beijing,China","institution_ids":[]},{"raw_affiliation_string":"TuSimple, Beijing, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029086954","display_name":"Jean\u2010Charles Bazin","orcid":"https://orcid.org/0000-0001-7660-4802"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jean-Charles Bazin","raw_affiliation_strings":["KAIST,Daejeon,South Korea","KAIST, Daejeon, South Korea"],"affiliations":[{"raw_affiliation_string":"KAIST,Daejeon,South Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"KAIST, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049316918","display_name":"Wen Chen","orcid":"https://orcid.org/0000-0001-6754-6612"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wen Chen","raw_affiliation_strings":["The Chinese University of Hong Kong,T Stone Robotics Institute and Department of Mechanical and Automation Engineering,Hong Kong,China","T Stone Robotics Institute and Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,T Stone Robotics Institute and Department of Mechanical and Automation Engineering,Hong Kong,China","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"T Stone Robotics Institute and Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100437922","display_name":"Kai Chen","orcid":"https://orcid.org/0000-0001-5727-385X"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kai Chen","raw_affiliation_strings":["Wuhan University,Wuhan,China","Wuhan University, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"Wuhan University,Wuhan,China","institution_ids":["https://openalex.org/I37461747"]},{"raw_affiliation_string":"Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100707660","display_name":"Yunhui Liu","orcid":"https://orcid.org/0000-0002-3625-6679"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yun-Hui Liu","raw_affiliation_strings":["The Chinese University of Hong Kong,T Stone Robotics Institute and Department of Mechanical and Automation Engineering,Hong Kong,China","T Stone Robotics Institute and Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,T Stone Robotics Institute and Department of Mechanical and Automation Engineering,Hong Kong,China","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"T Stone Robotics Institute and Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5040338788"],"corresponding_institution_ids":["https://openalex.org/I177725633"],"apc_list":null,"apc_paid":null,"fwci":1.0122,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.81360914,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"6914","last_page":"6920"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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/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/T10638","display_name":"Optical measurement and interference techniques","score":0.9993000030517578,"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/leverage","display_name":"Leverage (statistics)","score":0.7053479552268982},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.6681579351425171},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6440755724906921},{"id":"https://openalex.org/keywords/ransac","display_name":"RANSAC","score":0.6211336255073547},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6075656414031982},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.602674663066864},{"id":"https://openalex.org/keywords/least-absolute-deviations","display_name":"Least absolute deviations","score":0.5624523162841797},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5454644560813904},{"id":"https://openalex.org/keywords/vanishing-point","display_name":"Vanishing point","score":0.5238475799560547},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.5178330540657043},{"id":"https://openalex.org/keywords/orthogonality","display_name":"Orthogonality","score":0.5140770673751831},{"id":"https://openalex.org/keywords/translation","display_name":"Translation (biology)","score":0.4538813531398773},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.35944274067878723},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.32452279329299927},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.2900821566581726},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.14301425218582153},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.08143123984336853},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.0783623456954956}],"concepts":[{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.7053479552268982},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.6681579351425171},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6440755724906921},{"id":"https://openalex.org/C114744707","wikidata":"https://www.wikidata.org/wiki/Q218533","display_name":"RANSAC","level":3,"score":0.6211336255073547},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6075656414031982},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.602674663066864},{"id":"https://openalex.org/C31441030","wikidata":"https://www.wikidata.org/wiki/Q4291882","display_name":"Least absolute deviations","level":3,"score":0.5624523162841797},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5454644560813904},{"id":"https://openalex.org/C99404194","wikidata":"https://www.wikidata.org/wiki/Q163362","display_name":"Vanishing point","level":3,"score":0.5238475799560547},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.5178330540657043},{"id":"https://openalex.org/C17137986","wikidata":"https://www.wikidata.org/wiki/Q215067","display_name":"Orthogonality","level":2,"score":0.5140770673751831},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.4538813531398773},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.35944274067878723},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.32452279329299927},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.2900821566581726},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.14301425218582153},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.08143123984336853},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0783623456954956},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C105580179","wikidata":"https://www.wikidata.org/wiki/Q188928","display_name":"Messenger RNA","level":3,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros40897.2019.8968444","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968444","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.8399999737739563,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1519594923","https://openalex.org/W1598416351","https://openalex.org/W1608655332","https://openalex.org/W1993267444","https://openalex.org/W1997766264","https://openalex.org/W2008471589","https://openalex.org/W2033819227","https://openalex.org/W2058535340","https://openalex.org/W2061246543","https://openalex.org/W2083347703","https://openalex.org/W2110771871","https://openalex.org/W2122612384","https://openalex.org/W2124835127","https://openalex.org/W2127059973","https://openalex.org/W2134778138","https://openalex.org/W2164149281","https://openalex.org/W2168241268","https://openalex.org/W2473967151","https://openalex.org/W2520753854","https://openalex.org/W2585956660","https://openalex.org/W2775427632","https://openalex.org/W2792266081","https://openalex.org/W2889958683","https://openalex.org/W2909106158","https://openalex.org/W2909648691","https://openalex.org/W2945864190","https://openalex.org/W2967644863","https://openalex.org/W2968607842","https://openalex.org/W2982160750","https://openalex.org/W6631325901","https://openalex.org/W6635831761","https://openalex.org/W6636383490","https://openalex.org/W6769446804"],"related_works":["https://openalex.org/W4229588126","https://openalex.org/W4315926687","https://openalex.org/W1018308721","https://openalex.org/W2400674966","https://openalex.org/W1986998312","https://openalex.org/W4315777189","https://openalex.org/W4229059082","https://openalex.org/W2790693815","https://openalex.org/W4390872624","https://openalex.org/W2896146757"],"abstract_inverted_index":{"3D":[0,103,110],"lines":[1,104,111],"in":[2],"structured":[3],"environments":[4],"encode":[5],"particular":[6],"regularity":[7,16],"like":[8],"parallelism":[9],"and":[10,21,29,31,42,45,69,86,117,130,137,164,179,191],"orthogonality.":[11],"We":[12,25,38,73,155,171],"leverage":[13],"this":[14,63],"structural":[15],"to":[17,57,114,119,123,161],"estimate":[18,75,88],"the":[19,27,40,47,51,54,58,120,169],"absolute":[20,41,129],"relative":[22,43,131,141],"camera":[23,59],"poses.":[24],"decouple":[26],"rotation":[28,35,52],"translation,":[30],"propose":[32,66,157],"a":[33,158],"novel":[34,159],"estimation":[36,133,143,177],"method.":[37,72],"decompose":[39],"rotations":[44],"reformulate":[46],"problem":[48],"as":[49],"computing":[50],"from":[53],"Manhattan":[55],"frame":[56],"frame.":[60],"To":[61],"compute":[62],"rotation,":[64],"we":[65,99],"an":[67],"accurate":[68,136],"efficient":[70],"two-step":[71,125],"first":[74],"its":[76,89],"two":[77,83,109],"degrees":[78],"of":[79,168],"freedom":[80],"(DOF)":[81],"by":[82,92],"image":[84,94],"lines,":[85,98],"then":[87],"third":[90],"DOF":[91,126],"another":[93],"line.":[95],"For":[96],"these":[97],"assume":[100],"their":[101],"associated":[102],"are":[105,112,135],"mutually":[106],"orthogonal,":[107],"or":[108,149],"parallel":[113],"each":[115],"other":[116],"orthogonal":[118],"third.":[121],"Thanks":[122],"our":[124,128,140,175,196],"estimation,":[127],"pose":[132,142,176],"methods":[134,197],"efficient.":[138],"Moreover,":[139],"method":[144],"relies":[145],"on":[146,189],"weaker":[147],"assumptions":[148],"less":[150],"correspondences":[151],"than":[152,186],"existing":[153],"approaches.":[154,200],"also":[156],"strategy":[160],"reject":[162],"outliers":[163],"identify":[165],"dominant":[166],"directions":[167],"scene.":[170],"integrate":[172],"it":[173,182],"into":[174],"methods,":[178],"show":[180],"that":[181,195],"is":[183],"more":[184],"robust":[185],"RANSAC.":[187],"Experiments":[188],"synthetic":[190],"real-world":[192],"datasets":[193],"demonstrated":[194],"outperform":[198],"state-of-the-art":[199]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}