{"id":"https://openalex.org/W2784319755","doi":"https://doi.org/10.1109/lra.2018.2792141","title":"BAFS: Bundle Adjustment With Feature Scale Constraints for Enhanced Estimation Accuracy","display_name":"BAFS: Bundle Adjustment With Feature Scale Constraints for Enhanced Estimation Accuracy","publication_year":2018,"publication_date":"2018-01-11","ids":{"openalex":"https://openalex.org/W2784319755","doi":"https://doi.org/10.1109/lra.2018.2792141","mag":"2784319755"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2018.2792141","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2792141","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5017646939","display_name":"Vladimir Ovechkin","orcid":null},"institutions":[{"id":"https://openalex.org/I174306211","display_name":"Technion \u2013 Israel Institute of Technology","ror":"https://ror.org/03qryx823","country_code":"IL","type":"education","lineage":["https://openalex.org/I174306211"]}],"countries":["IL"],"is_corresponding":true,"raw_author_name":"Vladimir Ovechkin","raw_affiliation_strings":["Technion Autonomous Systems Program, Technion\u2014Israel Institute of Technology, Haifa, Israel"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technion Autonomous Systems Program, Technion\u2014Israel Institute of Technology, Haifa, Israel","institution_ids":["https://openalex.org/I174306211"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079397023","display_name":"Vadim Indelman","orcid":"https://orcid.org/0000-0002-1863-3442"},"institutions":[{"id":"https://openalex.org/I174306211","display_name":"Technion \u2013 Israel Institute of Technology","ror":"https://ror.org/03qryx823","country_code":"IL","type":"education","lineage":["https://openalex.org/I174306211"]}],"countries":["IL"],"is_corresponding":false,"raw_author_name":"Vadim Indelman","raw_affiliation_strings":["Department of Aerospace Engineering, Technion\u2014Israel Institute of Technology, Haifa, Israel"],"raw_orcid":"https://orcid.org/0000-0002-1863-3442","affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering, Technion\u2014Israel Institute of Technology, Haifa, Israel","institution_ids":["https://openalex.org/I174306211"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5017646939"],"corresponding_institution_ids":["https://openalex.org/I174306211"],"apc_list":null,"apc_paid":null,"fwci":8.4236,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.97115031,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"3","issue":"2","first_page":"804","last_page":"810"},"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":0.9976999759674072,"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/T12549","display_name":"Image and Object Detection Techniques","score":0.9976000189781189,"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":0.780389666557312},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.6486673951148987},{"id":"https://openalex.org/keywords/bundle","display_name":"Bundle","score":0.6168053150177002},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.597586989402771},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5461176633834839},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5424824357032776},{"id":"https://openalex.org/keywords/estimation","display_name":"Estimation","score":0.5237479209899902},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4180550277233124},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.15217971801757812},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11299261450767517},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.11256834864616394}],"concepts":[{"id":"https://openalex.org/C179458375","wikidata":"https://www.wikidata.org/wiki/Q1020763","display_name":"Bundle adjustment","level":3,"score":0.780389666557312},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.6486673951148987},{"id":"https://openalex.org/C2778134712","wikidata":"https://www.wikidata.org/wiki/Q1047307","display_name":"Bundle","level":2,"score":0.6168053150177002},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.597586989402771},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5461176633834839},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5424824357032776},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.5237479209899902},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4180550277233124},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.15217971801757812},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11299261450767517},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.11256834864616394},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2018.2792141","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2792141","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W38673616","https://openalex.org/W169439271","https://openalex.org/W1968315983","https://openalex.org/W1970504153","https://openalex.org/W1978966573","https://openalex.org/W1991127916","https://openalex.org/W2018766191","https://openalex.org/W2032144264","https://openalex.org/W2033819227","https://openalex.org/W2036396246","https://openalex.org/W2055510976","https://openalex.org/W2056298239","https://openalex.org/W2064169939","https://openalex.org/W2108134361","https://openalex.org/W2115579991","https://openalex.org/W2124313187","https://openalex.org/W2151103935","https://openalex.org/W2153054365","https://openalex.org/W2161969291","https://openalex.org/W2182229738","https://openalex.org/W2209124607","https://openalex.org/W2417065300","https://openalex.org/W2536927294","https://openalex.org/W4236769309","https://openalex.org/W6685664056"],"related_works":["https://openalex.org/W2416513692","https://openalex.org/W2751063144","https://openalex.org/W2367481874","https://openalex.org/W4243215409","https://openalex.org/W3103125695","https://openalex.org/W2992292799","https://openalex.org/W159468655","https://openalex.org/W2371097030","https://openalex.org/W2110862966","https://openalex.org/W2020684218"],"abstract_inverted_index":{"We":[0,104],"propose":[1],"to":[2,65,95],"incorporate":[3],"within":[4],"bundle":[5],"adjustment":[6],"(BA)":[7],"a":[8,51,80,93],"new":[9],"type":[10],"of":[11,23,69,76],"constraint":[12],"that":[13],"uses":[14,63],"feature":[15,26,31,59,86],"scale":[16,20,60,87],"information,":[17],"leveraging":[18],"the":[19,57,67,73,77,84,112],"invariance":[21],"property":[22],"typical":[24],"image":[25,38],"detectors":[27],"(e.g.,":[28],"SIFT).":[29],"While":[30],"scales":[32],"play":[33],"an":[34],"important":[35],"role":[36],"in":[37,50,79,108,119],"matching,":[39],"they":[40],"have":[41],"not":[42,100],"been":[43],"utilized":[44],"thus":[45],"far":[46],"for":[47],"estimation":[48],"purposes":[49],"BA":[52],"framework.":[53],"Our":[54],"approach":[55,107],"exploits":[56],"already-available":[58],"information":[61],"and":[62,98,111],"it":[64],"enhance":[66],"accuracy":[68],"BA,":[70],"especially":[71],"along":[72],"optical":[74],"axis":[75],"camera":[78],"monocular":[81],"setup.":[82],"Importantly,":[83],"mentioned":[85],"constraints":[88],"can":[89],"be":[90],"formulated":[91],"on":[92],"frame":[94,96],"basis":[97],"do":[99],"require":[101],"loop":[102],"closures.":[103],"study":[105],"our":[106],"synthetic":[109],"environments":[110],"real-imagery":[113],"KITTI":[114],"dataset,":[115],"demonstrating":[116],"significant":[117],"improvement":[118],"positioning":[120],"error.":[121]},"counts_by_year":[{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
