{"id":"https://openalex.org/W4225961913","doi":"https://doi.org/10.1109/lra.2022.3168329","title":"Homography-Based Loss Function for Camera Pose Regression","display_name":"Homography-Based Loss Function for Camera Pose Regression","publication_year":2022,"publication_date":"2022-04-19","ids":{"openalex":"https://openalex.org/W4225961913","doi":"https://doi.org/10.1109/lra.2022.3168329"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3168329","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3168329","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":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2205.01937","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5013185108","display_name":"Cl\u00e9mentin Boittiaux","orcid":"https://orcid.org/0000-0002-1487-3502"},"institutions":[{"id":"https://openalex.org/I154202486","display_name":"Ifremer","ror":"https://ror.org/044jxhp58","country_code":"FR","type":"facility","lineage":["https://openalex.org/I154202486"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Clementin Boittiaux","raw_affiliation_strings":["Ifremer, La Seyne-sur-Mer, France"],"raw_orcid":"https://orcid.org/0000-0002-1487-3502","affiliations":[{"raw_affiliation_string":"Ifremer, La Seyne-sur-Mer, France","institution_ids":["https://openalex.org/I154202486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013266148","display_name":"Ricard Marxer","orcid":"https://orcid.org/0000-0001-5099-5059"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I143002897","display_name":"Universit\u00e9 de Toulon","ror":"https://ror.org/02m9kbe37","country_code":"FR","type":"education","lineage":["https://openalex.org/I143002897"]},{"id":"https://openalex.org/I4210114274","display_name":"Laboratoire d\u2019Informatique et Syst\u00e8mes","ror":"https://ror.org/0257sgk90","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I143002897","https://openalex.org/I21491767","https://openalex.org/I4210114274"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Ricard Marxer","raw_affiliation_strings":["CNRS, LIS, Université de Toulon, Aix-Marseille Université, Toulon, France"],"raw_orcid":"https://orcid.org/0000-0001-5099-5059","affiliations":[{"raw_affiliation_string":"CNRS, LIS, Université de Toulon, Aix-Marseille Université, Toulon, France","institution_ids":["https://openalex.org/I143002897","https://openalex.org/I4210114274","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024450337","display_name":"Claire Dune","orcid":"https://orcid.org/0000-0003-0221-5614"},"institutions":[{"id":"https://openalex.org/I143002897","display_name":"Universit\u00e9 de Toulon","ror":"https://ror.org/02m9kbe37","country_code":"FR","type":"education","lineage":["https://openalex.org/I143002897"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Claire Dune","raw_affiliation_strings":["COSMER, Université de Toulon, Toulon, France"],"raw_orcid":"https://orcid.org/0000-0003-0221-5614","affiliations":[{"raw_affiliation_string":"COSMER, Université de Toulon, Toulon, France","institution_ids":["https://openalex.org/I143002897"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059589029","display_name":"Aur\u00e9lien Arnaubec","orcid":"https://orcid.org/0000-0003-4963-0268"},"institutions":[{"id":"https://openalex.org/I154202486","display_name":"Ifremer","ror":"https://ror.org/044jxhp58","country_code":"FR","type":"facility","lineage":["https://openalex.org/I154202486"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Aurelien Arnaubec","raw_affiliation_strings":["Ifremer, La Seyne-sur-Mer, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ifremer, La Seyne-sur-Mer, France","institution_ids":["https://openalex.org/I154202486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067757964","display_name":"Vincent Hugel","orcid":"https://orcid.org/0000-0003-3675-4894"},"institutions":[{"id":"https://openalex.org/I143002897","display_name":"Universit\u00e9 de Toulon","ror":"https://ror.org/02m9kbe37","country_code":"FR","type":"education","lineage":["https://openalex.org/I143002897"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Vincent Hugel","raw_affiliation_strings":["COSMER, Université de Toulon, Toulon, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"COSMER, Université de Toulon, Toulon, France","institution_ids":["https://openalex.org/I143002897"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.6135,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.93262968,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"7","issue":"3","first_page":"6242","last_page":"6249"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9994999766349792,"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":0.9991999864578247,"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/initialization","display_name":"Initialization","score":0.8402564525604248},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7374331951141357},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6982251405715942},{"id":"https://openalex.org/keywords/homography","display_name":"Homography","score":0.6710111498832703},{"id":"https://openalex.org/keywords/hyperparameter","display_name":"Hyperparameter","score":0.6465739607810974},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5674352645874023},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.5165306925773621},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.49183201789855957},{"id":"https://openalex.org/keywords/mean-squared-error","display_name":"Mean squared error","score":0.47510918974876404},{"id":"https://openalex.org/keywords/reprojection-error","display_name":"Reprojection error","score":0.4718332886695862},{"id":"https://openalex.org/keywords/regression","display_name":"Regression","score":0.4712947607040405},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.4299558997154236},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.34774214029312134},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20073401927947998},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.08662164211273193}],"concepts":[{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.8402564525604248},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7374331951141357},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6982251405715942},{"id":"https://openalex.org/C28751775","wikidata":"https://www.wikidata.org/wiki/Q2112539","display_name":"Homography","level":4,"score":0.6710111498832703},{"id":"https://openalex.org/C8642999","wikidata":"https://www.wikidata.org/wiki/Q4171168","display_name":"Hyperparameter","level":2,"score":0.6465739607810974},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5674352645874023},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.5165306925773621},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.49183201789855957},{"id":"https://openalex.org/C139945424","wikidata":"https://www.wikidata.org/wiki/Q1940696","display_name":"Mean squared error","level":2,"score":0.47510918974876404},{"id":"https://openalex.org/C23903533","wikidata":"https://www.wikidata.org/wiki/Q17122739","display_name":"Reprojection error","level":3,"score":0.4718332886695862},{"id":"https://openalex.org/C83546350","wikidata":"https://www.wikidata.org/wiki/Q1139051","display_name":"Regression","level":2,"score":0.4712947607040405},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.4299558997154236},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.34774214029312134},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20073401927947998},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.08662164211273193},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C75280867","wikidata":"https://www.wikidata.org/wiki/Q877775","display_name":"Projective space","level":3,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C177846678","wikidata":"https://www.wikidata.org/wiki/Q1501864","display_name":"Projective test","level":2,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/lra.2022.3168329","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3168329","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"},{"id":"pmh:oai:arXiv.org:2205.01937","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2205.01937","pdf_url":"https://arxiv.org/pdf/2205.01937","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:HAL:hal-03654445v1","is_oa":false,"landing_page_url":"https://hal.science/hal-03654445","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters, 2022, 7 (3), pp.6242-6249. ⟨10.1109/LRA.2022.3168329⟩","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:archimer.ifremer.fr:87810","is_oa":true,"landing_page_url":"https://archimer.ifremer.fr/doc/00766/87810/","pdf_url":null,"source":{"id":"https://openalex.org/S4306402610","display_name":"Archimer (Ifremer)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I154202486","host_organization_name":"Ifremer","host_organization_lineage":["https://openalex.org/I154202486"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Ieee Robotics And Automation Letters (2377-3766) (Institute of Electrical and Electronics Engineers (IEEE)), 2022-07 , Vol. 7 , N. 3 , P. 6242-6249","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2205.01937","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2205.01937","pdf_url":"https://arxiv.org/pdf/2205.01937","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/10","display_name":"Reduced inequalities","score":0.46000000834465027}],"awards":[],"funders":[{"id":"https://openalex.org/F4320311029","display_name":"Institut Fran\u00e7ais de Recherche pour l'Exploitation de la Mer","ror":"https://ror.org/044jxhp58"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W605416986","https://openalex.org/W1522301498","https://openalex.org/W1612997784","https://openalex.org/W1989476314","https://openalex.org/W2033819227","https://openalex.org/W2097117768","https://openalex.org/W2200124539","https://openalex.org/W2489806380","https://openalex.org/W2522940611","https://openalex.org/W2556455135","https://openalex.org/W2605111497","https://openalex.org/W2740418457","https://openalex.org/W2752709290","https://openalex.org/W2768185495","https://openalex.org/W2908510526","https://openalex.org/W2962705366","https://openalex.org/W2963163009","https://openalex.org/W2963677766","https://openalex.org/W2963856988","https://openalex.org/W3103648783","https://openalex.org/W3176602998","https://openalex.org/W3204873281","https://openalex.org/W4246193833","https://openalex.org/W4250589301","https://openalex.org/W6631190155","https://openalex.org/W6757817989"],"related_works":["https://openalex.org/W3166880476","https://openalex.org/W4319301225","https://openalex.org/W3121838925","https://openalex.org/W4288055375","https://openalex.org/W4294967731","https://openalex.org/W2113886626","https://openalex.org/W2114802831","https://openalex.org/W4389168572","https://openalex.org/W2969320909","https://openalex.org/W4386075737"],"abstract_inverted_index":{"Some":[0],"recent":[1],"visual-based":[2],"relocalization":[3,108],"algorithms":[4],"rely":[5,54],"on":[6,21,55,80,96,105],"deep":[7,34],"learning":[8,35],"methods":[9],"to":[10,32],"perform":[11,33],"camera":[12,37],"pose":[13,38],"regression":[14],"from":[15],"image":[16],"data.":[17],"This":[18,85],"letter":[19],"focuses":[20],"the":[22,27,101,115],"loss":[23,41,75,126],"functions":[24,42,47],"that":[25,53,111],"embed":[26],"error":[28,119],"between":[29],"two":[30],"poses":[31],"based":[36,79],"regression.":[39],"Existing":[40],"are":[43],"either":[44],"difficult-to-tune":[45],"multi-objective":[46],"or":[48],"present":[49],"unstable":[50],"reprojection":[51,118],"errors":[52],"ground":[56],"truth":[57],"3D":[58],"scene":[59],"points":[60],"and":[61,93],"require":[62,90],"a":[63,73,81],"two-step":[64],"training.":[65],"To":[66],"deal":[67],"with":[68,124],"these":[69],"issues,":[70],"we":[71],"introduce":[72],"novel":[74],"function":[76,87],"which":[77],"is":[78],"multiplane":[82],"homography":[83],"integration.":[84],"new":[86],"does":[88],"not":[89],"prior":[91],"initialization":[92],"only":[94],"depends":[95],"physically":[97],"interpretable":[98],"hyperparameters.":[99],"Furthermore,":[100],"experiments":[102],"carried":[103],"out":[104],"well":[106],"established":[107],"datasets":[109],"show":[110],"it":[112],"minimizes":[113],"best":[114],"mean":[116],"square":[117],"during":[120],"training":[121],"when":[122],"compared":[123],"existing":[125],"functions.":[127]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}