{"id":"https://openalex.org/W4415307382","doi":"https://doi.org/10.1109/lra.2025.3614050","title":"Bias-Eliminated PnP for Stereo Visual Odometry: Provably Consistent and Large-Scale Localization","display_name":"Bias-Eliminated PnP for Stereo Visual Odometry: Provably Consistent and Large-Scale Localization","publication_year":2025,"publication_date":"2025-09-24","ids":{"openalex":"https://openalex.org/W4415307382","doi":"https://doi.org/10.1109/lra.2025.3614050"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3614050","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3614050","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","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2504.17410","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5037538275","display_name":"Guangyang Zeng","orcid":"https://orcid.org/0000-0002-3093-3982"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guangyang Zeng","raw_affiliation_strings":["School of Data Science, Chinese University of Hong Kong, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-3093-3982","affiliations":[{"raw_affiliation_string":"School of Data Science, Chinese University of Hong Kong, Shenzhen, China","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102014459","display_name":"Yuan Shen","orcid":"https://orcid.org/0000-0002-1026-6828"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuan Shen","raw_affiliation_strings":["School of Data Science, Chinese University of Hong Kong, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Data Science, Chinese University of Hong Kong, Shenzhen, China","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Ziyang Hong","orcid":"https://orcid.org/0009-0001-8777-5049"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ziyang Hong","raw_affiliation_strings":["School of Data Science, Chinese University of Hong Kong, Shenzhen, China"],"raw_orcid":"https://orcid.org/0009-0001-8777-5049","affiliations":[{"raw_affiliation_string":"School of Data Science, Chinese University of Hong Kong, Shenzhen, China","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064040649","display_name":"Yuze Hong","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuze Hong","raw_affiliation_strings":["School of Data Science, Chinese University of Hong Kong, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Data Science, Chinese University of Hong Kong, Shenzhen, China","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028642327","display_name":"Viorela Ila","orcid":"https://orcid.org/0000-0002-8137-0833"},"institutions":[{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Viorela Ila","raw_affiliation_strings":["Australian Center for Robotics and School of Aerospace, Mechanical and Mechatronic Engineering, University of Sydney, Camperdown, NSW, Australia"],"raw_orcid":"https://orcid.org/0000-0002-8137-0833","affiliations":[{"raw_affiliation_string":"Australian Center for Robotics and School of Aerospace, Mechanical and Mechatronic Engineering, University of Sydney, Camperdown, NSW, Australia","institution_ids":["https://openalex.org/I4210127558"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101779749","display_name":"Guodong Shi","orcid":"https://orcid.org/0000-0002-5929-9655"},"institutions":[{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Guodong Shi","raw_affiliation_strings":["Australian Center for Robotics and School of Aerospace, Mechanical and Mechatronic Engineering, University of Sydney, Camperdown, NSW, Australia"],"raw_orcid":"https://orcid.org/0000-0002-5929-9655","affiliations":[{"raw_affiliation_string":"Australian Center for Robotics and School of Aerospace, Mechanical and Mechatronic Engineering, University of Sydney, Camperdown, NSW, Australia","institution_ids":["https://openalex.org/I4210127558"]}]},{"author_position":"last","author":{"id":null,"display_name":"Junfeng Wu","orcid":"https://orcid.org/0000-0002-7125-3748"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junfeng Wu","raw_affiliation_strings":["School of Data Science, Chinese University of Hong Kong, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-7125-3748","affiliations":[{"raw_affiliation_string":"School of Data Science, Chinese University of Hong Kong, Shenzhen, China","institution_ids":["https://openalex.org/I4210116924"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.24395344,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"10","issue":"11","first_page":"11840","last_page":"11847"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9987999796867371,"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":0.9987999796867371,"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":0.9987000226974487,"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/T12549","display_name":"Image and Object Detection Techniques","score":0.9950000047683716,"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/estimator","display_name":"Estimator","score":0.7179999947547913},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.6553000211715698},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.6107000112533569},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.5530999898910522},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.46799999475479126},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.4284000098705292},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4203000068664551},{"id":"https://openalex.org/keywords/stereopsis","display_name":"Stereopsis","score":0.41780000925064087},{"id":"https://openalex.org/keywords/3d-pose-estimation","display_name":"3D pose estimation","score":0.3571999967098236}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7623999714851379},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7182999849319458},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.7179999947547913},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.6553000211715698},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.6107000112533569},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5928000211715698},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.5530999898910522},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.46799999475479126},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.4284000098705292},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4203000068664551},{"id":"https://openalex.org/C68537008","wikidata":"https://www.wikidata.org/wiki/Q247932","display_name":"Stereopsis","level":2,"score":0.41780000925064087},{"id":"https://openalex.org/C36613465","wikidata":"https://www.wikidata.org/wiki/Q4636322","display_name":"3D pose estimation","level":3,"score":0.3571999967098236},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.3513999879360199},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.34220001101493835},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.3391000032424927},{"id":"https://openalex.org/C31451488","wikidata":"https://www.wikidata.org/wiki/Q5157586","display_name":"Computer stereo vision","level":3,"score":0.33230000734329224},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.3262999951839447},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3125},{"id":"https://openalex.org/C3004257","wikidata":"https://www.wikidata.org/wiki/Q17084606","display_name":"Correspondence problem","level":2,"score":0.30809998512268066},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3077999949455261},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.29899999499320984},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2944999933242798},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.29089999198913574},{"id":"https://openalex.org/C2987395694","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Feature tracking","level":3,"score":0.290800005197525},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.28540000319480896},{"id":"https://openalex.org/C56461940","wikidata":"https://www.wikidata.org/wiki/Q970687","display_name":"Eye tracking","level":2,"score":0.2847000062465668},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2797999978065491},{"id":"https://openalex.org/C22100474","wikidata":"https://www.wikidata.org/wiki/Q4800952","display_name":"Articulated body pose estimation","level":4,"score":0.2766999900341034},{"id":"https://openalex.org/C35861506","wikidata":"https://www.wikidata.org/wiki/Q17141434","display_name":"Stereo cameras","level":3,"score":0.2614000141620636},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.2612999975681305},{"id":"https://openalex.org/C179458375","wikidata":"https://www.wikidata.org/wiki/Q1020763","display_name":"Bundle adjustment","level":3,"score":0.25619998574256897}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/lra.2025.3614050","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3614050","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:2504.17410","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2504.17410","pdf_url":"https://arxiv.org/pdf/2504.17410","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"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":"doi:10.48550/arxiv.2504.17410","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2504.17410","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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2504.17410","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2504.17410","pdf_url":"https://arxiv.org/pdf/2504.17410","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"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":[],"awards":[{"id":"https://openalex.org/G4405644799","display_name":null,"funder_award_id":"62336005","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6221712817","display_name":null,"funder_award_id":"2024A151524009","funder_id":"https://openalex.org/F4320337111","funder_display_name":"Basic and Applied Basic Research Foundation of Guangdong Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320337111","display_name":"Basic and Applied Basic Research Foundation of Guangdong Province","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4415307382.pdf","grobid_xml":"https://content.openalex.org/works/W4415307382.grobid-xml"},"referenced_works_count":27,"referenced_works":["https://openalex.org/W3043971245","https://openalex.org/W4230766380","https://openalex.org/W3126851256","https://openalex.org/W4286543692","https://openalex.org/W2535547924","https://openalex.org/W2963562098","https://openalex.org/W2015996585","https://openalex.org/W4293094564","https://openalex.org/W4388739243","https://openalex.org/W4399767129","https://openalex.org/W4405304590","https://openalex.org/W4392207722","https://openalex.org/W4409366214","https://openalex.org/W4400187964","https://openalex.org/W4403277770","https://openalex.org/W4404534413","https://openalex.org/W2001412060","https://openalex.org/W3175488654","https://openalex.org/W4413392602","https://openalex.org/W2033819227","https://openalex.org/W4383108574","https://openalex.org/W4226201304","https://openalex.org/W2909157769","https://openalex.org/W2115579991","https://openalex.org/W2558027072","https://openalex.org/W1991544872","https://openalex.org/W4411055100"],"related_works":[],"abstract_inverted_index":{"In":[0],"this":[1],"letter,":[2],"we":[3,22,60],"first":[4],"present":[5],"a":[6,24,62,92,173],"bias-eliminated":[7],"weighted":[8],"(Bias-Eli-W)":[9],"perspective-n-point":[10],"(PnP)":[11],"estimator":[12,30,86],"for":[13,33,68],"stereo":[14,56,153],"visual":[15],"odometry":[16],"(VO)":[17],"with":[18],"provable":[19],"consistency.":[20],"Specifically,":[21],"develop":[23],"<inline-formula":[25],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[26,182],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[27],"notation=\"LaTeX\">$\\sqrt{n}$</tex-math></inline-formula>-consistent":[28],"PnP":[29,85,151,171],"that":[31,38,64,95,119],"accounts":[32],"3D":[34,78],"point":[35,79],"uncertainties,":[36],"ensuring":[37],"the":[39,45,49,55,83,88,97,104,110,149,156],"relative":[40,128],"pose":[41,76,100,129],"estimate":[42],"converges":[43],"to":[44],"true":[46],"value":[47],"as":[48],"feature":[50],"number":[51],"increases.":[52],"Next,":[53],"on":[54,109,167],"VO":[57,154],"pipeline":[58],"side,":[59],"propose":[61],"framework":[63],"triangulates":[65],"current":[66],"features":[67],"tracking":[69],"new":[70],"frames,":[71],"decoupling":[72],"temporal":[73],"dependencies":[74],"between":[75],"and":[77,112,131],"errors.":[80],"We":[81,102],"integrate":[82],"Bias-Eli-W":[84,150],"into":[87],"proposed":[89],"pipeline,":[90],"creating":[91],"synergistic":[93],"effect":[94],"enhances":[96],"accuracy":[98],"of":[99,106,148,158],"estimation.":[101],"validate":[103],"performance":[105],"our":[107,120],"method":[108],"KITTI":[111],"Oxford":[113],"RobotCar":[114],"datasets.":[115],"Experimental":[116],"results":[117],"demonstrate":[118],"method:":[121],"1)":[122],"achieves":[123],"significant":[124],"improvements":[125],"in":[126,135,152,161],"both":[127],"error":[130,134],"absolute":[132],"trajectory":[133],"large-scale":[136],"scenarios;":[137],"2)":[138],"provides":[139],"reliable":[140],"localization":[141],"under":[142],"erratic":[143],"motions.":[144],"The":[145],"successful":[146],"implementation":[147],"indicates":[155],"importance":[157],"information":[159],"screening":[160],"robotic":[162],"estimation":[163],"tasks,":[164],"shedding":[165],"light":[166],"diverse":[168],"applications":[169],"where":[170],"is":[172,178],"key":[174],"ingredient.":[175],"Our":[176],"code":[177],"open-sourced":[179],"at":[180],"<uri":[181],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">https://github.com/LIAS-CUHKSZ/CurrentFeature-Odometry</uri>.":[183]},"counts_by_year":[],"updated_date":"2026-06-19T17:40:00.097472","created_date":"2025-10-18T00:00:00"}
