{"id":"https://openalex.org/W2056646493","doi":"https://doi.org/10.1109/robio.2013.6739604","title":"Bundle adjustment and Kalman filtering for homography estimation","display_name":"Bundle adjustment and Kalman filtering for homography estimation","publication_year":2013,"publication_date":"2013-12-01","ids":{"openalex":"https://openalex.org/W2056646493","doi":"https://doi.org/10.1109/robio.2013.6739604","mag":"2056646493"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2013.6739604","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2013.6739604","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5108465680","display_name":"Saad Ali Imran","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Saad Ali Imran","raw_affiliation_strings":["Department of Informatics and Systems Engineering, Cranfied University, Swindon, England","Dept. of Inf. & Syst. Eng., Cranfied Univ., Swindon, UK"],"affiliations":[{"raw_affiliation_string":"Department of Informatics and Systems Engineering, Cranfied University, Swindon, England","institution_ids":[]},{"raw_affiliation_string":"Dept. of Inf. & Syst. Eng., Cranfied Univ., Swindon, UK","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091297058","display_name":"Nabil Aouf","orcid":"https://orcid.org/0000-0001-9291-4077"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Nabil Aouf","raw_affiliation_strings":["Department of Informatics and Systems Engineering, Cranfied University, Swindon, England","Dept. of Inf. & Syst. Eng., Cranfied Univ., Swindon, UK"],"affiliations":[{"raw_affiliation_string":"Department of Informatics and Systems Engineering, Cranfied University, Swindon, England","institution_ids":[]},{"raw_affiliation_string":"Dept. of Inf. & Syst. Eng., Cranfied Univ., Swindon, UK","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5108465680"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.12331495,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1060","last_page":"1064"},"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":0.9994000196456909,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9988999962806702,"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":0.8666132688522339},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.8358387351036072},{"id":"https://openalex.org/keywords/homography","display_name":"Homography","score":0.7501593828201294},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6425792574882507},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6342163681983948},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6151332259178162},{"id":"https://openalex.org/keywords/bundle","display_name":"Bundle","score":0.5641716122627258},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5506207942962646},{"id":"https://openalex.org/keywords/projection","display_name":"Projection (relational algebra)","score":0.48616597056388855},{"id":"https://openalex.org/keywords/invariant-extended-kalman-filter","display_name":"Invariant extended Kalman filter","score":0.4710752069950104},{"id":"https://openalex.org/keywords/ensemble-kalman-filter","display_name":"Ensemble Kalman filter","score":0.41406726837158203},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.41403165459632874},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3255157172679901},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24756136536598206},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.23147884011268616},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.10908663272857666}],"concepts":[{"id":"https://openalex.org/C179458375","wikidata":"https://www.wikidata.org/wiki/Q1020763","display_name":"Bundle adjustment","level":3,"score":0.8666132688522339},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.8358387351036072},{"id":"https://openalex.org/C28751775","wikidata":"https://www.wikidata.org/wiki/Q2112539","display_name":"Homography","level":4,"score":0.7501593828201294},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6425792574882507},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6342163681983948},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6151332259178162},{"id":"https://openalex.org/C2778134712","wikidata":"https://www.wikidata.org/wiki/Q1047307","display_name":"Bundle","level":2,"score":0.5641716122627258},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5506207942962646},{"id":"https://openalex.org/C57493831","wikidata":"https://www.wikidata.org/wiki/Q3134666","display_name":"Projection (relational algebra)","level":2,"score":0.48616597056388855},{"id":"https://openalex.org/C8639503","wikidata":"https://www.wikidata.org/wiki/Q6059511","display_name":"Invariant extended Kalman filter","level":4,"score":0.4710752069950104},{"id":"https://openalex.org/C79334102","wikidata":"https://www.wikidata.org/wiki/Q3072268","display_name":"Ensemble Kalman filter","level":4,"score":0.41406726837158203},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.41403165459632874},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3255157172679901},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24756136536598206},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.23147884011268616},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.10908663272857666},{"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2013.6739604","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2013.6739604","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7200000286102295,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W1786065908","https://openalex.org/W2008706659","https://openalex.org/W2087070363","https://openalex.org/W2117959563","https://openalex.org/W2170081783","https://openalex.org/W2536680313","https://openalex.org/W4207002640","https://openalex.org/W4243684731"],"related_works":["https://openalex.org/W2992292799","https://openalex.org/W159468655","https://openalex.org/W4206024512","https://openalex.org/W2371097030","https://openalex.org/W2150837402","https://openalex.org/W2952214463","https://openalex.org/W1592076655","https://openalex.org/W2053335193","https://openalex.org/W2058290256","https://openalex.org/W2263628162"],"abstract_inverted_index":{"This":[0],"document":[1],"compares":[2],"global":[3],"bundle":[4,39],"adjustment":[5,40],"via":[6],"the":[7,34],"ubiquitous":[8],"Levenberg-Marquardt":[9],"to":[10,14],"a":[11,18],"Kalman":[12],"filter":[13],"estimate":[15],"parameters":[16],"of":[17,43,57],"homographic":[19],"transformation":[20],"between":[21],"two":[22],"or":[23],"more":[24],"images":[25,56],"starting":[26],"from":[27],"bad":[28],"initial":[29],"conditions.":[30],"We":[31],"show":[32],"that":[33],"filtering":[35],"technique":[36],"outperforms":[37],"sparse":[38],"in":[41],"terms":[42],"projection":[44],"error":[45],"and":[46,60],"computational":[47],"costs.":[48],"The":[49],"techniques":[50],"are":[51],"tested":[52],"on":[53],"real":[54],"world":[55],"an":[58],"indoor":[59],"outdoor":[61],"scene.":[62]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}