{"id":"https://openalex.org/W3001579518","doi":"https://doi.org/10.1109/robio49542.2019.8961611","title":"Efficient Algorithms for Global Outlier Removal in Large-scale Structure-from-Motion","display_name":"Efficient Algorithms for Global Outlier Removal in Large-scale Structure-from-Motion","publication_year":2019,"publication_date":"2019-12-01","ids":{"openalex":"https://openalex.org/W3001579518","doi":"https://doi.org/10.1109/robio49542.2019.8961611","mag":"3001579518"},"language":"en","primary_location":{"id":"doi:10.1109/robio49542.2019.8961611","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio49542.2019.8961611","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5034251794","display_name":"Fei Wen","orcid":"https://orcid.org/0000-0002-3083-9611"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fei Wen","raw_affiliation_strings":["Shanghai Jiao Tong University,Department of Electronic Engineering,Shanghai,China,200240","Department of Electronic Engineering, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,Department of Electronic Engineering,Shanghai,China,200240","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"Department of Electronic Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019803400","display_name":"Danping Zou","orcid":"https://orcid.org/0000-0003-3824-8741"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Danping Zou","raw_affiliation_strings":["Shanghai Jiao Tong University,Department of Electronic Engineering,Shanghai,China,200240","Department of Electronic Engineering, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,Department of Electronic Engineering,Shanghai,China,200240","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"Department of Electronic Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086920847","display_name":"Ruihang Miao","orcid":"https://orcid.org/0000-0002-9180-1414"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruihang Miao","raw_affiliation_strings":["Shanghai Jiao Tong University,Department of Electronic Engineering,Shanghai,China,200240","Department of Electronic Engineering, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,Department of Electronic Engineering,Shanghai,China,200240","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"Department of Electronic Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048965499","display_name":"Rendong Ying","orcid":"https://orcid.org/0000-0001-6670-149X"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rendong Ying","raw_affiliation_strings":["Shanghai Jiao Tong University,Department of Electronic Engineering,Shanghai,China,200240","Department of Electronic Engineering, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,Department of Electronic Engineering,Shanghai,China,200240","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"Department of Electronic Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032986088","display_name":"Peilin Liu","orcid":"https://orcid.org/0000-0002-5321-2336"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peilin Liu","raw_affiliation_strings":["Shanghai Jiao Tong University,Department of Electronic Engineering,Shanghai,China,200240","Department of Electronic Engineering, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,Department of Electronic Engineering,Shanghai,China,200240","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"Department of Electronic Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":0.0915,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.40764582,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"2552","last_page":"2557"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9991000294685364,"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":0.9972000122070312,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.6901236176490784},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.6463084816932678},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6392732262611389},{"id":"https://openalex.org/keywords/minification","display_name":"Minification","score":0.564815878868103},{"id":"https://openalex.org/keywords/dimension","display_name":"Dimension (graph theory)","score":0.4931335151195526},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.4686797261238098},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.4177200496196747},{"id":"https://openalex.org/keywords/speedup","display_name":"Speedup","score":0.4138449430465698},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3556579649448395},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24705952405929565}],"concepts":[{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.6901236176490784},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.6463084816932678},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6392732262611389},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.564815878868103},{"id":"https://openalex.org/C33676613","wikidata":"https://www.wikidata.org/wiki/Q13415176","display_name":"Dimension (graph theory)","level":2,"score":0.4931335151195526},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.4686797261238098},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.4177200496196747},{"id":"https://openalex.org/C68339613","wikidata":"https://www.wikidata.org/wiki/Q1549489","display_name":"Speedup","level":2,"score":0.4138449430465698},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3556579649448395},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24705952405929565},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio49542.2019.8961611","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio49542.2019.8961611","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1747795846","https://openalex.org/W1907417778","https://openalex.org/W1967073510","https://openalex.org/W2026888851","https://openalex.org/W2042799324","https://openalex.org/W2043995994","https://openalex.org/W2046033161","https://openalex.org/W2076917298","https://openalex.org/W2085261163","https://openalex.org/W2107861471","https://openalex.org/W2130017587","https://openalex.org/W2141880952","https://openalex.org/W2151103935","https://openalex.org/W2151745355","https://openalex.org/W2166660920","https://openalex.org/W2171244244","https://openalex.org/W2199898507","https://openalex.org/W2424351103","https://openalex.org/W2548019060","https://openalex.org/W2751901725","https://openalex.org/W2763831782","https://openalex.org/W2766980341","https://openalex.org/W2789721729","https://openalex.org/W2929137829","https://openalex.org/W2967572567","https://openalex.org/W2971675497","https://openalex.org/W2972886717","https://openalex.org/W2980701808","https://openalex.org/W4285719527","https://openalex.org/W6681168328","https://openalex.org/W6683038924","https://openalex.org/W6745901570"],"related_works":["https://openalex.org/W2058965144","https://openalex.org/W2164382479","https://openalex.org/W2146343568","https://openalex.org/W98480971","https://openalex.org/W2150291671","https://openalex.org/W2013643406","https://openalex.org/W2027972911","https://openalex.org/W2157978810","https://openalex.org/W2597809628","https://openalex.org/W3046370962"],"abstract_inverted_index":{"This":[0],"work":[1],"addresses":[2],"the":[3,21,27,39,82,99,103,110,124,126,145],"outlier":[4,14,34],"removal":[5,15,35],"problem":[6],"in":[7,26,41,94],"large-scale":[8],"global":[9],"structure-from-motion.":[10],"In":[11],"such":[12],"applications,":[13],"is":[16,69,147],"very":[17],"useful":[18],"to":[19,45],"mitigate":[20],"deterioration":[22],"caused":[23],"by":[24,71,85],"mismatches":[25],"feature":[28],"point":[29],"matching":[30],"step.":[31],"Unlike":[32],"existing":[33],"methods,":[36],"we":[37],"exploit":[38],"structure":[40],"multiview":[42],"geometry":[43],"problems":[44],"propose":[46],"a":[47,64,72,95],"dimension":[48,91],"reduced":[49],"formulation,":[50],"based":[51],"on":[52],"which":[53],"two":[54],"efficient":[55],"methods":[56],"have":[57],"been":[58],"developed.":[59],"The":[60,77,90],"first":[61],"method":[62,79,106],"considers":[63],"convex":[65],"relaxed":[66],"\u21131minimization":[67],"and":[68,135],"solved":[70],"single":[73],"linear":[74],"programming":[75],"(LP).":[76],"second":[78],"approximately":[80],"solves":[81],"ideal":[83],"\u21130minimization":[84],"an":[86],"iteratively":[87,104],"reweighted":[88,105],"method.":[89],"reduction":[92],"results":[93,146],"significant":[96],"speedup":[97],"of":[98,112],"new":[100],"algorithms.":[101],"Further,":[102],"can":[107],"significantly":[108],"reduce":[109],"possibility":[111],"removing":[113],"true":[114],"inliers.":[115],"Results":[116],"show":[117],"that,":[118],"compared":[119],"with":[120],"state-of-the-art":[121],"algorithms":[122,128],"(e.g.,":[123],"\u21131method),":[125],"proposed":[127],"are":[129],"more":[130],"than":[131],"three":[132],"times":[133],"faster":[134],"meanwhile":[136],"produce":[137],"better":[138],"consensus":[139],"sets.":[140],"Matlab":[141],"code":[142],"for":[143],"reproducing":[144],"available":[148],"at":[149],"https://github.com/FWen/OUTLR.git.":[150]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
