{"id":"https://openalex.org/W2106080464","doi":"https://doi.org/10.1109/robot.2009.5152224","title":"Estimation of the camera pose from image point correspondences through the essential matrix and convex optimization","display_name":"Estimation of the camera pose from image point correspondences through the essential matrix and convex optimization","publication_year":2009,"publication_date":"2009-05-01","ids":{"openalex":"https://openalex.org/W2106080464","doi":"https://doi.org/10.1109/robot.2009.5152224","mag":"2106080464"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2009.5152224","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152224","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","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/A5054609231","display_name":"Graziano Chesi","orcid":"https://orcid.org/0000-0003-4214-4224"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":true,"raw_author_name":"Graziano Chesi","raw_affiliation_strings":["Department of Electrical and Electronic Engineering, University of Hong Kong, Hong Kong, China","Department of Electrical & Electronic Engineering, University of Hong Kong, Hong Kong#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronic Engineering, University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I889458895"]},{"raw_affiliation_string":"Department of Electrical & Electronic Engineering, University of Hong Kong, Hong Kong#TAB#","institution_ids":["https://openalex.org/I889458895"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5054609231"],"corresponding_institution_ids":["https://openalex.org/I889458895"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.13885406,"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":"35","last_page":"40"},"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":0.9997000098228455,"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/T10638","display_name":"Optical measurement and interference techniques","score":0.9980000257492065,"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/maxima-and-minima","display_name":"Maxima and minima","score":0.5637694597244263},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5474543571472168},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.5437991619110107},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5209030508995056},{"id":"https://openalex.org/keywords/convex-optimization","display_name":"Convex optimization","score":0.49896836280822754},{"id":"https://openalex.org/keywords/minification","display_name":"Minification","score":0.48055317997932434},{"id":"https://openalex.org/keywords/essential-matrix","display_name":"Essential matrix","score":0.47675761580467224},{"id":"https://openalex.org/keywords/convexity","display_name":"Convexity","score":0.4710036814212799},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4634295403957367},{"id":"https://openalex.org/keywords/matrix","display_name":"Matrix (chemical analysis)","score":0.45405465364456177},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4482899308204651},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.4440220296382904},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.4323377013206482},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.43109577894210815},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4238634407520294},{"id":"https://openalex.org/keywords/epipolar-geometry","display_name":"Epipolar geometry","score":0.41188156604766846},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.37668517231941223},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3396177887916565},{"id":"https://openalex.org/keywords/symmetric-matrix","display_name":"Symmetric matrix","score":0.1338173747062683},{"id":"https://openalex.org/keywords/state-transition-matrix","display_name":"State-transition matrix","score":0.08835366368293762}],"concepts":[{"id":"https://openalex.org/C186633575","wikidata":"https://www.wikidata.org/wiki/Q845060","display_name":"Maxima and minima","level":2,"score":0.5637694597244263},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5474543571472168},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.5437991619110107},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5209030508995056},{"id":"https://openalex.org/C157972887","wikidata":"https://www.wikidata.org/wiki/Q463359","display_name":"Convex optimization","level":3,"score":0.49896836280822754},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.48055317997932434},{"id":"https://openalex.org/C49996920","wikidata":"https://www.wikidata.org/wiki/Q17089185","display_name":"Essential matrix","level":5,"score":0.47675761580467224},{"id":"https://openalex.org/C72134830","wikidata":"https://www.wikidata.org/wiki/Q5166524","display_name":"Convexity","level":2,"score":0.4710036814212799},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4634295403957367},{"id":"https://openalex.org/C106487976","wikidata":"https://www.wikidata.org/wiki/Q685816","display_name":"Matrix (chemical analysis)","level":2,"score":0.45405465364456177},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4482899308204651},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.4440220296382904},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.4323377013206482},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.43109577894210815},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4238634407520294},{"id":"https://openalex.org/C23379248","wikidata":"https://www.wikidata.org/wiki/Q200904","display_name":"Epipolar geometry","level":3,"score":0.41188156604766846},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.37668517231941223},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3396177887916565},{"id":"https://openalex.org/C54848796","wikidata":"https://www.wikidata.org/wiki/Q339011","display_name":"Symmetric matrix","level":3,"score":0.1338173747062683},{"id":"https://openalex.org/C22629506","wikidata":"https://www.wikidata.org/wiki/Q7602993","display_name":"State-transition matrix","level":4,"score":0.08835366368293762},{"id":"https://openalex.org/C106159729","wikidata":"https://www.wikidata.org/wiki/Q2294553","display_name":"Financial economics","level":1,"score":0.0},{"id":"https://openalex.org/C158693339","wikidata":"https://www.wikidata.org/wiki/Q190524","display_name":"Eigenvalues and eigenvectors","level":2,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"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/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.2009.5152224","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152224","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:hub.hku.hk:10722/62039","is_oa":false,"landing_page_url":"http://hdl.handle.net/10722/62039","pdf_url":null,"source":{"id":"https://openalex.org/S4377196271","display_name":"The HKU Scholars Hub (University of Hong Kong)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I889458895","host_organization_name":"University of Hong Kong","host_organization_lineage":["https://openalex.org/I889458895"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference_Paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W3294997","https://openalex.org/W1514444483","https://openalex.org/W1564897360","https://openalex.org/W1569149096","https://openalex.org/W1575596356","https://openalex.org/W1600295805","https://openalex.org/W1602748186","https://openalex.org/W1966178286","https://openalex.org/W1975100084","https://openalex.org/W2004428410","https://openalex.org/W2028310195","https://openalex.org/W2033819227","https://openalex.org/W2087078194","https://openalex.org/W2100249329","https://openalex.org/W2100866186","https://openalex.org/W2119296827","https://openalex.org/W2128972574","https://openalex.org/W2135386771","https://openalex.org/W2143597104","https://openalex.org/W2144812930","https://openalex.org/W2152208313","https://openalex.org/W2155047950","https://openalex.org/W2162429410","https://openalex.org/W2165584048","https://openalex.org/W2329667520","https://openalex.org/W3210839039","https://openalex.org/W3217246742","https://openalex.org/W6633987080","https://openalex.org/W6636009078"],"related_works":["https://openalex.org/W2361465778","https://openalex.org/W1986257383","https://openalex.org/W2350365380","https://openalex.org/W4210643770","https://openalex.org/W2040076228","https://openalex.org/W4221132921","https://openalex.org/W4235367822","https://openalex.org/W2470351621","https://openalex.org/W2013324559","https://openalex.org/W2030469076"],"abstract_inverted_index":{"Estimating":[0],"the":[1,27,32,50,64,75,99,117,129],"camera":[2],"pose":[3],"in":[4,12,58,138],"stereo":[5],"vision":[6,14],"systems":[7],"is":[8],"an":[9],"important":[10],"issue":[11],"computer":[13],"and":[15,49,144],"robotics.":[16],"One":[17],"popular":[18],"way":[19],"to":[20,44,60,86],"handle":[21],"this":[22,41,88],"problem":[23],"consists":[24],"of":[25,63,77,116,141],"determining":[26],"essential":[28,101],"matrix":[29,102],"which":[30],"minimizes":[31],"algebraic":[33],"error":[34],"obtained":[35,105],"from":[36],"image":[37],"point":[38],"correspondences.":[39],"Unfortunately,":[40],"search":[42,89],"amounts":[43],"solving":[45,107],"a":[46,68,83,108,113],"nonconvex":[47],"optimization,":[48],"existing":[51],"methods":[52,137],"either":[53],"rely":[54],"on":[55],"some":[56,135],"approximations":[57],"order":[59],"get":[61],"rid":[62],"non-convexity":[65],"or":[66],"provide":[67],"solution":[69],"that":[70,98],"may":[71],"be":[72,104],"affected":[73],"by":[74,106],"presence":[76],"local":[78],"minima.":[79],"This":[80],"paper":[81],"proposes":[82],"new":[84],"approach":[85,131],"address":[87],"without":[90],"presenting":[91],"such":[92],"problems.":[93],"In":[94],"particular,":[95],"we":[96],"show":[97,128],"sought":[100],"can":[103],"convex":[109],"optimization":[110],"built":[111],"through":[112],"suitable":[114],"reformulation":[115],"considered":[118],"minimization":[119],"via":[120],"appropriate":[121],"techniques":[122],"for":[123],"representing":[124],"polynomials.":[125],"Numerical":[126],"results":[127],"proposed":[130],"compares":[132],"favorably":[133],"with":[134],"standard":[136],"both":[139],"cases":[140],"synthetic":[142],"data":[143],"real":[145],"data.":[146]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}