{"id":"https://openalex.org/W2943366789","doi":"https://doi.org/10.1109/tip.2019.2910662","title":"A Two-Stage Outlier Filtering Framework for City-Scale Localization Using 3D SfM Point Clouds","display_name":"A Two-Stage Outlier Filtering Framework for City-Scale Localization Using 3D SfM Point Clouds","publication_year":2019,"publication_date":"2019-05-01","ids":{"openalex":"https://openalex.org/W2943366789","doi":"https://doi.org/10.1109/tip.2019.2910662","mag":"2943366789","pmid":"https://pubmed.ncbi.nlm.nih.gov/31056495"},"language":"en","primary_location":{"id":"doi:10.1109/tip.2019.2910662","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tip.2019.2910662","pdf_url":null,"source":{"id":"https://openalex.org/S4210173141","display_name":"IEEE Transactions on Image Processing","issn_l":"1057-7149","issn":["1057-7149","1941-0042"],"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 Transactions on Image Processing","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://dr.ntu.edu.sg/bitstream/10356/137993/2/A%20Two-stage%20Outlier%20Filtering%20Framework%20for%20City-Scale%20Localization%20using%203D%20SfM%20Point%20Clouds%20%28Preprint%29.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101856826","display_name":"Wentao Cheng","orcid":"https://orcid.org/0000-0001-6222-8084"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]},{"id":"https://openalex.org/I2250653659","display_name":"Tencent (China)","ror":"https://ror.org/00hhjss72","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250653659"]},{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]},{"id":"https://openalex.org/I4210098302","display_name":"Fraunhofer Singapore","ror":"https://ror.org/00yqed873","country_code":"SG","type":"facility","lineage":["https://openalex.org/I4210098302","https://openalex.org/I4923324"]},{"id":"https://openalex.org/I4210128160","display_name":"Division of Undergraduate Education","ror":"https://ror.org/02kd4km72","country_code":"US","type":"government","lineage":["https://openalex.org/I1311060795","https://openalex.org/I4210101031","https://openalex.org/I4210128160"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN","DE","SG","US"],"is_corresponding":false,"raw_author_name":"Wentao Cheng","raw_affiliation_strings":["School of Computer Science and Engineering, Nanyang Technological University, Singapore","Department of Computer Science, Technische Universit\u00e4t of Darmstadt, Germany 64283","Fraunhofer IDM research center, Nanyang Technolog-ical University, Singapore 639798","Harbin Institute of Technology and the Ph.D. degree from the School of Computer Science and Engineer-ing, Nanyang Technological University, Singapore in 2013","Information Engineering in the Honors School,","Nanyang Technological University, Singapore","School of Computer Science and Engineering, Nanyang Technological University, Singapore 639798","Tencent, Shenzhen","department of Computer Science, University of Chinese Academy of Sciences, Beijing 100049, China"],"raw_orcid":"https://orcid.org/0000-0001-6222-8084","affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"Department of Computer Science, Technische Universit\u00e4t of Darmstadt, Germany 64283","institution_ids":["https://openalex.org/I31512782"]},{"raw_affiliation_string":"Fraunhofer IDM research center, Nanyang Technolog-ical University, Singapore 639798","institution_ids":["https://openalex.org/I172675005","https://openalex.org/I4210098302"]},{"raw_affiliation_string":"Harbin Institute of Technology and the Ph.D. degree from the School of Computer Science and Engineer-ing, Nanyang Technological University, Singapore in 2013","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"Information Engineering in the Honors School,","institution_ids":["https://openalex.org/I4210128160"]},{"raw_affiliation_string":"Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"School of Computer Science and Engineering, Nanyang Technological University, Singapore 639798","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"Tencent, Shenzhen","institution_ids":["https://openalex.org/I2250653659"]},{"raw_affiliation_string":"department of Computer Science, University of Chinese Academy of Sciences, Beijing 100049, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100636633","display_name":"Kan Chen","orcid":"https://orcid.org/0000-0003-3628-6699"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]},{"id":"https://openalex.org/I2250653659","display_name":"Tencent (China)","ror":"https://ror.org/00hhjss72","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250653659"]},{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]},{"id":"https://openalex.org/I4210098302","display_name":"Fraunhofer Singapore","ror":"https://ror.org/00yqed873","country_code":"SG","type":"facility","lineage":["https://openalex.org/I4210098302","https://openalex.org/I4923324"]},{"id":"https://openalex.org/I4210128160","display_name":"Division of Undergraduate Education","ror":"https://ror.org/02kd4km72","country_code":"US","type":"government","lineage":["https://openalex.org/I1311060795","https://openalex.org/I4210101031","https://openalex.org/I4210128160"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN","DE","SG","US"],"is_corresponding":false,"raw_author_name":"Kan Chen","raw_affiliation_strings":["Fraunhofer Singapore, Nanyang Technological University, Singapore","Department of Computer Science, Technische Universit\u00e4t of Darmstadt, Germany 64283","Fraunhofer IDM research center, Nanyang Technolog-ical University, Singapore 639798","Harbin Institute of Technology and the Ph.D. degree from the School of Computer Science and Engineer-ing, Nanyang Technological University, Singapore in 2013","Information Engineering in the Honors School,","Nanyang Technological University, Singapore","School of Computer Science and Engineering, Nanyang Technological University, Singapore 639798","Tencent, Shenzhen","department of Computer Science, University of Chinese Academy of Sciences, Beijing 100049, China"],"raw_orcid":"https://orcid.org/0000-0003-3628-6699","affiliations":[{"raw_affiliation_string":"Fraunhofer Singapore, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005","https://openalex.org/I4210098302"]},{"raw_affiliation_string":"Department of Computer Science, Technische Universit\u00e4t of Darmstadt, Germany 64283","institution_ids":["https://openalex.org/I31512782"]},{"raw_affiliation_string":"Fraunhofer IDM research center, Nanyang Technolog-ical University, Singapore 639798","institution_ids":["https://openalex.org/I172675005","https://openalex.org/I4210098302"]},{"raw_affiliation_string":"Harbin Institute of Technology and the Ph.D. degree from the School of Computer Science and Engineer-ing, Nanyang Technological University, Singapore in 2013","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"Information Engineering in the Honors School,","institution_ids":["https://openalex.org/I4210128160"]},{"raw_affiliation_string":"Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"School of Computer Science and Engineering, Nanyang Technological University, Singapore 639798","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"Tencent, Shenzhen","institution_ids":["https://openalex.org/I2250653659"]},{"raw_affiliation_string":"department of Computer Science, University of Chinese Academy of Sciences, Beijing 100049, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100403129","display_name":"Weisi Lin","orcid":"https://orcid.org/0000-0001-9866-1947"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]},{"id":"https://openalex.org/I2250653659","display_name":"Tencent (China)","ror":"https://ror.org/00hhjss72","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250653659"]},{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]},{"id":"https://openalex.org/I4210098302","display_name":"Fraunhofer Singapore","ror":"https://ror.org/00yqed873","country_code":"SG","type":"facility","lineage":["https://openalex.org/I4210098302","https://openalex.org/I4923324"]},{"id":"https://openalex.org/I4210128160","display_name":"Division of Undergraduate Education","ror":"https://ror.org/02kd4km72","country_code":"US","type":"government","lineage":["https://openalex.org/I1311060795","https://openalex.org/I4210101031","https://openalex.org/I4210128160"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN","DE","SG","US"],"is_corresponding":false,"raw_author_name":"Weisi Lin","raw_affiliation_strings":["School of Computer Science and Engineering, Nanyang Technological University, Singapore","Department of Computer Science, Technische Universit\u00e4t of Darmstadt, Germany 64283","Fraunhofer IDM research center, Nanyang Technolog-ical University, Singapore 639798","Harbin Institute of Technology and the Ph.D. degree from the School of Computer Science and Engineer-ing, Nanyang Technological University, Singapore in 2013","Information Engineering in the Honors School,","Nanyang Technological University, Singapore","School of Computer Science and Engineering, Nanyang Technological University, Singapore 639798","Tencent, Shenzhen","department of Computer Science, University of Chinese Academy of Sciences, Beijing 100049, China"],"raw_orcid":"https://orcid.org/0000-0001-9866-1947","affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"Department of Computer Science, Technische Universit\u00e4t of Darmstadt, Germany 64283","institution_ids":["https://openalex.org/I31512782"]},{"raw_affiliation_string":"Fraunhofer IDM research center, Nanyang Technolog-ical University, Singapore 639798","institution_ids":["https://openalex.org/I172675005","https://openalex.org/I4210098302"]},{"raw_affiliation_string":"Harbin Institute of Technology and the Ph.D. degree from the School of Computer Science and Engineer-ing, Nanyang Technological University, Singapore in 2013","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"Information Engineering in the Honors School,","institution_ids":["https://openalex.org/I4210128160"]},{"raw_affiliation_string":"Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"School of Computer Science and Engineering, Nanyang Technological University, Singapore 639798","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"Tencent, Shenzhen","institution_ids":["https://openalex.org/I2250653659"]},{"raw_affiliation_string":"department of Computer Science, University of Chinese Academy of Sciences, Beijing 100049, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066521879","display_name":"Michael Goesele","orcid":"https://orcid.org/0000-0002-0944-0980"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]},{"id":"https://openalex.org/I2250653659","display_name":"Tencent (China)","ror":"https://ror.org/00hhjss72","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250653659"]},{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]},{"id":"https://openalex.org/I4210098302","display_name":"Fraunhofer Singapore","ror":"https://ror.org/00yqed873","country_code":"SG","type":"facility","lineage":["https://openalex.org/I4210098302","https://openalex.org/I4923324"]},{"id":"https://openalex.org/I4210128160","display_name":"Division of Undergraduate Education","ror":"https://ror.org/02kd4km72","country_code":"US","type":"government","lineage":["https://openalex.org/I1311060795","https://openalex.org/I4210101031","https://openalex.org/I4210128160"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN","DE","SG","US"],"is_corresponding":false,"raw_author_name":"Michael Goesele","raw_affiliation_strings":["Department of Computer Science, Technische Universit\u00e4t of Darmstadt, Darmstadt, Germany","Department of Computer Science, Technische Universit\u00e4t of Darmstadt, Germany 64283","Fraunhofer IDM research center, Nanyang Technolog-ical University, Singapore 639798","Harbin Institute of Technology and the Ph.D. degree from the School of Computer Science and Engineer-ing, Nanyang Technological University, Singapore in 2013","Information Engineering in the Honors School,","Nanyang Technological University, Singapore","School of Computer Science and Engineering, Nanyang Technological University, Singapore 639798","Tencent, Shenzhen","department of Computer Science, University of Chinese Academy of Sciences, Beijing 100049, China"],"raw_orcid":"https://orcid.org/0000-0002-0944-0980","affiliations":[{"raw_affiliation_string":"Department of Computer Science, Technische Universit\u00e4t of Darmstadt, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]},{"raw_affiliation_string":"Department of Computer Science, Technische Universit\u00e4t of Darmstadt, Germany 64283","institution_ids":["https://openalex.org/I31512782"]},{"raw_affiliation_string":"Fraunhofer IDM research center, Nanyang Technolog-ical University, Singapore 639798","institution_ids":["https://openalex.org/I172675005","https://openalex.org/I4210098302"]},{"raw_affiliation_string":"Harbin Institute of Technology and the Ph.D. degree from the School of Computer Science and Engineer-ing, Nanyang Technological University, Singapore in 2013","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"Information Engineering in the Honors School,","institution_ids":["https://openalex.org/I4210128160"]},{"raw_affiliation_string":"Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"School of Computer Science and Engineering, Nanyang Technological University, Singapore 639798","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"Tencent, Shenzhen","institution_ids":["https://openalex.org/I2250653659"]},{"raw_affiliation_string":"department of Computer Science, University of Chinese Academy of Sciences, Beijing 100049, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055937409","display_name":"Xinfeng Zhang","orcid":"https://orcid.org/0000-0002-7517-3868"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]},{"id":"https://openalex.org/I2250653659","display_name":"Tencent (China)","ror":"https://ror.org/00hhjss72","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250653659"]},{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]},{"id":"https://openalex.org/I4210098302","display_name":"Fraunhofer Singapore","ror":"https://ror.org/00yqed873","country_code":"SG","type":"facility","lineage":["https://openalex.org/I4210098302","https://openalex.org/I4923324"]},{"id":"https://openalex.org/I4210128160","display_name":"Division of Undergraduate Education","ror":"https://ror.org/02kd4km72","country_code":"US","type":"government","lineage":["https://openalex.org/I1311060795","https://openalex.org/I4210101031","https://openalex.org/I4210128160"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN","DE","SG","US"],"is_corresponding":false,"raw_author_name":"Xinfeng Zhang","raw_affiliation_strings":["Department of Computer Science and Technology, University of Chinese Academy of Sciences, Beijing, China","Department of Computer Science, Technische Universit\u00e4t of Darmstadt, Germany 64283","Fraunhofer IDM research center, Nanyang Technolog-ical University, Singapore 639798","Harbin Institute of Technology and the Ph.D. degree from the School of Computer Science and Engineer-ing, Nanyang Technological University, Singapore in 2013","Information Engineering in the Honors School,","Nanyang Technological University, Singapore","School of Computer Science and Engineering, Nanyang Technological University, Singapore 639798","Tencent, Shenzhen","department of Computer Science, University of Chinese Academy of Sciences, Beijing 100049, China"],"raw_orcid":"https://orcid.org/0000-0002-7517-3868","affiliations":[{"raw_affiliation_string":"Department of Computer Science and Technology, University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]},{"raw_affiliation_string":"Department of Computer Science, Technische Universit\u00e4t of Darmstadt, Germany 64283","institution_ids":["https://openalex.org/I31512782"]},{"raw_affiliation_string":"Fraunhofer IDM research center, Nanyang Technolog-ical University, Singapore 639798","institution_ids":["https://openalex.org/I172675005","https://openalex.org/I4210098302"]},{"raw_affiliation_string":"Harbin Institute of Technology and the Ph.D. degree from the School of Computer Science and Engineer-ing, Nanyang Technological University, Singapore in 2013","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"Information Engineering in the Honors School,","institution_ids":["https://openalex.org/I4210128160"]},{"raw_affiliation_string":"Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"School of Computer Science and Engineering, Nanyang Technological University, Singapore 639798","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"Tencent, Shenzhen","institution_ids":["https://openalex.org/I2250653659"]},{"raw_affiliation_string":"department of Computer Science, University of Chinese Academy of Sciences, Beijing 100049, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100681559","display_name":"Yabin Zhang","orcid":"https://orcid.org/0000-0002-6962-6277"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]},{"id":"https://openalex.org/I2250653659","display_name":"Tencent (China)","ror":"https://ror.org/00hhjss72","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250653659"]},{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]},{"id":"https://openalex.org/I4210098302","display_name":"Fraunhofer Singapore","ror":"https://ror.org/00yqed873","country_code":"SG","type":"facility","lineage":["https://openalex.org/I4210098302","https://openalex.org/I4923324"]},{"id":"https://openalex.org/I4210128160","display_name":"Division of Undergraduate Education","ror":"https://ror.org/02kd4km72","country_code":"US","type":"government","lineage":["https://openalex.org/I1311060795","https://openalex.org/I4210101031","https://openalex.org/I4210128160"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN","DE","SG","US"],"is_corresponding":false,"raw_author_name":"Yabin Zhang","raw_affiliation_strings":["Median Lab, Tencent, Shenzhen, China","Department of Computer Science, Technische Universit\u00e4t of Darmstadt, Germany 64283","Fraunhofer IDM research center, Nanyang Technolog-ical University, Singapore 639798","Harbin Institute of Technology and the Ph.D. degree from the School of Computer Science and Engineer-ing, Nanyang Technological University, Singapore in 2013","Information Engineering in the Honors School,","Nanyang Technological University, Singapore","School of Computer Science and Engineering, Nanyang Technological University, Singapore 639798","Tencent, Shenzhen","department of Computer Science, University of Chinese Academy of Sciences, Beijing 100049, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Median Lab, Tencent, Shenzhen, China","institution_ids":["https://openalex.org/I2250653659"]},{"raw_affiliation_string":"Department of Computer Science, Technische Universit\u00e4t of Darmstadt, Germany 64283","institution_ids":["https://openalex.org/I31512782"]},{"raw_affiliation_string":"Fraunhofer IDM research center, Nanyang Technolog-ical University, Singapore 639798","institution_ids":["https://openalex.org/I172675005","https://openalex.org/I4210098302"]},{"raw_affiliation_string":"Harbin Institute of Technology and the Ph.D. degree from the School of Computer Science and Engineer-ing, Nanyang Technological University, Singapore in 2013","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"Information Engineering in the Honors School,","institution_ids":["https://openalex.org/I4210128160"]},{"raw_affiliation_string":"Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"School of Computer Science and Engineering, Nanyang Technological University, Singapore 639798","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"Tencent, Shenzhen","institution_ids":["https://openalex.org/I2250653659"]},{"raw_affiliation_string":"department of Computer Science, University of Chinese Academy of Sciences, Beijing 100049, China","institution_ids":["https://openalex.org/I4210165038"]}]}],"institutions":[],"countries_distinct_count":4,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":21.419,"has_fulltext":true,"cited_by_count":15,"citation_normalized_percentile":{"value":0.98735255,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"28","issue":"10","first_page":"4857","last_page":"4869"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"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":0.9994999766349792,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.7646318674087524},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.7505158185958862},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6694331765174866},{"id":"https://openalex.org/keywords/structure-from-motion","display_name":"Structure from motion","score":0.5993898510932922},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5956524610519409},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5956395268440247},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.517261803150177},{"id":"https://openalex.org/keywords/ransac","display_name":"RANSAC","score":0.489329993724823},{"id":"https://openalex.org/keywords/visibility","display_name":"Visibility","score":0.46438300609588623},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.4308600127696991},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3444324731826782},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.22530293464660645},{"id":"https://openalex.org/keywords/motion-estimation","display_name":"Motion estimation","score":0.128097265958786},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.11014655232429504}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7646318674087524},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.7505158185958862},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6694331765174866},{"id":"https://openalex.org/C146159030","wikidata":"https://www.wikidata.org/wiki/Q7625099","display_name":"Structure from motion","level":3,"score":0.5993898510932922},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5956524610519409},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5956395268440247},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.517261803150177},{"id":"https://openalex.org/C114744707","wikidata":"https://www.wikidata.org/wiki/Q218533","display_name":"RANSAC","level":3,"score":0.489329993724823},{"id":"https://openalex.org/C123403432","wikidata":"https://www.wikidata.org/wiki/Q654068","display_name":"Visibility","level":2,"score":0.46438300609588623},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.4308600127696991},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3444324731826782},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.22530293464660645},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.128097265958786},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.11014655232429504},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/tip.2019.2910662","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tip.2019.2910662","pdf_url":null,"source":{"id":"https://openalex.org/S4210173141","display_name":"IEEE Transactions on Image Processing","issn_l":"1057-7149","issn":["1057-7149","1941-0042"],"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 Transactions on Image Processing","raw_type":"journal-article"},{"id":"pmid:31056495","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/31056495","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on image processing : a publication of the IEEE Signal Processing Society","raw_type":null},{"id":"pmh:oai:dr.ntu.edu.sg:10356/137993","is_oa":true,"landing_page_url":"https://hdl.handle.net/10356/137993","pdf_url":"https://dr.ntu.edu.sg/bitstream/10356/137993/2/A%20Two-stage%20Outlier%20Filtering%20Framework%20for%20City-Scale%20Localization%20using%203D%20SfM%20Point%20Clouds%20%28Preprint%29.pdf","source":{"id":"https://openalex.org/S4306402609","display_name":"DR-NTU (Nanyang Technological University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I172675005","host_organization_name":"Nanyang Technological University","host_organization_lineage":["https://openalex.org/I172675005"],"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":"Journal Article"},{"id":"pmh:oai:fraunhofer.de:N-549073","is_oa":false,"landing_page_url":"http://publica.fraunhofer.de/documents/N-549073.html","pdf_url":null,"source":{"id":"https://openalex.org/S4306400801","display_name":"Publikationsdatenbank der Fraunhofer-Gesellschaft (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer-Gesellschaft","host_organization_lineage":["https://openalex.org/I4923324"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Fraunhofer Singapore","raw_type":"Journal Article"},{"id":"pmh:oai:publica.fraunhofer.de:publica/257772","is_oa":false,"landing_page_url":"https://publica.fraunhofer.de/handle/publica/257772","pdf_url":null,"source":{"id":"https://openalex.org/S4306400318","display_name":"Fraunhofer-Publica (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer-Gesellschaft","host_organization_lineage":["https://openalex.org/I4923324"],"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":"journal article"}],"best_oa_location":{"id":"pmh:oai:dr.ntu.edu.sg:10356/137993","is_oa":true,"landing_page_url":"https://hdl.handle.net/10356/137993","pdf_url":"https://dr.ntu.edu.sg/bitstream/10356/137993/2/A%20Two-stage%20Outlier%20Filtering%20Framework%20for%20City-Scale%20Localization%20using%203D%20SfM%20Point%20Clouds%20%28Preprint%29.pdf","source":{"id":"https://openalex.org/S4306402609","display_name":"DR-NTU (Nanyang Technological University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I172675005","host_organization_name":"Nanyang Technological University","host_organization_lineage":["https://openalex.org/I172675005"],"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":"Journal Article"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.8199999928474426}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320671","display_name":"National Research Foundation","ror":"https://ror.org/05s0g1g46"},{"id":"https://openalex.org/F4320322724","display_name":"Ministry of Education, India","ror":"https://ror.org/048xjjh50"},{"id":"https://openalex.org/F4320333169","display_name":"National Science Foundation, United Arab Emirates","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2943366789.pdf","grobid_xml":"https://content.openalex.org/works/W2943366789.grobid-xml"},"referenced_works_count":54,"referenced_works":["https://openalex.org/W153084048","https://openalex.org/W349087979","https://openalex.org/W963660264","https://openalex.org/W1537528663","https://openalex.org/W1556531089","https://openalex.org/W1565312575","https://openalex.org/W1616969904","https://openalex.org/W1976591483","https://openalex.org/W1979660104","https://openalex.org/W1984309565","https://openalex.org/W1987488988","https://openalex.org/W2013270301","https://openalex.org/W2046166954","https://openalex.org/W2066185824","https://openalex.org/W2073761981","https://openalex.org/W2076622126","https://openalex.org/W2085261163","https://openalex.org/W2086504823","https://openalex.org/W2102998745","https://openalex.org/W2103924867","https://openalex.org/W2125795712","https://openalex.org/W2129000642","https://openalex.org/W2130230179","https://openalex.org/W2131846894","https://openalex.org/W2134446283","https://openalex.org/W2135973942","https://openalex.org/W2141362318","https://openalex.org/W2151103935","https://openalex.org/W2155056756","https://openalex.org/W2156116778","https://openalex.org/W2156598602","https://openalex.org/W2191707460","https://openalex.org/W2200124539","https://openalex.org/W2213387816","https://openalex.org/W2216595815","https://openalex.org/W2474696196","https://openalex.org/W2495591376","https://openalex.org/W2522940611","https://openalex.org/W2545896075","https://openalex.org/W2584731199","https://openalex.org/W2605111497","https://openalex.org/W2620629206","https://openalex.org/W2728498859","https://openalex.org/W2739091022","https://openalex.org/W2740418457","https://openalex.org/W2788158258","https://openalex.org/W2796426482","https://openalex.org/W2962941647","https://openalex.org/W2963856988","https://openalex.org/W2973689592","https://openalex.org/W6606277630","https://openalex.org/W6611892259","https://openalex.org/W6633472159","https://openalex.org/W6685945817"],"related_works":["https://openalex.org/W2737258383","https://openalex.org/W1991821313","https://openalex.org/W2039023179","https://openalex.org/W2677841098","https://openalex.org/W2064234899","https://openalex.org/W67284269","https://openalex.org/W2143029373","https://openalex.org/W3158534694","https://openalex.org/W2033574012","https://openalex.org/W2931459321"],"abstract_inverted_index":{"Three-dimensional":[0],"structure-based":[1,49],"localization":[2,50,73,160],"aims":[3],"to":[4,43,101,115,154],"estimate":[5],"the":[6,82,141,145,158,170,173],"six-DOF":[7],"camera":[8],"pose":[9],"of":[10,16,33,35,81,119,144,172],"a":[11,20,47,66,89,97,105,111,117,123],"query":[12],"image":[13],"by":[14],"means":[15],"feature":[17],"matches":[18,56,121],"against":[19],"3D":[21,48],"Structure-from-Motion":[22],"(SfM)":[23],"point":[24,29,84,147],"cloud.":[25,148],"For":[26],"city-scale":[27,72,180],"SfM":[28,83,146],"clouds":[30],"with":[31,57,122],"tens":[32],"millions":[34],"points,":[36],"it":[37],"becomes":[38],"more":[39,41],"and":[40,78],"difficult":[42],"disambiguate":[44],"matches.":[45],"Therefore,":[46],"method,":[51],"which":[52,93],"can":[53],"efficiently":[54],"handle":[55],"very":[58],"large":[59],"outlier":[60,68,91,113,135,176],"ratios,":[61],"is":[62,94,150],"needed.":[63],"We":[64],"propose":[65,88],"two-stage":[67,134,175],"filtering":[69,136,177],"framework":[70,137,178],"for":[71,128,179],"that":[74],"leverages":[75],"both":[76],"visibility":[77,99],"geometry":[79],"intrinsics":[80],"clouds.":[85],"First,":[86],"we":[87,109],"visibility-based":[90],"filter,":[92],"based":[95],"on":[96,104,140,165],"bipartite":[98],"graph,":[100],"filter":[102,114],"outliers":[103],"coarse":[106],"level.":[107],"Second,":[108],"apply":[110],"geometry-based":[112],"generate":[116],"set":[118],"fine-grained":[120],"novel":[124],"data-driven":[125],"geometrical":[126],"constraint":[127],"efficient":[129],"inlier":[130],"evaluation.":[131],"The":[132,162],"proposed":[133,174],"only":[138],"relies":[139],"intrinsic":[142],"information":[143],"It":[149],"thus":[151],"widely":[152],"applicable":[153],"be":[155],"embedded":[156],"into":[157],"existing":[159],"approaches.":[161],"experimental":[163],"results":[164],"two":[166],"real-world":[167],"datasets":[168],"demonstrate":[169],"effectiveness":[171],"localization.":[181]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":1}],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2025-10-10T00:00:00"}