{"id":"https://openalex.org/W2787117880","doi":"https://doi.org/10.1109/tpami.2018.2806446","title":"HARD-PnP: PnP Optimization Using a Hybrid Approximate Representation","display_name":"HARD-PnP: PnP Optimization Using a Hybrid Approximate Representation","publication_year":2018,"publication_date":"2018-02-15","ids":{"openalex":"https://openalex.org/W2787117880","doi":"https://doi.org/10.1109/tpami.2018.2806446","mag":"2787117880","pmid":"https://pubmed.ncbi.nlm.nih.gov/29994452"},"language":"en","primary_location":{"id":"doi:10.1109/tpami.2018.2806446","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tpami.2018.2806446","pdf_url":null,"source":{"id":"https://openalex.org/S199944782","display_name":"IEEE Transactions on Pattern Analysis and Machine Intelligence","issn_l":"0162-8828","issn":["0162-8828","1939-3539","2160-9292"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320439","host_organization_name":"IEEE Computer Society","host_organization_lineage":["https://openalex.org/P4310320439","https://openalex.org/P4310319808"],"host_organization_lineage_names":["IEEE Computer Society","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 Pattern Analysis and Machine Intelligence","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5091184063","display_name":"Simon Hadfield","orcid":"https://orcid.org/0000-0001-8637-5054"},"institutions":[{"id":"https://openalex.org/I28290843","display_name":"University of Surrey","ror":"https://ror.org/00ks66431","country_code":"GB","type":"education","lineage":["https://openalex.org/I28290843"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Simon Hadfield","raw_affiliation_strings":["Centre for Vision Speech and Signal Processing, University of Surrey, Guildford, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Centre for Vision Speech and Signal Processing, University of Surrey, Guildford, United Kingdom","institution_ids":["https://openalex.org/I28290843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038737386","display_name":"Karel Lebeda","orcid":"https://orcid.org/0000-0002-8329-8580"},"institutions":[{"id":"https://openalex.org/I4210127705","display_name":"Synthace (United Kingdom)","ror":"https://ror.org/033a9g130","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210127705"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Karel Lebeda","raw_affiliation_strings":["Synthesia Ltd, London, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Synthesia Ltd, London, United Kingdom","institution_ids":["https://openalex.org/I4210127705"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044490167","display_name":"Richard Bowden","orcid":"https://orcid.org/0000-0003-3285-8020"},"institutions":[{"id":"https://openalex.org/I28290843","display_name":"University of Surrey","ror":"https://ror.org/00ks66431","country_code":"GB","type":"education","lineage":["https://openalex.org/I28290843"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Richard Bowden","raw_affiliation_strings":["Centre for Vision Speech and Signal Processing, University of Surrey, Guildford, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Centre for Vision Speech and Signal Processing, University of Surrey, Guildford, United Kingdom","institution_ids":["https://openalex.org/I28290843"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5091184063"],"corresponding_institution_ids":["https://openalex.org/I28290843"],"apc_list":null,"apc_paid":null,"fwci":23.1575,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.98826,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"41","issue":"3","first_page":"768","last_page":"774"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994999766349792,"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":0.9994999766349792,"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"}},{"id":"https://openalex.org/T10996","display_name":"Computational Geometry and Mesh Generation","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"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":0.6839348673820496},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.6695823669433594},{"id":"https://openalex.org/keywords/minification","display_name":"Minification","score":0.6651166081428528},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5982564687728882},{"id":"https://openalex.org/keywords/notation","display_name":"Notation","score":0.5686081051826477},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.511356770992279},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48525047302246094},{"id":"https://openalex.org/keywords/reprojection-error","display_name":"Reprojection error","score":0.42539867758750916},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.41938507556915283},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3482898473739624},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.32276856899261475},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2584787905216217},{"id":"https://openalex.org/keywords/arithmetic","display_name":"Arithmetic","score":0.1139611005783081},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.0869901180267334}],"concepts":[{"id":"https://openalex.org/C186633575","wikidata":"https://www.wikidata.org/wiki/Q845060","display_name":"Maxima and minima","level":2,"score":0.6839348673820496},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.6695823669433594},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.6651166081428528},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5982564687728882},{"id":"https://openalex.org/C45357846","wikidata":"https://www.wikidata.org/wiki/Q2001982","display_name":"Notation","level":2,"score":0.5686081051826477},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.511356770992279},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48525047302246094},{"id":"https://openalex.org/C23903533","wikidata":"https://www.wikidata.org/wiki/Q17122739","display_name":"Reprojection error","level":3,"score":0.42539867758750916},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.41938507556915283},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3482898473739624},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.32276856899261475},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2584787905216217},{"id":"https://openalex.org/C94375191","wikidata":"https://www.wikidata.org/wiki/Q11205","display_name":"Arithmetic","level":1,"score":0.1139611005783081},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0869901180267334},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"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/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/tpami.2018.2806446","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tpami.2018.2806446","pdf_url":null,"source":{"id":"https://openalex.org/S199944782","display_name":"IEEE Transactions on Pattern Analysis and Machine Intelligence","issn_l":"0162-8828","issn":["0162-8828","1939-3539","2160-9292"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320439","host_organization_name":"IEEE Computer Society","host_organization_lineage":["https://openalex.org/P4310320439","https://openalex.org/P4310319808"],"host_organization_lineage_names":["IEEE Computer Society","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 Pattern Analysis and Machine Intelligence","raw_type":"journal-article"},{"id":"pmid:29994452","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/29994452","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 pattern analysis and machine intelligence","raw_type":null},{"id":"pmh:oai:alma.44SUR_INST:11138585850002346","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4210197018","display_name":"View","issn_l":"2688-268X","issn":["2688-268X","2688-3988"],"is_oa":false,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"","raw_type":""},{"id":"pmh:oai:epubs.surrey.ac.uk:845787","is_oa":false,"landing_page_url":"http://epubs.surrey.ac.uk/845787/1/HARD-PnP%20-%20PnP%20Optimization%20Using%20a%20Hybrid%20Approximate%20Representation.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400680","display_name":"Surrey Research Insight Open Access (The University of Surrey)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I28290843","host_organization_name":"University of Surrey","host_organization_lineage":["https://openalex.org/I28290843"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G14291900","display_name":null,"funder_award_id":"CRSII2_160811","funder_id":"https://openalex.org/F4320320924","funder_display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung"},{"id":"https://openalex.org/G6065706273","display_name":"Learning to Recognise Dynamic Visual Content from Broadcast Footage","funder_award_id":"EP/I011811/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G631805796","display_name":null,"funder_award_id":"CRSII2 160811","funder_id":"https://openalex.org/F4320320924","funder_display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung"},{"id":"https://openalex.org/G6341317280","display_name":null,"funder_award_id":"EP/I011811/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G7825994806","display_name":null,"funder_award_id":"CRSII2","funder_id":"https://openalex.org/F4320320924","funder_display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung"},{"id":"https://openalex.org/G8317709495","display_name":"SMILE: Scalable Multimodal sign language Technology for sIgn language Learning and assessmEnt","funder_award_id":"160811","funder_id":"https://openalex.org/F4320320924","funder_display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung"}],"funders":[{"id":"https://openalex.org/F4320320924","display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung","ror":"https://ror.org/00yjd3n13"},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W905619","https://openalex.org/W68234866","https://openalex.org/W1484371059","https://openalex.org/W1518341038","https://openalex.org/W1608655332","https://openalex.org/W1955785462","https://openalex.org/W1975461372","https://openalex.org/W1984667320","https://openalex.org/W1991544872","https://openalex.org/W1996961307","https://openalex.org/W2001790138","https://openalex.org/W2009151941","https://openalex.org/W2017301540","https://openalex.org/W2027654789","https://openalex.org/W2033819227","https://openalex.org/W2046335473","https://openalex.org/W2061781270","https://openalex.org/W2065162099","https://openalex.org/W2085261163","https://openalex.org/W2096758544","https://openalex.org/W2105303354","https://openalex.org/W2114274324","https://openalex.org/W2115001439","https://openalex.org/W2118027260","https://openalex.org/W2142482451","https://openalex.org/W2150495450","https://openalex.org/W2155056756","https://openalex.org/W2162440713","https://openalex.org/W2181274189","https://openalex.org/W2221172382","https://openalex.org/W3021282624","https://openalex.org/W3041424613","https://openalex.org/W6600043445","https://openalex.org/W6629250111","https://openalex.org/W6636383490","https://openalex.org/W6685719576","https://openalex.org/W7071211116"],"related_works":["https://openalex.org/W2375684291","https://openalex.org/W2121922170","https://openalex.org/W4250124476","https://openalex.org/W4210838092","https://openalex.org/W4246857588","https://openalex.org/W2127982566","https://openalex.org/W2153731865","https://openalex.org/W1504381128","https://openalex.org/W2471196694","https://openalex.org/W1985711950"],"abstract_inverted_index":{"This":[0],"paper":[1,144],"proposes":[2],"a":[3],"Hybrid":[4],"Approximate":[5],"Representation":[6],"(HAR)":[7],"based":[8],"on":[9,133,152],"unifying":[10],"several":[11],"efficient":[12],"approximations":[13],"of":[14,109,120,129,139],"the":[15,23,36,53,77,96,110,116,130,134,140,143,153],"generalized":[16],"reprojection":[17],"error":[18],"(which":[19],"is":[20,31,38,68],"known":[21],"as":[22],"gold":[24],"standard":[25],"for":[26],"multiview":[27],"geometry).":[28],"The":[29,66,85],"HAR":[30],"an":[32],"over-parameterization":[33],"scheme":[34,48],"where":[35],"approximation":[37,61],"applied":[39],"simultaneously":[40],"in":[41,82,142],"multiple":[42],"parameter":[43],"spaces.":[44],"A":[45],"joint":[46],"minimization":[47,112],"\"HAR-Descent\"":[49],"can":[50,149],"then":[51],"solve":[52],"PnP":[54],"problem":[55],"efficiently,":[56],"while":[57],"remaining":[58],"robust":[59],"to":[60,90,95,102],"errors":[62],"and":[63,76,100,145],"local":[64],"minima.":[65],"technique":[67,87],"evaluated":[69],"extensively,":[70],"including":[71],"numerous":[72],"synthetic":[73],"benchmark":[74],"protocols":[75],"real-world":[78],"data":[79],"evaluations":[80],"used":[81],"previous":[83,123],"works.":[84],"proposed":[86],"was":[88],"found":[89,151],"have":[91],"runtime":[92],"complexity":[93],"comparable":[94],"fastest":[97],"O(n)":[98],"techniques,":[99],"up":[101],"10":[103],"times":[104],"faster":[105],"than":[106],"current":[107],"state":[108,128],"art":[111,131],"approaches.":[113],"In":[114],"addition,":[115],"accuracy":[117],"exceeds":[118],"that":[119],"all":[121,137],"9":[122],"techniques":[124],"tested,":[125],"providing":[126],"definitive":[127],"performance":[132],"benchmarks,":[135],"across":[136],"90":[138],"experiments":[141],"supplementary":[146],"material,":[147],"which":[148],"be":[150],"Computer":[154],"Society":[155],"Digital":[156],"Library":[157],"at":[158],"http://doi.ieeecomputersociety.org/10.1109/TPAMI.2018.2806446.":[159]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":3}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}
