{"id":"https://openalex.org/W4386453608","doi":"https://doi.org/10.1109/tpami.2023.3307567","title":"DeepSFM: Robust Deep Iterative Refinement for Structure From Motion","display_name":"DeepSFM: Robust Deep Iterative Refinement for Structure From Motion","publication_year":2023,"publication_date":"2023-09-05","ids":{"openalex":"https://openalex.org/W4386453608","doi":"https://doi.org/10.1109/tpami.2023.3307567","pmid":"https://pubmed.ncbi.nlm.nih.gov/37669192"},"language":"en","primary_location":{"id":"doi:10.1109/tpami.2023.3307567","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tpami.2023.3307567","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/A5025146192","display_name":"Xinlin Ren","orcid":"https://orcid.org/0000-0002-8175-7392"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xinlin Ren","raw_affiliation_strings":["School of Computer Science, Fudan University, Shanghai, China","Nuro, Inc., Mountain View, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-8175-7392","affiliations":[{"raw_affiliation_string":"School of Computer Science, Fudan University, Shanghai, China","institution_ids":["https://openalex.org/I24943067"]},{"raw_affiliation_string":"Nuro, Inc., Mountain View, CA, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071206314","display_name":"Xingkui Wei","orcid":"https://orcid.org/0000-0001-7376-4202"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xingkui Wei","raw_affiliation_strings":["School of Computer Science, Fudan University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0001-7376-4202","affiliations":[{"raw_affiliation_string":"School of Computer Science, Fudan University, Shanghai, China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015831706","display_name":"Zhuwen Li","orcid":"https://orcid.org/0000-0001-6892-5788"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhuwen Li","raw_affiliation_strings":["Nuro, Inc., Mountain View, CA, USA","School of Data Science, Fudan University, China"],"raw_orcid":"https://orcid.org/0000-0001-6892-5788","affiliations":[{"raw_affiliation_string":"Nuro, Inc., Mountain View, CA, USA","institution_ids":[]},{"raw_affiliation_string":"School of Data Science, Fudan University, China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084959430","display_name":"Yanwei Fu","orcid":"https://orcid.org/0000-0002-6595-6893"},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]},{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Yanwei Fu","raw_affiliation_strings":["School of Data Science, Fudan University, Shanghai, China","Google Research, USA"],"raw_orcid":"https://orcid.org/0000-0002-6595-6893","affiliations":[{"raw_affiliation_string":"School of Data Science, Fudan University, Shanghai, China","institution_ids":["https://openalex.org/I24943067"]},{"raw_affiliation_string":"Google Research, USA","institution_ids":["https://openalex.org/I1291425158"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058136382","display_name":"Yinda Zhang","orcid":"https://orcid.org/0000-0001-5386-8872"},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]},{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Yinda Zhang","raw_affiliation_strings":["Google, Mountain View, CA, USA","School of Computer Science, Fudan University, China"],"raw_orcid":"https://orcid.org/0000-0001-5386-8872","affiliations":[{"raw_affiliation_string":"Google, Mountain View, CA, USA","institution_ids":["https://openalex.org/I1291425158"]},{"raw_affiliation_string":"School of Computer Science, Fudan University, China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003418019","display_name":"Xiangyang Xue","orcid":"https://orcid.org/0000-0002-4897-9209"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiangyang Xue","raw_affiliation_strings":["School of Computer Science, Fudan University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-4897-9209","affiliations":[{"raw_affiliation_string":"School of Computer Science, Fudan University, Shanghai, China","institution_ids":["https://openalex.org/I24943067"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5025146192"],"corresponding_institution_ids":["https://openalex.org/I24943067"],"apc_list":null,"apc_paid":null,"fwci":1.0597,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.7942758,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"46","issue":"6","first_page":"4058","last_page":"4074"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6635937690734863},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6071187257766724},{"id":"https://openalex.org/keywords/iterative-method","display_name":"Iterative method","score":0.49586090445518494},{"id":"https://openalex.org/keywords/motion-analysis","display_name":"Motion analysis","score":0.4761279225349426},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.47354644536972046},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4660561978816986},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4625387191772461},{"id":"https://openalex.org/keywords/structure-from-motion","display_name":"Structure from motion","score":0.4417804777622223},{"id":"https://openalex.org/keywords/motion-estimation","display_name":"Motion estimation","score":0.420421838760376},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4067314863204956},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.38882631063461304}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6635937690734863},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6071187257766724},{"id":"https://openalex.org/C159694833","wikidata":"https://www.wikidata.org/wiki/Q2321565","display_name":"Iterative method","level":2,"score":0.49586090445518494},{"id":"https://openalex.org/C2777036941","wikidata":"https://www.wikidata.org/wiki/Q6917771","display_name":"Motion analysis","level":2,"score":0.4761279225349426},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.47354644536972046},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4660561978816986},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4625387191772461},{"id":"https://openalex.org/C146159030","wikidata":"https://www.wikidata.org/wiki/Q7625099","display_name":"Structure from motion","level":3,"score":0.4417804777622223},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.420421838760376},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4067314863204956},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.38882631063461304},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tpami.2023.3307567","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tpami.2023.3307567","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:37669192","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/37669192","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}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5077234039","display_name":null,"funder_award_id":"62076067","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G763629385","display_name":null,"funder_award_id":"22511105000","funder_id":"https://openalex.org/F4320321885","funder_display_name":"Science and Technology Commission of Shanghai Municipality"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321885","display_name":"Science and Technology Commission of Shanghai Municipality","ror":"https://ror.org/03kt66j61"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":93,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1484371059","https://openalex.org/W1803059841","https://openalex.org/W1905829557","https://openalex.org/W1915250530","https://openalex.org/W1929856797","https://openalex.org/W1980635903","https://openalex.org/W1985238052","https://openalex.org/W1986528120","https://openalex.org/W2001790138","https://openalex.org/W2008706659","https://openalex.org/W2021851106","https://openalex.org/W2054536235","https://openalex.org/W2091226544","https://openalex.org/W2102481828","https://openalex.org/W2108134361","https://openalex.org/W2109255472","https://openalex.org/W2109635530","https://openalex.org/W2115579991","https://openalex.org/W2137825550","https://openalex.org/W2138821028","https://openalex.org/W2151103935","https://openalex.org/W2163446794","https://openalex.org/W2165114467","https://openalex.org/W2166090423","https://openalex.org/W2259424905","https://openalex.org/W2264612925","https://openalex.org/W2300779272","https://openalex.org/W2471962767","https://openalex.org/W2474281075","https://openalex.org/W2520707372","https://openalex.org/W2561074213","https://openalex.org/W2593414960","https://openalex.org/W2594519801","https://openalex.org/W2598706937","https://openalex.org/W2604231069","https://openalex.org/W2605778869","https://openalex.org/W2608018946","https://openalex.org/W2609883120","https://openalex.org/W2738551266","https://openalex.org/W2741885505","https://openalex.org/W2890949887","https://openalex.org/W2895289727","https://openalex.org/W2899771611","https://openalex.org/W2926429807","https://openalex.org/W2942368658","https://openalex.org/W2955639361","https://openalex.org/W2962793285","https://openalex.org/W2962960377","https://openalex.org/W2963345294","https://openalex.org/W2963412495","https://openalex.org/W2963488291","https://openalex.org/W2963583471","https://openalex.org/W2963591054","https://openalex.org/W2963619659","https://openalex.org/W2963654727","https://openalex.org/W2964153986","https://openalex.org/W2969365860","https://openalex.org/W2982169158","https://openalex.org/W2985775862","https://openalex.org/W2992718396","https://openalex.org/W3034524082","https://openalex.org/W3034530552","https://openalex.org/W3034600477","https://openalex.org/W3042904022","https://openalex.org/W3048510980","https://openalex.org/W3081167590","https://openalex.org/W3097305369","https://openalex.org/W3106440972","https://openalex.org/W3108179104","https://openalex.org/W3109908659","https://openalex.org/W3110153602","https://openalex.org/W3170262190","https://openalex.org/W3174541782","https://openalex.org/W3193766563","https://openalex.org/W3199643754","https://openalex.org/W4214564845","https://openalex.org/W4248598408","https://openalex.org/W4249736682","https://openalex.org/W4301909677","https://openalex.org/W4394671432","https://openalex.org/W6685261749","https://openalex.org/W6687484953","https://openalex.org/W6695823178","https://openalex.org/W6736260464","https://openalex.org/W6742835132","https://openalex.org/W6752763597","https://openalex.org/W6756040250","https://openalex.org/W6756774061","https://openalex.org/W6758510812","https://openalex.org/W6766261854","https://openalex.org/W6780948282","https://openalex.org/W6801460460"],"related_works":["https://openalex.org/W2883023943","https://openalex.org/W1501297619","https://openalex.org/W2055991023","https://openalex.org/W2104332279","https://openalex.org/W2026674073","https://openalex.org/W2053820737","https://openalex.org/W1484667368","https://openalex.org/W1978569796","https://openalex.org/W176798505","https://openalex.org/W2046491844"],"abstract_inverted_index":{"Structure":[0],"from":[1,42,60,121],"Motion":[2],"(SfM)":[3],"is":[4,24,66],"a":[5,80],"fundamental":[6],"computer":[7],"vision":[8],"problem":[9],"which":[10,65,91],"has":[11],"not":[12],"been":[13],"well":[14],"handled":[15],"by":[16,87],"deep":[17,127],"learning.":[18],"One":[19],"of":[20,93],"the":[21,35,116,133,140,157,163],"promising":[22],"solutions":[23],"to":[25,99,152,174],"apply":[26,139],"explicit":[27,106],"structural":[28],"constraint,":[29],"e.g.,":[30],"3D":[31],"cost":[32,95,154],"volume,":[33],"into":[34],"neural":[36],"network.":[37],"Obtaining":[38],"accurate":[39,57],"camera":[40,58],"poses":[41,59],"images":[43],"alone":[44],"can":[45,171],"be":[46,172],"challenging,":[47],"especially":[48],"with":[49,115,150,162,190],"complicated":[50],"environmental":[51],"factors.":[52],"Existing":[53],"methods":[54],"usually":[55],"assume":[56],"GT":[61],"or":[62],"other":[63],"methods,":[64],"unrealistic":[67],"in":[68],"practice":[69],"and":[70,103,111,125,135,146],"additional":[71],"sensors":[72],"are":[73],"needed.":[74],"In":[75,160],"this":[76],"work,":[77],"we":[78,138],"design":[79],"physical":[81],"driven":[82],"architecture,":[83],"namely":[84],"DeepSFM,":[85],"inspired":[86],"traditional":[88,123],"Bundle":[89],"Adjustment,":[90],"consists":[92],"two":[94],"volume":[96],"based":[97],"architectures":[98],"iteratively":[100],"refine":[101],"depth":[102,110,145,166],"pose.":[104],"The":[105],"constraints":[107],"on":[108,156,180],"both":[109,122],"pose,":[112],"when":[113],"combined":[114],"learning":[117,128,134],"components,":[118],"bring":[119],"merit":[120],"BA":[124],"emerging":[126],"technology.":[129],"To":[130],"speed":[131],"up":[132],"inference":[136],"efficiency,":[137],"Gated":[141],"Recurrent":[142],"Units":[143],"(GRUs)-based":[144],"pose":[147],"update":[148],"modules":[149],"coarse":[151],"fine":[153],"volumes":[155],"iterative":[158],"refinements.":[159],"addition,":[161],"extended":[164],"residual":[165],"prediction":[167],"module,":[168],"our":[169,185],"model":[170,186],"adapted":[173],"dynamic":[175],"scenes":[176],"effectively.":[177],"Extensive":[178],"experiments":[179],"various":[181],"datasets":[182],"show":[183],"that":[184],"achieves":[187],"state-of-the-art":[188],"performance":[189],"superior":[191],"robustness":[192],"against":[193],"challenging":[194],"inputs.":[195]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
