{"id":"https://openalex.org/W2129636118","doi":"https://doi.org/10.1109/tro.2009.2030224","title":"Simultaneously Estimating the Fundamental Matrix and Homographies","display_name":"Simultaneously Estimating the Fundamental Matrix and Homographies","publication_year":2009,"publication_date":"2009-09-24","ids":{"openalex":"https://openalex.org/W2129636118","doi":"https://doi.org/10.1109/tro.2009.2030224","mag":"2129636118"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2009.2030224","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2009.2030224","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Robotics","raw_type":"journal-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/A5100326683","display_name":"Pei Chen","orcid":"https://orcid.org/0000-0002-7594-3228"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Pei Chen","raw_affiliation_strings":["School of Information Science and Technology, Sun Yat-sen University, Guangzhou, China","Shenzhen Institute of Advanced Integration Technology, Chinese Academy and Sciences, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Science and Technology, Sun Yat-sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]},{"raw_affiliation_string":"Shenzhen Institute of Advanced Integration Technology, Chinese Academy and Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I4210145761"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031492664","display_name":"David Suter","orcid":"https://orcid.org/0000-0001-6306-3023"},"institutions":[{"id":"https://openalex.org/I5681781","display_name":"The University of Adelaide","ror":"https://ror.org/00892tw58","country_code":"AU","type":"education","lineage":["https://openalex.org/I5681781"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"D. Suter","raw_affiliation_strings":["School of Computer Science, University of Adelaide, Adelaide, SA, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science, University of Adelaide, Adelaide, SA, Australia","institution_ids":["https://openalex.org/I5681781"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.16742649,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"25","issue":"6","first_page":"1425","last_page":"1431"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":1.0,"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":1.0,"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":0.9998999834060669,"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/T10638","display_name":"Optical measurement and interference techniques","score":0.9994000196456909,"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/epipolar-geometry","display_name":"Epipolar geometry","score":0.8770521879196167},{"id":"https://openalex.org/keywords/homography","display_name":"Homography","score":0.7514464259147644},{"id":"https://openalex.org/keywords/fundamental-matrix","display_name":"Fundamental matrix (linear differential equation)","score":0.6863712668418884},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.5203944444656372},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.48444560170173645},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4592577815055847},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.45863234996795654},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.44518232345581055},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.41779008507728577},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3799387812614441},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.36319106817245483},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.27724456787109375},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.20630735158920288},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.11665821075439453},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.09019520878791809}],"concepts":[{"id":"https://openalex.org/C23379248","wikidata":"https://www.wikidata.org/wiki/Q200904","display_name":"Epipolar geometry","level":3,"score":0.8770521879196167},{"id":"https://openalex.org/C28751775","wikidata":"https://www.wikidata.org/wiki/Q2112539","display_name":"Homography","level":4,"score":0.7514464259147644},{"id":"https://openalex.org/C2780427248","wikidata":"https://www.wikidata.org/wiki/Q17014996","display_name":"Fundamental matrix (linear differential equation)","level":2,"score":0.6863712668418884},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.5203944444656372},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.48444560170173645},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4592577815055847},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.45863234996795654},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.44518232345581055},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.41779008507728577},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3799387812614441},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.36319106817245483},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.27724456787109375},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.20630735158920288},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.11665821075439453},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.09019520878791809},{"id":"https://openalex.org/C75280867","wikidata":"https://www.wikidata.org/wiki/Q877775","display_name":"Projective space","level":3,"score":0.0},{"id":"https://openalex.org/C177846678","wikidata":"https://www.wikidata.org/wiki/Q1501864","display_name":"Projective test","level":2,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tro.2009.2030224","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2009.2030224","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Robotics","raw_type":"journal-article"},{"id":"pmh:oai:digital.library.adelaide.edu.au:2440/58915","is_oa":false,"landing_page_url":"http://hdl.handle.net/2440/58915","pdf_url":null,"source":{"id":"https://openalex.org/S4306401835","display_name":"Adelaide Research & Scholarship (AR&S) (University of Adelaide)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I5681781","host_organization_name":"The University of Adelaide","host_organization_lineage":["https://openalex.org/I5681781"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://dx.doi.org/10.1109/tro.2009.2030224","raw_type":"Journal article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1598123022","https://openalex.org/W1943823759","https://openalex.org/W1977075681","https://openalex.org/W1981745143","https://openalex.org/W1984190176","https://openalex.org/W1987744989","https://openalex.org/W1992989752","https://openalex.org/W2011891945","https://openalex.org/W2045181334","https://openalex.org/W2056296063","https://openalex.org/W2085261163","https://openalex.org/W2097671019","https://openalex.org/W2102481828","https://openalex.org/W2113827878","https://openalex.org/W2124313187","https://openalex.org/W2138800795","https://openalex.org/W2145707829","https://openalex.org/W2149749462","https://openalex.org/W2152208313","https://openalex.org/W2152225812","https://openalex.org/W2162483208","https://openalex.org/W2162716287","https://openalex.org/W2165584048","https://openalex.org/W2171653751","https://openalex.org/W2209124607","https://openalex.org/W2319418017","https://openalex.org/W6640638069","https://openalex.org/W6683890250"],"related_works":["https://openalex.org/W2170198060","https://openalex.org/W2365196554","https://openalex.org/W2356063813","https://openalex.org/W1507433894","https://openalex.org/W2061723032","https://openalex.org/W2096798195","https://openalex.org/W1986525613","https://openalex.org/W2047311859","https://openalex.org/W1499216665","https://openalex.org/W2170176665"],"abstract_inverted_index":{"The":[0,105],"estimation":[1,32,119,150],"of":[2,16,22,33,51,61,77,107,120,145,151,186,194,209,221],"the":[3,30,34,52,62,66,74,93,110,117,121,124,138,166,172,191,204,207,219,223,232,236,243,250,261],"fundamental":[4],"matrix":[5],"(FM)":[6],"and/or":[7,260],"one":[8,37],"or":[9,38,123],"more":[10,39],"homographies":[11,108,139,169,195,239],"between":[12,44,175,206],"two":[13,45],"views":[14,46],"is":[15,56,70,153,178,240],"great":[17],"interest":[18],"for":[19,235],"a":[20,84,88,102,184,215,227],"number":[21],"computer":[23],"vision":[24],"and":[25,36,109,115,140,168,196,199,238],"robotics":[26],"tasks.":[27],"We":[28,212,225],"consider":[29],"joint":[31],"FM":[35,111,141,167,197,237,259],"homographies.":[40],"Given":[41],"point":[42,79],"matches":[43,80,91],"(and":[47],"assuming":[48],"rigid":[49],"geometry":[50],"camera-scene":[53],"displacement),":[54],"it":[55],"well":[57],"known":[58],"that":[59,69,188,200,249],"all":[60],"matched":[63],"points":[64,99],"satisfy":[65],"epipolar":[67],"constraint":[68,85,174],"usually":[71],"characterized":[72,86],"by":[73,87,170,180,242],"FM.":[75],"Subsets":[76],"these":[78],"may":[81],"also":[82,201],"obey":[83],"homography":[89,125],"(all":[90],"in":[92,230],"subset":[94],"coming":[95],"from":[96],"three-dimensional":[97],"(3-D)":[98],"lying":[100],"on":[101,183],"3-D":[103],"plane).":[104],"estimations":[106],"are":[112,142],"well-studied":[113],"problems,":[114],"therefore,":[116,148],"(separate)":[118],"FM,":[122],"matrices,":[126],"can":[127,252],"be":[128,156,253],"considered":[129],"as":[130],"effectively":[131],"solved":[132],"problems":[133],"with":[134,218,255],"mature":[135],"algorithms.":[136],"However,":[137],"not":[143],"independent":[144],"each":[146,152,210],"other:":[147],"separate":[149,256],"likely":[154],"to":[155,163],"suboptimal.":[157],"In":[158],"this":[159],"paper,":[160],"we":[161],"propose":[162,226],"simultaneously":[164],"estimate":[165],"employing":[171],"compatibility":[173,205],"them.":[176],"This":[177],"done":[179],"first":[181],"concentrating":[182],"set":[185,193],"parameters":[187],"(jointly)":[189],"parameterize":[190],"entire":[192],"(simultaneously)":[198],"implicitly":[202],"enforce":[203],"estimates":[208,257],"set.":[211],"then":[213],"derive":[214],"reduced":[216],"form":[217],"purpose":[220],"improving":[222],"speed.":[224],"solution":[228],"method":[229],"which":[231],"Sampson":[233],"error":[234],"minimized":[241],"Levenberg-Marquardt":[244],"(LM)":[245],"algorithm.":[246],"Experiments":[247],"show":[248],"gains":[251],"compared":[254],"(the":[258],"homographies).":[262]},"counts_by_year":[{"year":2021,"cited_by_count":3},{"year":2019,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2013,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}