{"id":"https://openalex.org/W2123678129","doi":"https://doi.org/10.1109/cvpr.2003.1211473","title":"Direct 3D-rotation estimation from spherical images via a generalized shift theorem","display_name":"Direct 3D-rotation estimation from spherical images via a generalized shift theorem","publication_year":2003,"publication_date":"2003-12-22","ids":{"openalex":"https://openalex.org/W2123678129","doi":"https://doi.org/10.1109/cvpr.2003.1211473","mag":"2123678129"},"language":"en","primary_location":{"id":"doi:10.1109/cvpr.2003.1211473","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cvpr.2003.1211473","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2003 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 2003. Proceedings.","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5087850633","display_name":"Ameesh Makadia","orcid":null},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"A. Makadia","raw_affiliation_strings":["GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA","[GRASP Lab., Pennsylvania Univ., USA]"],"affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"[GRASP Lab., Pennsylvania Univ., USA]","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050660826","display_name":"Kostas Daniilidis","orcid":"https://orcid.org/0000-0003-0498-0758"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"K. Daniilidis","raw_affiliation_strings":["GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA","[GRASP Lab., Pennsylvania Univ., USA]"],"affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"[GRASP Lab., Pennsylvania Univ., USA]","institution_ids":["https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5087850633"],"corresponding_institution_ids":["https://openalex.org/I79576946"],"apc_list":null,"apc_paid":null,"fwci":4.0403,"has_fulltext":false,"cited_by_count":61,"citation_normalized_percentile":{"value":0.94265825,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"2","issue":null,"first_page":"II","last_page":"217"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10052","display_name":"Medical Image Segmentation Techniques","score":0.9951000213623047,"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":0.9939000010490417,"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/spherical-harmonics","display_name":"Spherical harmonics","score":0.8694572448730469},{"id":"https://openalex.org/keywords/spin-weighted-spherical-harmonics","display_name":"Spin-weighted spherical harmonics","score":0.7517644166946411},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.6181622743606567},{"id":"https://openalex.org/keywords/fourier-transform","display_name":"Fourier transform","score":0.5855867862701416},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.5481888651847839},{"id":"https://openalex.org/keywords/rotation-group-so","display_name":"Rotation group SO","score":0.47954273223876953},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.4706037938594818},{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.4311119019985199},{"id":"https://openalex.org/keywords/representation-theorem","display_name":"Representation theorem","score":0.4272116422653198},{"id":"https://openalex.org/keywords/rotation-matrix","display_name":"Rotation matrix","score":0.41844114661216736},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.38751715421676636},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3355275094509125},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32838618755340576},{"id":"https://openalex.org/keywords/pure-mathematics","display_name":"Pure mathematics","score":0.29043009877204895},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.2744225859642029},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.2627384066581726},{"id":"https://openalex.org/keywords/harmonics","display_name":"Harmonics","score":0.21014276146888733},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.17255821824073792}],"concepts":[{"id":"https://openalex.org/C3768446","wikidata":"https://www.wikidata.org/wiki/Q877100","display_name":"Spherical harmonics","level":2,"score":0.8694572448730469},{"id":"https://openalex.org/C20569695","wikidata":"https://www.wikidata.org/wiki/Q7577353","display_name":"Spin-weighted spherical harmonics","level":4,"score":0.7517644166946411},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.6181622743606567},{"id":"https://openalex.org/C102519508","wikidata":"https://www.wikidata.org/wiki/Q6520159","display_name":"Fourier transform","level":2,"score":0.5855867862701416},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.5481888651847839},{"id":"https://openalex.org/C207570611","wikidata":"https://www.wikidata.org/wiki/Q1256500","display_name":"Rotation group SO","level":2,"score":0.47954273223876953},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.4706037938594818},{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.4311119019985199},{"id":"https://openalex.org/C2776230367","wikidata":"https://www.wikidata.org/wiki/Q7314222","display_name":"Representation theorem","level":2,"score":0.4272116422653198},{"id":"https://openalex.org/C83633838","wikidata":"https://www.wikidata.org/wiki/Q1256564","display_name":"Rotation matrix","level":2,"score":0.41844114661216736},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.38751715421676636},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3355275094509125},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32838618755340576},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.29043009877204895},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.2744225859642029},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.2627384066581726},{"id":"https://openalex.org/C188414643","wikidata":"https://www.wikidata.org/wiki/Q3001183","display_name":"Harmonics","level":3,"score":0.21014276146888733},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.17255821824073792},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/cvpr.2003.1211473","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cvpr.2003.1211473","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2003 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 2003. Proceedings.","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.128.4194","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.128.4194","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cis.upenn.edu/~makadia/publications/makadia03cvpr.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.2.9999","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.2.9999","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.seas.upenn.edu/~makadia/spharm_tr.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W1481624564","https://openalex.org/W1490474722","https://openalex.org/W1494041778","https://openalex.org/W1525632907","https://openalex.org/W1529069840","https://openalex.org/W1602041476","https://openalex.org/W1605885907","https://openalex.org/W1639503254","https://openalex.org/W1938714998","https://openalex.org/W1973285768","https://openalex.org/W1973337733","https://openalex.org/W1978396244","https://openalex.org/W1984555309","https://openalex.org/W1991518198","https://openalex.org/W1991706094","https://openalex.org/W2000977302","https://openalex.org/W2002432356","https://openalex.org/W2027526437","https://openalex.org/W2049387919","https://openalex.org/W2052613953","https://openalex.org/W2061543840","https://openalex.org/W2065296537","https://openalex.org/W2077412630","https://openalex.org/W2082841340","https://openalex.org/W2122827492","https://openalex.org/W2128622892","https://openalex.org/W2131927769","https://openalex.org/W2147406358","https://openalex.org/W2155200862","https://openalex.org/W2160615084","https://openalex.org/W2167378175","https://openalex.org/W2167889314","https://openalex.org/W2740373864","https://openalex.org/W2995136929","https://openalex.org/W3122956633","https://openalex.org/W4205951220","https://openalex.org/W4235080641","https://openalex.org/W6631318877","https://openalex.org/W6631759518","https://openalex.org/W6640879616","https://openalex.org/W6644877789","https://openalex.org/W6662898882","https://openalex.org/W6741731575"],"related_works":["https://openalex.org/W2122307093","https://openalex.org/W2083807145","https://openalex.org/W1999674444","https://openalex.org/W4233317225","https://openalex.org/W2562362098","https://openalex.org/W1972009849","https://openalex.org/W2123678129","https://openalex.org/W1532644763","https://openalex.org/W2398026059","https://openalex.org/W1977691562"],"abstract_inverted_index":{"Omnidirectional":[0],"images":[1,40],"arising":[2],"from":[3,92],"3D-motion":[4],"of":[5,15,18,22,55,86,125,142,160,163,172,174],"a":[6,12,61,67,71,106,111,135],"camera":[7,63],"contain":[8],"persistent":[9],"structures":[10],"over":[11],"large":[13,20],"variation":[14],"motions":[16],"because":[17],"their":[19],"field":[21],"view.":[23],"This":[24],"persistence":[25,176],"made":[26],"appearance-based":[27],"methods":[28],"attractive":[29],"for":[30,74],"robot":[31],"localization":[32],"given":[33],"reference":[34],"views.":[35],"Assuming":[36],"that":[37,58],"central":[38],"omnidirectional":[39],"can":[41,59,96],"be":[42],"mapped":[43],"to":[44,101,131,149],"the":[45,47,52,56,78,84,87,98,114,119,139,143,158,161,170],"sphere,":[46],"question":[48],"is":[49,113],"what":[50],"are":[51,129],"underlying":[53],"mappings":[54],"sphere":[57,115],"reflect":[60],"rotational":[62],"motion.":[64],"Given":[65],"such":[66],"mapping,":[68],"we":[69,95],"propose":[70],"systematic":[72],"way":[73],"finding":[75],"invariance":[76],"and":[77],"mapping":[79],"parameters":[80],"themselves":[81],"based":[82],"on":[83],"generalization":[85],"Fourier":[88,99],"transform.":[89],"Using":[90],"results":[91],"representation":[93,141],"theory,":[94],"generalize":[97],"transform":[100],"any":[102],"homogeneous":[103],"space":[104],"with":[105,116],"transitively":[107],"acting":[108,120],"group.":[109,121,145],"Such":[110],"case":[112],"rotation":[117,144],"as":[118,167,169],"The":[122],"spherical":[123,164],"harmonics":[124],"an":[126],"image":[127],"pair":[128],"related":[130],"each":[132],"other":[133],"through":[134],"shift":[136],"theorem":[137],"involving":[138],"irreducible":[140],"We":[146,156],"show":[147],"how":[148],"extract":[150],"Euler":[151],"angles":[152],"using":[153],"this":[154],"theorem.":[155],"study":[157],"effect":[159,171],"number":[162],"harmonic":[165],"coefficients":[166],"well":[168],"violation":[173],"appearance":[175],"in":[177],"real":[178],"imagery.":[179]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":3}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
