{"id":"https://openalex.org/W2777460555","doi":"https://doi.org/10.1109/iccv.2017.254","title":"Making Minimal Solvers for Absolute Pose Estimation Compact and Robust","display_name":"Making Minimal Solvers for Absolute Pose Estimation Compact and Robust","publication_year":2017,"publication_date":"2017-10-01","ids":{"openalex":"https://openalex.org/W2777460555","doi":"https://doi.org/10.1109/iccv.2017.254","mag":"2777460555"},"language":"en","primary_location":{"id":"doi:10.1109/iccv.2017.254","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iccv.2017.254","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Computer Vision (ICCV)","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/A5056112272","display_name":"Viktor Larsson","orcid":"https://orcid.org/0000-0001-8427-7215"},"institutions":[{"id":"https://openalex.org/I187531555","display_name":"Lund University","ror":"https://ror.org/012a77v79","country_code":"SE","type":"education","lineage":["https://openalex.org/I187531555"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Viktor Larsson","raw_affiliation_strings":["Lund University Lund, Sweden"],"affiliations":[{"raw_affiliation_string":"Lund University Lund, Sweden","institution_ids":["https://openalex.org/I187531555"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071099164","display_name":"Zuzana K\u00fakelov\u00e1","orcid":"https://orcid.org/0000-0002-1916-8829"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Zuzana Kukelova","raw_affiliation_strings":["Czech Technical University, Prague, Czech Republic"],"affiliations":[{"raw_affiliation_string":"Czech Technical University, Prague, Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100698163","display_name":"Yinqiang Zheng","orcid":"https://orcid.org/0000-0001-7434-5069"},"institutions":[{"id":"https://openalex.org/I184597095","display_name":"National Institute of Informatics","ror":"https://ror.org/04ksd4g47","country_code":"JP","type":"facility","lineage":["https://openalex.org/I1319490839","https://openalex.org/I184597095","https://openalex.org/I4210158934"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yinqiang Zheng","raw_affiliation_strings":["National Institute of Informatics, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"National Institute of Informatics, Tokyo, Japan","institution_ids":["https://openalex.org/I184597095"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5056112272"],"corresponding_institution_ids":["https://openalex.org/I187531555"],"apc_list":null,"apc_paid":null,"fwci":6.2426,"has_fulltext":false,"cited_by_count":63,"citation_normalized_percentile":{"value":0.97496186,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"2335","last_page":"2343"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11245","display_name":"Advanced Numerical Analysis Techniques","score":0.9980000257492065,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/T11245","display_name":"Advanced Numerical Analysis Techniques","score":0.9980000257492065,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T12549","display_name":"Image and Object Detection Techniques","score":0.9965000152587891,"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/solver","display_name":"Solver","score":0.8215487003326416},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7085716724395752},{"id":"https://openalex.org/keywords/construct","display_name":"Construct (python library)","score":0.6049941182136536},{"id":"https://openalex.org/keywords/least-absolute-deviations","display_name":"Least absolute deviations","score":0.5884808301925659},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.5795879364013672},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.4615699052810669},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4607049524784088},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.43254998326301575},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.4138648211956024},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3780248761177063},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3022140860557556},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21738669276237488},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.09319376945495605}],"concepts":[{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.8215487003326416},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7085716724395752},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.6049941182136536},{"id":"https://openalex.org/C31441030","wikidata":"https://www.wikidata.org/wiki/Q4291882","display_name":"Least absolute deviations","level":3,"score":0.5884808301925659},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.5795879364013672},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.4615699052810669},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4607049524784088},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.43254998326301575},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.4138648211956024},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3780248761177063},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3022140860557556},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21738669276237488},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.09319376945495605},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","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},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iccv.2017.254","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iccv.2017.254","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Computer Vision (ICCV)","raw_type":"proceedings-article"},{"id":"pmh:oai:lup.lub.lu.se:2e8987b2-0aab-4d3c-b178-16f4cb17cc73","is_oa":false,"landing_page_url":"https://lup.lub.lu.se/record/2e8987b2-0aab-4d3c-b178-16f4cb17cc73","pdf_url":null,"source":{"id":"https://openalex.org/S4306400536","display_name":"Lund University Publications (Lund University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I187531555","host_organization_name":"Lund University","host_organization_lineage":["https://openalex.org/I187531555"],"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":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1529188373","https://openalex.org/W1579716201","https://openalex.org/W1608655332","https://openalex.org/W1955785462","https://openalex.org/W1957250183","https://openalex.org/W2021020085","https://openalex.org/W2054157433","https://openalex.org/W2086563701","https://openalex.org/W2091520273","https://openalex.org/W2095627417","https://openalex.org/W2097649661","https://openalex.org/W2102756793","https://openalex.org/W2103569660","https://openalex.org/W2129730824","https://openalex.org/W2135973942","https://openalex.org/W2144325227","https://openalex.org/W2150207818","https://openalex.org/W2155056756","https://openalex.org/W2164937462","https://openalex.org/W2208111078","https://openalex.org/W2599515851","https://openalex.org/W2737777105","https://openalex.org/W4234426551","https://openalex.org/W6631640149","https://openalex.org/W6640729085","https://openalex.org/W6655693314","https://openalex.org/W6735291776","https://openalex.org/W6741413199"],"related_works":["https://openalex.org/W2366107444","https://openalex.org/W4388145910","https://openalex.org/W1976205134","https://openalex.org/W2381570729","https://openalex.org/W4248336175","https://openalex.org/W3009369890","https://openalex.org/W2031260042","https://openalex.org/W2391445434","https://openalex.org/W4312490297","https://openalex.org/W4362653524"],"abstract_inverted_index":{"In":[0,57],"this":[1,58],"paper":[2,59],"we":[3,27,60,82,112],"present":[4],"new":[5],"techniques":[6,77,116],"for":[7,14,78],"constructing":[8],"compact":[9],"and":[10,49,100,103],"robust":[11,71],"minimal":[12],"solvers":[13,81,88,96],"absolute":[15],"pose":[16],"estimation.":[17],"We":[18,93],"focus":[19],"on":[20,97],"the":[21,25,51,54,122,134],"P4Pfr":[22,39],"problem,":[23],"but":[24],"methods":[26],"propose":[28],"are":[29,83,90],"applicable":[30],"to":[31,38,63,68,86,108,121,125],"a":[32,127],"more":[33,70],"general":[34],"setting.":[35],"Previous":[36],"approaches":[37],"suffer":[40],"from":[41,46],"artificial":[42],"degeneracies":[43,67],"which":[44,89,130],"come":[45],"their":[47],"formulation":[48],"not":[50],"geometry":[52],"of":[53],"original":[55],"problem.":[56],"show":[61,104,113],"how":[62],"avoid":[64],"these":[65],"false":[66],"create":[69],"solvers.":[72,110],"Combined":[73],"with":[74,133],"recently":[75],"published":[76],"Gr\u00f6bner":[79],"basis":[80],"also":[84],"able":[85],"construct":[87],"significantly":[91],"smaller.":[92],"evaluate":[94],"our":[95,115],"both":[98],"real":[99],"synthetic":[101],"data,":[102],"improved":[105],"performance":[106],"compared":[107],"competing":[109],"Finally":[111],"that":[114],"can":[117],"be":[118],"directly":[119],"applied":[120],"P3.5Pf":[123],"problem":[124],"get":[126],"non-degenerate":[128],"solver,":[129],"is":[131],"competitive":[132],"current":[135],"state-of-the-art.":[136]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":16},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":3}],"updated_date":"2026-02-25T08:12:03.925757","created_date":"2025-10-10T00:00:00"}