{"id":"https://openalex.org/W2140361446","doi":"https://doi.org/10.1109/icpr.2002.1044712","title":"Constrained structure and motion estimation from optical flow","display_name":"Constrained structure and motion estimation from optical flow","publication_year":2003,"publication_date":"2003-06-25","ids":{"openalex":"https://openalex.org/W2140361446","doi":"https://doi.org/10.1109/icpr.2002.1044712","mag":"2140361446"},"language":"en","primary_location":{"id":"doi:10.1109/icpr.2002.1044712","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icpr.2002.1044712","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Object recognition supported by user interaction for service robots","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/A5024754705","display_name":"Marco Zucchelli","orcid":null},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"M. Zucchelli","raw_affiliation_strings":["CVAP & CAS, Royal Institute of Technology, Stockholm, Sweden","CVAP & CAS, R. Inst. of Technol., Stockholm, Sweden"],"affiliations":[{"raw_affiliation_string":"CVAP & CAS, Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"CVAP & CAS, R. Inst. of Technol., Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037378255","display_name":"Jos\u00e9 Santos-Victor","orcid":"https://orcid.org/0000-0002-9036-1728"},"institutions":[{"id":"https://openalex.org/I4387152517","display_name":"Instituto Superior T\u00e9cnico","ror":"https://ror.org/03db2by73","country_code":null,"type":"education","lineage":["https://openalex.org/I141596103","https://openalex.org/I4387152517"]},{"id":"https://openalex.org/I4210109601","display_name":"Instituto de Engenharia de Sistemas e Computadores Microsistemas e Nanotecnologias","ror":"https://ror.org/022mzwp71","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210109601","https://openalex.org/I4210125590"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"J. Santos-Victor","raw_affiliation_strings":["Vislab, Instituto de Sistemas e Rob\u00f3tica, Instituto Superior T\u00e9cnico, Lisboa, Portugal","INSTITUTO SUPERIOR T\u00c9CNICO"],"affiliations":[{"raw_affiliation_string":"Vislab, Instituto de Sistemas e Rob\u00f3tica, Instituto Superior T\u00e9cnico, Lisboa, Portugal","institution_ids":["https://openalex.org/I4210109601","https://openalex.org/I4387152517"]},{"raw_affiliation_string":"INSTITUTO SUPERIOR T\u00c9CNICO","institution_ids":["https://openalex.org/I4387152517"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066237365","display_name":"Henrik I. Christensen","orcid":"https://orcid.org/0000-0002-7465-7502"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"H.I. Christensen","raw_affiliation_strings":["CVAP & CAS, Royal Institute of Technology, Stockholm, Sweden","Royal Inst. of Technology"],"affiliations":[{"raw_affiliation_string":"CVAP & CAS, Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"Royal Inst. of Technology","institution_ids":["https://openalex.org/I86987016"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5024754705"],"corresponding_institution_ids":["https://openalex.org/I86987016"],"apc_list":null,"apc_paid":null,"fwci":1.3468,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.82668293,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"1","issue":null,"first_page":"339","last_page":"342"},"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/T11105","display_name":"Advanced Image Processing Techniques","score":0.9948999881744385,"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":0.9945999979972839,"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/epipolar-geometry","display_name":"Epipolar geometry","score":0.7814977169036865},{"id":"https://openalex.org/keywords/optical-flow","display_name":"Optical flow","score":0.7319228649139404},{"id":"https://openalex.org/keywords/structure-from-motion","display_name":"Structure from motion","score":0.6193761825561523},{"id":"https://openalex.org/keywords/minification","display_name":"Minification","score":0.5923992395401001},{"id":"https://openalex.org/keywords/motion-estimation","display_name":"Motion estimation","score":0.5748502612113953},{"id":"https://openalex.org/keywords/bilinear-interpolation","display_name":"Bilinear interpolation","score":0.5740004777908325},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5084108710289001},{"id":"https://openalex.org/keywords/least-squares-function-approximation","display_name":"Least-squares function approximation","score":0.46474096179008484},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4531860053539276},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.44793805480003357},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4330449104309082},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.39225614070892334},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3608155846595764},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2872050404548645},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.19398251175880432},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.15495678782463074},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.14691969752311707}],"concepts":[{"id":"https://openalex.org/C23379248","wikidata":"https://www.wikidata.org/wiki/Q200904","display_name":"Epipolar geometry","level":3,"score":0.7814977169036865},{"id":"https://openalex.org/C155542232","wikidata":"https://www.wikidata.org/wiki/Q736111","display_name":"Optical flow","level":3,"score":0.7319228649139404},{"id":"https://openalex.org/C146159030","wikidata":"https://www.wikidata.org/wiki/Q7625099","display_name":"Structure from motion","level":3,"score":0.6193761825561523},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.5923992395401001},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.5748502612113953},{"id":"https://openalex.org/C205203396","wikidata":"https://www.wikidata.org/wiki/Q612143","display_name":"Bilinear interpolation","level":2,"score":0.5740004777908325},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5084108710289001},{"id":"https://openalex.org/C9936470","wikidata":"https://www.wikidata.org/wiki/Q6510405","display_name":"Least-squares function approximation","level":3,"score":0.46474096179008484},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4531860053539276},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.44793805480003357},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4330449104309082},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.39225614070892334},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3608155846595764},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2872050404548645},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.19398251175880432},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.15495678782463074},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.14691969752311707},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icpr.2002.1044712","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icpr.2002.1044712","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Object recognition supported by user interaction for service robots","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.16.6876","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.16.6876","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.isr.ist.utl.pt/vislab/publications/02-icpr-const.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.7699999809265137,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1542136219","https://openalex.org/W1587862507","https://openalex.org/W1590739438","https://openalex.org/W1667747877","https://openalex.org/W2064712441","https://openalex.org/W2070814988","https://openalex.org/W2106373744","https://openalex.org/W2109886076","https://openalex.org/W2130103520","https://openalex.org/W2138252732","https://openalex.org/W2158979083","https://openalex.org/W2171239597","https://openalex.org/W3003662786","https://openalex.org/W3023408402","https://openalex.org/W3100816363","https://openalex.org/W6675894577","https://openalex.org/W6679388247","https://openalex.org/W6683597495","https://openalex.org/W6777747118"],"related_works":["https://openalex.org/W1966928961","https://openalex.org/W1590450566","https://openalex.org/W2007102905","https://openalex.org/W1985830928","https://openalex.org/W1839025738","https://openalex.org/W1503005791","https://openalex.org/W2166189609","https://openalex.org/W1971333746","https://openalex.org/W2532401163","https://openalex.org/W1501297619"],"abstract_inverted_index":{"Unbiased":[0],"and":[1,6,38,52,54,61,74,92,98,108,120],"consistent":[2],"estimates":[3],"of":[4,15,29,85,102],"structure":[5,73,91],"motion":[7,75,93],"can":[8,63],"be":[9,64],"obtained":[10],"by":[11,106],"least":[12],"squares":[13],"minimization":[14,68,88],"the":[16,67,72,83,100,103,114],"differential":[17],"epipolar":[18],"constraint.":[19],"Previous":[20],"work":[21],"on":[22],"this":[23],"subject":[24],"does":[25],"not":[26],"make":[27],"use":[28],"geometrical":[30],"constraints":[31,47],"that":[32,113],"often":[33],"are":[34,78],"present":[35],"in":[36,66],"natural":[37],"man":[39],"built":[40],"scenes.":[41],"This":[42],"paper":[43],"shows":[44],"how":[45],"linear":[46],"among":[48,57],"feature":[49],"points":[50],"(collinearity":[51],"coplanarity)":[53],"bilinear":[55],"relations":[56],"such":[58],"entities":[59],"(parallelism":[60],"incidence)":[62],"incorporated":[65],"process":[69],"to":[70],"improve":[71],"estimates.":[76],"There":[77],"2":[79],"main":[80],"contributions:":[81],"(i)":[82],"formulation":[84],"a":[86],"constrained":[87],"problem":[89,105],"for":[90],"estimation":[94],"from":[95],"optical":[96],"flow":[97],"(ii)":[99],"solution":[101],"optimization":[104],"Levenberg-Marquardt":[107],"direct":[109],"projection.":[110],"We":[111],"show":[112],"proposed":[115],"approach":[116],"is":[117],"stable,":[118],"fast":[119],"efficient.":[121]},"counts_by_year":[{"year":2017,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2012,"cited_by_count":2}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}