{"id":"https://openalex.org/W2154554032","doi":"https://doi.org/10.1142/s0219843609001644","title":"GENERALIZATION OF THE DESARGUES THEOREM FOR SPARSE 3D RECONSTRUCTION","display_name":"GENERALIZATION OF THE DESARGUES THEOREM FOR SPARSE 3D RECONSTRUCTION","publication_year":2009,"publication_date":"2009-03-01","ids":{"openalex":"https://openalex.org/W2154554032","doi":"https://doi.org/10.1142/s0219843609001644","mag":"2154554032"},"language":"en","primary_location":{"id":"doi:10.1142/s0219843609001644","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843609001644","pdf_url":null,"source":{"id":"https://openalex.org/S75343556","display_name":"International Journal of Humanoid Robotics","issn_l":"0219-8436","issn":["0219-8436","1793-6942"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Humanoid Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-00439802","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5014078329","display_name":"Vincent Fr\u00e9mont","orcid":"https://orcid.org/0000-0002-1627-2241"},"institutions":[{"id":"https://openalex.org/I102516824","display_name":"Universit\u00e9 de Technologie de Compi\u00e8gne","ror":"https://ror.org/04y5kwa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I102516824"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"VINCENT FREMONT","raw_affiliation_strings":["Heudiasyc UMR CNRS 6599, Universite de Technologie de Compiegne, BP 20529, 60205 Compiegne Cedex, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Heudiasyc UMR CNRS 6599, Universite de Technologie de Compiegne, BP 20529, 60205 Compiegne Cedex, France","institution_ids":["https://openalex.org/I102516824","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012302920","display_name":"Ryad Chellali","orcid":"https://orcid.org/0000-0003-3395-2254"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"RYAD CHELLALI","raw_affiliation_strings":["Istituto Italiano di Tecnologia, Via Morego, 30 16163 Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia, Via Morego, 30 16163 Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110261719","display_name":"Jean\u2010Guy Fontaine","orcid":null},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"JEAN-GUY FONTAINE","raw_affiliation_strings":["Istituto Italiano di Tecnologia, Via Morego, 30 16163 Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia, Via Morego, 30 16163 Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"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":0,"citation_normalized_percentile":{"value":0.19417497,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"06","issue":"01","first_page":"49","last_page":"69"},"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":0.9994999766349792,"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/T13114","display_name":"Image Processing Techniques and Applications","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/2214","display_name":"Media Technology"},"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/computer-vision","display_name":"Computer vision","score":0.7480001449584961},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.672311544418335},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6420393586158752},{"id":"https://openalex.org/keywords/3d-reconstruction","display_name":"3D reconstruction","score":0.5120349526405334},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.49271491169929504},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.47970885038375854},{"id":"https://openalex.org/keywords/catadioptric-system","display_name":"Catadioptric system","score":0.46404924988746643},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.447272390127182},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.42123234272003174},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.4205024540424347},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.4107341170310974},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.25573575496673584}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7480001449584961},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.672311544418335},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6420393586158752},{"id":"https://openalex.org/C109950114","wikidata":"https://www.wikidata.org/wiki/Q4464732","display_name":"3D reconstruction","level":2,"score":0.5120349526405334},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.49271491169929504},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.47970885038375854},{"id":"https://openalex.org/C153396827","wikidata":"https://www.wikidata.org/wiki/Q1142960","display_name":"Catadioptric system","level":3,"score":0.46404924988746643},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.447272390127182},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.42123234272003174},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.4205024540424347},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.4107341170310974},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.25573575496673584},{"id":"https://openalex.org/C78762247","wikidata":"https://www.wikidata.org/wiki/Q1273174","display_name":"Petroleum engineering","level":1,"score":0.0},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C15336307","wikidata":"https://www.wikidata.org/wiki/Q1766051","display_name":"Lens (geology)","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1142/s0219843609001644","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843609001644","pdf_url":null,"source":{"id":"https://openalex.org/S75343556","display_name":"International Journal of Humanoid Robotics","issn_l":"0219-8436","issn":["0219-8436","1793-6942"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Humanoid Robotics","raw_type":"journal-article"},{"id":"pmh:oai:HAL:hal-00439802v1","is_oa":true,"landing_page_url":"https://hal.science/hal-00439802","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"International Journal of Humanoid Robotics, 2009, 6 (1), pp.49-69. ⟨10.1142/S0219843609001644⟩","raw_type":"Journal articles"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-00439802v1","is_oa":true,"landing_page_url":"https://hal.science/hal-00439802","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"International Journal of Humanoid Robotics, 2009, 6 (1), pp.49-69. ⟨10.1142/S0219843609001644⟩","raw_type":"Journal articles"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.4399999976158142}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W87809909","https://openalex.org/W2033086776","https://openalex.org/W2081061398","https://openalex.org/W2108417695","https://openalex.org/W2139834417","https://openalex.org/W2151103935","https://openalex.org/W2498631646","https://openalex.org/W4255438484","https://openalex.org/W4301358660"],"related_works":["https://openalex.org/W2084759888","https://openalex.org/W2350925281","https://openalex.org/W2107738794","https://openalex.org/W1503278857","https://openalex.org/W2117804033","https://openalex.org/W2368534456","https://openalex.org/W2980582925","https://openalex.org/W2922069956","https://openalex.org/W2110653454","https://openalex.org/W4391047701"],"abstract_inverted_index":{"Visual":[0],"perception":[1],"for":[2,13,53,85],"walking":[3],"machines":[4],"needs":[5],"to":[6,70,136,164,196],"handle":[7],"more":[8],"degrees":[9],"of":[10,27,56,76,129,132,141,145,152,159,184,202],"freedom":[11],"than":[12],"wheeled":[14],"robots.":[15],"For":[16],"humanoid,":[17],"four-":[18],"or":[19,29],"six-legged":[20],"robots,":[21],"camera":[22],"motion":[23,43],"is":[24,44,103,110,156],"6D":[25],"instead":[26],"3D":[28,33,54,97,107,210],"planar":[30],"motion.":[31],"Classical":[32],"reconstruction":[34,55,75,108],"methods":[35],"cannot":[36],"be":[37],"applied":[38,163],"directly,":[39],"because":[40],"explicit":[41],"sensor":[42,84],"needed.":[45],"In":[46],"this":[47],"paper,":[48],"we":[49],"propose":[50],"an":[51,57,72,138,191],"algorithm":[52,122],"unstructured":[58],"environment":[59],"using":[60,80],"motion-free":[61],"uncalibrated":[62],"single":[63],"camera.":[64],"Computer":[65],"vision":[66,81],"techniques":[67],"are":[68],"employed":[69],"obtain":[71],"incremental":[73],"geometrical":[74,143],"the":[77,105,118,126,130,142,146,150,160,180,185,200,209],"environment,":[78],"therefore":[79],"as":[82,112],"a":[83,113,157],"robot":[86],"control":[87],"tasks":[88],"like":[89],"navigation,":[90],"obstacle":[91],"avoidance,":[92],"manipulation,":[93],"tracking,":[94],"etc.":[95],"and":[96,175,182,205],"model":[98],"acquisition.":[99],"The":[100,121,154],"main":[101],"contribution":[102],"that":[104],"offline":[106],"problem":[109],"considered":[111],"point":[114,147],"trajectory":[115],"search":[116],"through":[117,149],"video":[119],"stream.":[120],"takes":[123],"into":[124],"account":[125],"temporal":[127],"aspect":[128],"sequence":[131,151],"images":[133],"in":[134,199],"order":[135],"have":[137],"analytical":[139],"expression":[140],"locus":[144],"trajectories":[148],"images.":[153],"approach":[155],"generalization":[158],"Desargues":[161],"theorem":[162],"multiple":[165],"views":[166],"taken":[167],"from":[168],"nearby":[169],"viewpoints.":[170],"Experiments":[171],"on":[172],"both":[173],"synthetic":[174],"real":[176],"image":[177],"sequences":[178],"show":[179],"simplicity":[181],"efficiency":[183],"proposed":[186],"method.":[187],"This":[188],"method":[189],"provides":[190],"alternative":[192],"technical":[193],"solution":[194],"easy":[195],"use,":[197],"flexible":[198],"context":[201],"robotic":[203],"applications":[204],"can":[206],"significantly":[207],"improve":[208],"estimation":[211],"accuracy.":[212]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}