{"id":"https://openalex.org/W2133192850","doi":"https://doi.org/10.1145/1486525.1486527","title":"SBA","display_name":"SBA","publication_year":2009,"publication_date":"2009-03-01","ids":{"openalex":"https://openalex.org/W2133192850","doi":"https://doi.org/10.1145/1486525.1486527","mag":"2133192850"},"language":"en","primary_location":{"id":"doi:10.1145/1486525.1486527","is_oa":false,"landing_page_url":"https://doi.org/10.1145/1486525.1486527","pdf_url":null,"source":{"id":"https://openalex.org/S163326656","display_name":"ACM Transactions on Mathematical Software","issn_l":"0098-3500","issn":["0098-3500","1557-7295"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Mathematical Software","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/A5074591926","display_name":"Manolis Lourakis","orcid":"https://orcid.org/0000-0003-4596-5773"},"institutions":[{"id":"https://openalex.org/I8901234","display_name":"Foundation for Research and Technology Hellas","ror":"https://ror.org/052rphn09","country_code":"GR","type":"facility","lineage":["https://openalex.org/I8901234"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Manolis I. A. Lourakis","raw_affiliation_strings":["Foundation for Research and Technology\u2014Hellas"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Foundation for Research and Technology\u2014Hellas","institution_ids":["https://openalex.org/I8901234"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023467254","display_name":"Antonis Argyros","orcid":"https://orcid.org/0000-0001-8230-3192"},"institutions":[{"id":"https://openalex.org/I8901234","display_name":"Foundation for Research and Technology Hellas","ror":"https://ror.org/052rphn09","country_code":"GR","type":"facility","lineage":["https://openalex.org/I8901234"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Antonis A. Argyros","raw_affiliation_strings":["Foundation for Research and Technology\u2014Hellas"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Foundation for Research and Technology\u2014Hellas","institution_ids":["https://openalex.org/I8901234"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I8901234"],"apc_list":null,"apc_paid":null,"fwci":59.5034,"has_fulltext":false,"cited_by_count":776,"citation_normalized_percentile":{"value":0.99936726,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"36","issue":"1","first_page":"1","last_page":"30"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9986000061035156,"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/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.7042912244796753},{"id":"https://openalex.org/keywords/bundle","display_name":"Bundle","score":0.683543860912323},{"id":"https://openalex.org/keywords/bundle-adjustment","display_name":"Bundle adjustment","score":0.6617834568023682},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6567025780677795},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.6167076826095581},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.494109183549881},{"id":"https://openalex.org/keywords/least-squares-function-approximation","display_name":"Least-squares function approximation","score":0.48215243220329285},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.48175764083862305},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.47788205742836},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.4531087279319763},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4397992789745331},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2678278088569641},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21307015419006348},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.17882153391838074},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.06982246041297913}],"concepts":[{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.7042912244796753},{"id":"https://openalex.org/C2778134712","wikidata":"https://www.wikidata.org/wiki/Q1047307","display_name":"Bundle","level":2,"score":0.683543860912323},{"id":"https://openalex.org/C179458375","wikidata":"https://www.wikidata.org/wiki/Q1020763","display_name":"Bundle adjustment","level":3,"score":0.6617834568023682},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6567025780677795},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.6167076826095581},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.494109183549881},{"id":"https://openalex.org/C9936470","wikidata":"https://www.wikidata.org/wiki/Q6510405","display_name":"Least-squares function approximation","level":3,"score":0.48215243220329285},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.48175764083862305},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.47788205742836},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.4531087279319763},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4397992789745331},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2678278088569641},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21307015419006348},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.17882153391838074},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.06982246041297913},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"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/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","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},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"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/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/1486525.1486527","is_oa":false,"landing_page_url":"https://doi.org/10.1145/1486525.1486527","pdf_url":null,"source":{"id":"https://openalex.org/S163326656","display_name":"ACM Transactions on Mathematical Software","issn_l":"0098-3500","issn":["0098-3500","1557-7295"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Mathematical Software","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5569172503","display_name":null,"funder_award_id":"IST-2001-34545COOP-CT-2005-017405FP6-507752","funder_id":"https://openalex.org/F4320334962","funder_display_name":"Sixth Framework Programme"}],"funders":[{"id":"https://openalex.org/F4320334962","display_name":"Sixth Framework Programme","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":63,"referenced_works":["https://openalex.org/W28559072","https://openalex.org/W60229030","https://openalex.org/W147998453","https://openalex.org/W173148493","https://openalex.org/W1479875173","https://openalex.org/W1509033957","https://openalex.org/W1543549646","https://openalex.org/W1549739843","https://openalex.org/W1550772144","https://openalex.org/W1575701986","https://openalex.org/W1582014558","https://openalex.org/W1588720062","https://openalex.org/W1605255644","https://openalex.org/W1611306188","https://openalex.org/W1630235098","https://openalex.org/W1760551737","https://openalex.org/W1786620475","https://openalex.org/W1981745143","https://openalex.org/W1993267444","https://openalex.org/W1994309501","https://openalex.org/W2008213507","https://openalex.org/W2011891945","https://openalex.org/W2019769120","https://openalex.org/W2033819227","https://openalex.org/W2038205735","https://openalex.org/W2042272394","https://openalex.org/W2046915036","https://openalex.org/W2049064539","https://openalex.org/W2068484625","https://openalex.org/W2074093855","https://openalex.org/W2075184363","https://openalex.org/W2080629029","https://openalex.org/W2087070363","https://openalex.org/W2089024363","https://openalex.org/W2095611780","https://openalex.org/W2100388501","https://openalex.org/W2103983189","https://openalex.org/W2105471083","https://openalex.org/W2123224804","https://openalex.org/W2124313187","https://openalex.org/W2129212619","https://openalex.org/W2130103520","https://openalex.org/W2137658800","https://openalex.org/W2142975523","https://openalex.org/W2145645587","https://openalex.org/W2147458926","https://openalex.org/W2151103935","https://openalex.org/W2156598602","https://openalex.org/W2162440713","https://openalex.org/W2168842898","https://openalex.org/W2171336437","https://openalex.org/W2236623899","https://openalex.org/W2256578114","https://openalex.org/W2272034138","https://openalex.org/W2325499309","https://openalex.org/W2598306943","https://openalex.org/W2890534020","https://openalex.org/W3029645440","https://openalex.org/W4229666556","https://openalex.org/W4230252700","https://openalex.org/W4238043473","https://openalex.org/W4291439952","https://openalex.org/W4293775970"],"related_works":["https://openalex.org/W2007405763","https://openalex.org/W3136087161","https://openalex.org/W1486373823","https://openalex.org/W2119578520","https://openalex.org/W159468655","https://openalex.org/W2371097030","https://openalex.org/W3030161631","https://openalex.org/W2110862966","https://openalex.org/W2887696904","https://openalex.org/W2020684218"],"abstract_inverted_index":{"Bundle":[0],"adjustment":[1,97],"constitutes":[2],"a":[3,38,72,87],"large,":[4],"nonlinear":[5],"least-squares":[6,41],"problem":[7],"that":[8,74],"is":[9],"often":[10],"solved":[11],"as":[12],"the":[13,31,56,67],"last":[14],"step":[15],"of":[16,35,58,63],"feature-based":[17],"structure":[18],"and":[19,46,101],"motion":[20],"estimation":[21],"computer":[22],"vision":[23],"algorithms":[24],"to":[25,30,52,78],"obtain":[26],"optimal":[27],"estimates.":[28],"Due":[29],"very":[32],"large":[33],"number":[34],"parameters":[36,64],"involved,":[37],"general":[39],"purpose":[40],"algorithm":[42],"incurs":[43],"high":[44,99],"computational":[45,81],"memory":[47],"storage":[48],"costs":[49],"when":[50],"applied":[51],"bundle":[53,96],"adjustment.":[54],"Fortunately,":[55],"lack":[57],"interaction":[59],"among":[60],"certain":[61],"subgroups":[62],"results":[65],"in":[66],"corresponding":[68],"Jacobian":[69],"being":[70],"sparse,":[71],"fact":[73],"can":[75],"be":[76],"exploited":[77],"achieve":[79],"considerable":[80],"savings.":[82],"This":[83],"article":[84],"presents":[85],"sba,":[86],"publicly":[88],"available":[89],"C/C++":[90],"software":[91],"package":[92],"for":[93],"realizing":[94],"generic":[95],"with":[98],"efficiency":[100],"flexibility":[102],"regarding":[103],"parameterization.":[104]},"counts_by_year":[{"year":2026,"cited_by_count":9},{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":28},{"year":2023,"cited_by_count":32},{"year":2022,"cited_by_count":31},{"year":2021,"cited_by_count":38},{"year":2020,"cited_by_count":52},{"year":2019,"cited_by_count":37},{"year":2018,"cited_by_count":45},{"year":2017,"cited_by_count":51},{"year":2016,"cited_by_count":39},{"year":2015,"cited_by_count":64},{"year":2014,"cited_by_count":73},{"year":2013,"cited_by_count":80},{"year":2012,"cited_by_count":69}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2016-06-24T00:00:00"}