{"id":"https://openalex.org/W2900988590","doi":"https://doi.org/10.1145/3226111","title":"High-Precision Camera Localization in Scenes with Repetitive Patterns","display_name":"High-Precision Camera Localization in Scenes with Repetitive Patterns","publication_year":2018,"publication_date":"2018-11-13","ids":{"openalex":"https://openalex.org/W2900988590","doi":"https://doi.org/10.1145/3226111","mag":"2900988590"},"language":"en","primary_location":{"id":"doi:10.1145/3226111","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3226111","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3226111","source":{"id":"https://openalex.org/S2492086750","display_name":"ACM Transactions on Intelligent Systems and Technology","issn_l":"2157-6904","issn":["2157-6904","2157-6912"],"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 Intelligent Systems and Technology","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"bronze","oa_url":"https://dl.acm.org/doi/pdf/10.1145/3226111","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5076498350","display_name":"Xiaobai Liu","orcid":"https://orcid.org/0000-0002-2086-5410"},"institutions":[{"id":"https://openalex.org/I26538001","display_name":"San Diego State University","ror":"https://ror.org/0264fdx42","country_code":"US","type":"education","lineage":["https://openalex.org/I26538001"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xiaobai Liu","raw_affiliation_strings":["Department of Computer Science, San Diego State University, San Diego, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-2086-5410","affiliations":[{"raw_affiliation_string":"Department of Computer Science, San Diego State University, San Diego, CA, USA","institution_ids":["https://openalex.org/I26538001"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100461059","display_name":"Qian Xu","orcid":"https://orcid.org/0000-0001-5690-0583"},"institutions":[{"id":"https://openalex.org/I4210107081","display_name":"Xenobe Research Institute","ror":"https://ror.org/01pb5g963","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I4210107081"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Qian Xu","raw_affiliation_strings":["XreLab Inc., San Diego, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"XreLab Inc., San Diego, CA, USA","institution_ids":["https://openalex.org/I4210107081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028877572","display_name":"Yadong Mu","orcid":"https://orcid.org/0000-0001-7815-3750"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yadong Mu","raw_affiliation_strings":["Institute of Computer Science and Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Computer Science and Technology, Beijing, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091483352","display_name":"Jiadi Yang","orcid":"https://orcid.org/0000-0002-0174-6942"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jiadi Yang","raw_affiliation_strings":["University of California, San Jose, California, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California, San Jose, California, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100412937","display_name":"Liang Lin","orcid":"https://orcid.org/0000-0003-2248-3755"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liang Lin","raw_affiliation_strings":["School of Advanced Computing, Sun Yat-Sen University, Guangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Advanced Computing, Sun Yat-Sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100381753","display_name":"Shuicheng Yan","orcid":"https://orcid.org/0000-0001-8906-3777"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]},{"id":"https://openalex.org/I4210092299","display_name":"Qihoo 360 (China)","ror":"https://ror.org/00p4rkj69","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210092299"]}],"countries":["CN","SG"],"is_corresponding":false,"raw_author_name":"Shuicheng Yan","raw_affiliation_strings":["Qihoo/360 Inc., China; National University of Singapore, Singapore","National University of Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Qihoo/360 Inc., China; National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596","https://openalex.org/I4210092299"]},{"raw_affiliation_string":"National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.13881869,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"9","issue":"6","first_page":"1","last_page":"21"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9997000098228455,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9991999864578247,"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/computer-science","display_name":"Computer science","score":0.8558682203292847},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7784323692321777},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.770124077796936},{"id":"https://openalex.org/keywords/optical-flow","display_name":"Optical flow","score":0.6347748041152954},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6120739579200745},{"id":"https://openalex.org/keywords/heuristics","display_name":"Heuristics","score":0.5762842297554016},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5195879936218262},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.4878973662853241},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4638732671737671},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.4631907641887665},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.46054714918136597},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.43900102376937866},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.4311523735523224},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2964046001434326},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.1571328043937683},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.0906408429145813}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8558682203292847},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7784323692321777},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.770124077796936},{"id":"https://openalex.org/C155542232","wikidata":"https://www.wikidata.org/wiki/Q736111","display_name":"Optical flow","level":3,"score":0.6347748041152954},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6120739579200745},{"id":"https://openalex.org/C127705205","wikidata":"https://www.wikidata.org/wiki/Q5748245","display_name":"Heuristics","level":2,"score":0.5762842297554016},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5195879936218262},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.4878973662853241},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4638732671737671},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.4631907641887665},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.46054714918136597},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.43900102376937866},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.4311523735523224},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2964046001434326},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.1571328043937683},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.0906408429145813},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3226111","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3226111","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3226111","source":{"id":"https://openalex.org/S2492086750","display_name":"ACM Transactions on Intelligent Systems and Technology","issn_l":"2157-6904","issn":["2157-6904","2157-6912"],"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 Intelligent Systems and Technology","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1145/3226111","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3226111","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3226111","source":{"id":"https://openalex.org/S2492086750","display_name":"ACM Transactions on Intelligent Systems and Technology","issn_l":"2157-6904","issn":["2157-6904","2157-6912"],"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 Intelligent Systems and Technology","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.49000000953674316}],"awards":[{"id":"https://openalex.org/G2168314605","display_name":null,"funder_award_id":"58723A","funder_id":"https://openalex.org/F4320332180","funder_display_name":"Defense Advanced Research Projects Agency"},{"id":"https://openalex.org/G4504108201","display_name":null,"funder_award_id":"N00014-17-1","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"},{"id":"https://openalex.org/G5161668544","display_name":"CRII: RI: Reasoning Geometric Commonsense for 3D Image/Video Parsing","funder_award_id":"1657600","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G8189325116","display_name":null,"funder_award_id":"N00014-17-1-2867","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"},{"id":"https://openalex.org/G8876996369","display_name":null,"funder_award_id":"N00014","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320309507","display_name":"San Diego State University","ror":"https://ror.org/0264fdx42"},{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2900988590.pdf","grobid_xml":"https://content.openalex.org/works/W2900988590.grobid-xml"},"referenced_works_count":72,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1512804140","https://openalex.org/W1519745258","https://openalex.org/W1677409904","https://openalex.org/W1883248133","https://openalex.org/W1967719795","https://openalex.org/W1979600650","https://openalex.org/W1991171799","https://openalex.org/W1993523669","https://openalex.org/W2001862790","https://openalex.org/W2007864137","https://openalex.org/W2013127515","https://openalex.org/W2013270301","https://openalex.org/W2030137343","https://openalex.org/W2034839805","https://openalex.org/W2041517222","https://openalex.org/W2043578134","https://openalex.org/W2044145589","https://openalex.org/W2047387559","https://openalex.org/W2052961007","https://openalex.org/W2059017188","https://openalex.org/W2061565186","https://openalex.org/W2068143350","https://openalex.org/W2080419468","https://openalex.org/W2085012456","https://openalex.org/W2090518410","https://openalex.org/W2097595043","https://openalex.org/W2098669323","https://openalex.org/W2100551504","https://openalex.org/W2101805040","https://openalex.org/W2102674365","https://openalex.org/W2113243634","https://openalex.org/W2114594485","https://openalex.org/W2117252135","https://openalex.org/W2119605622","https://openalex.org/W2128086777","https://openalex.org/W2134446283","https://openalex.org/W2134822252","https://openalex.org/W2136315825","https://openalex.org/W2142402075","https://openalex.org/W2146688665","https://openalex.org/W2147555557","https://openalex.org/W2148442626","https://openalex.org/W2150066425","https://openalex.org/W2157828724","https://openalex.org/W2160823029","https://openalex.org/W2161969291","https://openalex.org/W2162870748","https://openalex.org/W2163178251","https://openalex.org/W2165284796","https://openalex.org/W2168676389","https://openalex.org/W2170296202","https://openalex.org/W2171243491","https://openalex.org/W2171909552","https://openalex.org/W2186222003","https://openalex.org/W2276274017","https://openalex.org/W2293305166","https://openalex.org/W2296228853","https://openalex.org/W2326683933","https://openalex.org/W2486703440","https://openalex.org/W2507840081","https://openalex.org/W2517781505","https://openalex.org/W2520699119","https://openalex.org/W2524130909","https://openalex.org/W2535547924","https://openalex.org/W2746639518","https://openalex.org/W3102327032","https://openalex.org/W3145294510","https://openalex.org/W4236573885","https://openalex.org/W4236965008","https://openalex.org/W4245806414","https://openalex.org/W4298028584"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W2414561716","https://openalex.org/W3024737167","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W2312326526","https://openalex.org/W2412578866","https://openalex.org/W3105866016","https://openalex.org/W4312703710"],"abstract_inverted_index":{"This":[0],"article":[1],"presents":[2],"a":[3,54,76,124,130,143,179],"high-precision":[4],"multi-modal":[5],"approach":[6],"for":[7,133,208],"localizing":[8],"moving":[9],"cameras":[10],"with":[11,88,152,191],"monocular":[12],"videos,":[13],"which":[14,110],"has":[15],"wide":[16],"potentials":[17],"in":[18,61,123,142],"many":[19],"intelligent":[20],"applications,":[21],"including":[22],"robotics,":[23],"autonomous":[24],"vehicles,":[25],"and":[26,83,93,119,138,163,178,204],"so":[27],"on.":[28],"Existing":[29],"visual":[30,73,136],"odometry":[31,137],"methods":[32,116,203],"often":[33],"suffer":[34],"from":[35],"symmetric":[36],"or":[37,45,107],"repetitive":[38,121,188,210],"scene":[39],"patterns,":[40],"e.g.,":[41],"windows":[42],"on":[43,173],"buildings":[44],"parking":[46],"stalls.":[47],"To":[48],"address":[49],"this":[50],"issue,":[51],"we":[52,65,84,128],"introduce":[53],"robust":[55],"camera":[56,170],"localization":[57,171],"method":[58,172,196],"that":[59,117,183,194],"contributes":[60],"two":[62],"aspects.":[63],"First,":[64],"formulate":[66],"feature":[67,108],"tracking,":[68],"the":[69,86,158,168],"critical":[70],"step":[71],"of":[72,102,160,187],"odometry,":[74],"as":[75],"hierarchical":[77],"min-cost":[78],"network":[79],"flow":[80,89],"optimization":[81],"task,":[82],"regularize":[85],"formula":[87,99,132],"constraints,":[90],"cross-scale":[91],"consistencies,":[92],"motion":[94],"heuristics.":[95],"The":[96,147],"proposed":[97,169],"regularized":[98],"is":[100,111,150,205],"capable":[101],"adaptively":[103],"selecting":[104],"distinctive":[105],"features":[106],"combinations,":[109],"more":[112],"effective":[113,207],"than":[114],"traditional":[115],"detect":[118],"group":[120],"patterns":[122],"separate":[125],"step.":[126],"Second,":[127],"develop":[129],"joint":[131],"integrating":[134],"dense":[135],"sparse":[139],"GPS":[140],"readings":[141],"common":[144],"reference":[145],"coordinate.":[146],"fusion":[148],"process":[149],"guided":[151],"high-order":[153],"statistics":[154],"knowledge":[155],"to":[156,201],"suppress":[157],"impacts":[159],"noises,":[161],"clusters,":[162],"model":[164],"drifting.":[165],"We":[166],"evaluate":[167],"both":[174],"public":[175],"video":[176],"datasets":[177],"newly":[180],"created":[181],"dataset":[182],"includes":[184],"scenes":[185],"full":[186],"patterns.":[189],"Results":[190],"comparisons":[192],"show":[193],"our":[195],"can":[197],"achieve":[198],"comparable":[199],"performance":[200],"state-of-the-art":[202],"particularly":[206],"addressing":[209],"pattern":[211],"issues.":[212]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
