{"id":"https://openalex.org/W3025024536","doi":"https://doi.org/10.1145/3389412","title":"Noise-Resilient Reconstruction of Panoramas and 3D Scenes Using Robot-Mounted Unsynchronized Commodity RGB-D Cameras","display_name":"Noise-Resilient Reconstruction of Panoramas and 3D Scenes Using Robot-Mounted Unsynchronized Commodity RGB-D Cameras","publication_year":2020,"publication_date":"2020-07-01","ids":{"openalex":"https://openalex.org/W3025024536","doi":"https://doi.org/10.1145/3389412","mag":"3025024536"},"language":"en","primary_location":{"id":"doi:10.1145/3389412","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3389412","pdf_url":null,"source":{"id":"https://openalex.org/S185367456","display_name":"ACM Transactions on Graphics","issn_l":"0730-0301","issn":["0730-0301","1557-7368"],"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 Graphics","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/A5053519908","display_name":"Sheng Yang","orcid":"https://orcid.org/0000-0001-8295-1552"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Sheng Yang","raw_affiliation_strings":["BNRist, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"BNRist, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001416316","display_name":"Beichen Li","orcid":"https://orcid.org/0000-0002-9271-0055"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Beichen Li","raw_affiliation_strings":["Massachusetts Institute of Technology, Cambridge, MA"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology, Cambridge, MA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091525681","display_name":"Yan\u2010Pei Cao","orcid":"https://orcid.org/0000-0002-0416-4374"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yan-Pei Cao","raw_affiliation_strings":["BNRist, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"BNRist, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100616579","display_name":"Hongbo Fu","orcid":"https://orcid.org/0000-0002-0284-726X"},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Hongbo Fu","raw_affiliation_strings":["City University of Hong Kong, Kowloon Tong, Hong Kong"],"affiliations":[{"raw_affiliation_string":"City University of Hong Kong, Kowloon Tong, Hong Kong","institution_ids":["https://openalex.org/I168719708"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067850699","display_name":"Yu\u2010Kun Lai","orcid":"https://orcid.org/0000-0002-2094-5680"},"institutions":[{"id":"https://openalex.org/I79510175","display_name":"Cardiff University","ror":"https://ror.org/03kk7td41","country_code":"GB","type":"education","lineage":["https://openalex.org/I79510175"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Yu-Kun Lai","raw_affiliation_strings":["Cardiff University, Roath, Cardiff, UK"],"affiliations":[{"raw_affiliation_string":"Cardiff University, Roath, Cardiff, UK","institution_ids":["https://openalex.org/I79510175"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036300670","display_name":"Leif Kobbelt","orcid":"https://orcid.org/0000-0002-7880-9470"},"institutions":[{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Leif Kobbelt","raw_affiliation_strings":["RWTH Aachen University, Germany"],"affiliations":[{"raw_affiliation_string":"RWTH Aachen University, Germany","institution_ids":["https://openalex.org/I887968799"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037233582","display_name":"Shi\u2010Min Hu","orcid":"https://orcid.org/0000-0001-7507-6542"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shi-Min Hu","raw_affiliation_strings":["BNRist, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"BNRist, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":5,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5053519908"],"corresponding_institution_ids":["https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":30.9286,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.99232605,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"39","issue":"5","first_page":"1","last_page":"15"},"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":0.9998000264167786,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.8389976024627686},{"id":"https://openalex.org/keywords/panorama","display_name":"Panorama","score":0.8341046571731567},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.8321231603622437},{"id":"https://openalex.org/keywords/image-stitching","display_name":"Image stitching","score":0.7768723368644714},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7350163459777832},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.4963393807411194},{"id":"https://openalex.org/keywords/pixel","display_name":"Pixel","score":0.48564091324806213},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.4850165545940399},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.3779065012931824},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.17666774988174438}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.8389976024627686},{"id":"https://openalex.org/C2780580889","wikidata":"https://www.wikidata.org/wiki/Q41363","display_name":"Panorama","level":2,"score":0.8341046571731567},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8321231603622437},{"id":"https://openalex.org/C29081049","wikidata":"https://www.wikidata.org/wiki/Q1364242","display_name":"Image stitching","level":2,"score":0.7768723368644714},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7350163459777832},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.4963393807411194},{"id":"https://openalex.org/C160633673","wikidata":"https://www.wikidata.org/wiki/Q355198","display_name":"Pixel","level":2,"score":0.48564091324806213},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.4850165545940399},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.3779065012931824},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.17666774988174438}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1145/3389412","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3389412","pdf_url":null,"source":{"id":"https://openalex.org/S185367456","display_name":"ACM Transactions on Graphics","issn_l":"0730-0301","issn":["0730-0301","1557-7368"],"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 Graphics","raw_type":"journal-article"},{"id":"pmh:oai:http://orca.cardiff.ac.uk:130657","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306401195","display_name":"ORCA Online Research @Cardiff (Cardiff University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79510175","host_organization_name":"Cardiff University","host_organization_lineage":["https://openalex.org/I79510175"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Article"},{"id":"pmh:oai:http://orca-dev.cardiff.ac.uk:130657","is_oa":false,"landing_page_url":"https://orca.cardiff.ac.uk/id/eprint/130657/","pdf_url":null,"source":{"id":"https://openalex.org/S4306401195","display_name":"ORCA Online Research @Cardiff (Cardiff University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79510175","host_organization_name":"Cardiff University","host_organization_lineage":["https://openalex.org/I79510175"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"},{"id":"pmh:oai:publications.rwth-aachen.de:804489","is_oa":false,"landing_page_url":"https://publications.rwth-aachen.de/search?p=id:%22RWTH-2020-10321%22","pdf_url":null,"source":{"id":"https://openalex.org/S4306401033","display_name":"RWTH Publications (RWTH Aachen)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I887968799","host_organization_name":"RWTH Aachen University","host_organization_lineage":["https://openalex.org/I887968799"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ACM transactions on graphics 39(5), 152 (2020). doi:10.1145/3389412","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-137967","is_oa":false,"landing_page_url":"http://gateway.isiknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcAuth=LinksAMR&SrcApp=PARTNER_APP&DestLinkType=FullRecord&DestApp=WOS&KeyUT=000569375100001","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.5199999809265137,"display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G1121271761","display_name":null,"funder_award_id":"Program","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2087396116","display_name":null,"funder_award_id":"China","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2273800250","display_name":null,"funder_award_id":"NSFC-","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3184158786","display_name":null,"funder_award_id":"NSFC-DFG","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3317480652","display_name":null,"funder_award_id":"Science","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3525752471","display_name":null,"funder_award_id":"617611360","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G391238517","display_name":null,"funder_award_id":", and","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5939423041","display_name":null,"funder_award_id":"Technology","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5994120800","display_name":null,"funder_award_id":"Natural","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6818804913","display_name":null,"funder_award_id":"61761136018","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7457441254","display_name":null,"funder_award_id":"61761136","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G762232396","display_name":null,"funder_award_id":"Project","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"},{"id":"https://openalex.org/G797295151","display_name":null,"funder_award_id":"61521002","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320309893","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23"},{"id":"https://openalex.org/F4320316083","display_name":"Tencent","ror":"https://ror.org/00hhjss72"},{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"},{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320337176","display_name":"Centre for Applied Computing and Interactive Media, City University of Hong Kong","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":59,"referenced_works":["https://openalex.org/W1509835260","https://openalex.org/W1625949922","https://openalex.org/W1957167950","https://openalex.org/W1968567746","https://openalex.org/W1984239963","https://openalex.org/W1987648924","https://openalex.org/W2013708313","https://openalex.org/W2015901765","https://openalex.org/W2015934494","https://openalex.org/W2049981393","https://openalex.org/W2058535340","https://openalex.org/W2069693438","https://openalex.org/W2071906076","https://openalex.org/W2080823437","https://openalex.org/W2085261163","https://openalex.org/W2103559027","https://openalex.org/W2132820324","https://openalex.org/W2135887870","https://openalex.org/W2143769815","https://openalex.org/W2152864241","https://openalex.org/W2153054365","https://openalex.org/W2156598602","https://openalex.org/W2178922201","https://openalex.org/W2201056710","https://openalex.org/W2214269557","https://openalex.org/W2244833639","https://openalex.org/W2250172176","https://openalex.org/W2294454324","https://openalex.org/W2460657278","https://openalex.org/W2461937780","https://openalex.org/W2519683295","https://openalex.org/W2520525508","https://openalex.org/W2535547924","https://openalex.org/W2561303380","https://openalex.org/W2563685048","https://openalex.org/W2568940295","https://openalex.org/W2594519801","https://openalex.org/W2770128544","https://openalex.org/W2811153284","https://openalex.org/W2883776808","https://openalex.org/W2892282785","https://openalex.org/W2945458501","https://openalex.org/W2946908592","https://openalex.org/W2963150697","https://openalex.org/W2963364304","https://openalex.org/W2964339842","https://openalex.org/W3009115175","https://openalex.org/W3102327032","https://openalex.org/W3124420883","https://openalex.org/W3177525997","https://openalex.org/W3196769885","https://openalex.org/W4206610958","https://openalex.org/W4214528849","https://openalex.org/W4235407707","https://openalex.org/W4249418251","https://openalex.org/W4252201060","https://openalex.org/W6691696098","https://openalex.org/W6809198070","https://openalex.org/W6817117944"],"related_works":["https://openalex.org/W2371409747","https://openalex.org/W1943330140","https://openalex.org/W2005176409","https://openalex.org/W2142165007","https://openalex.org/W4387896115","https://openalex.org/W2349684670","https://openalex.org/W2070701622","https://openalex.org/W2800143143","https://openalex.org/W2492593367","https://openalex.org/W2156713025"],"abstract_inverted_index":{"We":[0,143],"present":[1],"a":[2,30,42,48,55],"two-stage":[3],"approach":[4,22],"to":[5,80,104,111,123],"first":[6],"constructing":[7],"3D":[8],"panoramas":[9],"and":[10,117,128,136,145,164],"then":[11],"stitching":[12],"them":[13],"for":[14,58,153],"noise-resilient":[15],"reconstruction":[16,160],"of":[17,67,89,133,139,149,158],"large-scale":[18],"indoor":[19],"scenes.":[20],"Our":[21],"requires":[23],"multiple":[24,101],"unsynchronized":[25,61],"RGB-D":[26],"cameras,":[27,62],"mounted":[28],"on":[29,47,72],"robot":[31],"platform,":[32],"which":[33,53],"can":[34],"perform":[35],"in-place":[36],"rotations":[37],"at":[38],"different":[39],"locations":[40],"in":[41],"scene.":[43],"Such":[44],"cameras":[45,83],"rotate":[46],"common":[49],"(but":[50],"unknown)":[51],"axis,":[52],"provides":[54],"novel":[56,78],"perspective":[57],"coping":[59],"with":[60],"without":[63],"requiring":[64],"sufficient":[65],"overlap":[66],"their":[68],"Field-of-View":[69],"(FoV).":[70],"Based":[71],"this":[73],"key":[74],"observation,":[75],"we":[76,96],"propose":[77],"algorithms":[79],"track":[81],"these":[82],"simultaneously.":[84],"Furthermore,":[85],"during":[86],"the":[87,105,114,130,137,147,155],"integration":[88],"raw":[90],"frames":[91],"onto":[92],"an":[93],"equirectangular":[94],"panorama,":[95],"derive":[97],"uncertainty":[98],"estimates":[99],"from":[100,161],"measurements":[102],"assigned":[103],"same":[106],"pixels.":[107],"This":[108],"enables":[109],"us":[110],"appropriately":[112],"model":[113],"sensing":[115],"noise":[116,126],"consider":[118],"its":[119],"influence,":[120],"so":[121],"as":[122],"achieve":[124],"better":[125],"resilience,":[127],"improve":[129],"geometric":[131,156],"quality":[132,157],"each":[134],"panorama":[135],"accuracy":[138],"global":[140],"inter-panorama":[141],"registration.":[142],"evaluate":[144],"demonstrate":[146],"performance":[148],"our":[150],"proposed":[151],"method":[152],"enhancing":[154],"scene":[159],"both":[162],"real-world":[163],"synthetic":[165],"scans.":[166]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":1}],"updated_date":"2026-04-13T07:58:08.660418","created_date":"2025-10-10T00:00:00"}