{"id":"https://openalex.org/W2903734451","doi":"https://doi.org/10.1609/aaai.v33i01.33019307","title":"A Robust and Efficient Algorithm for the PnL Problem Using Algebraic Distance to Approximate the Reprojection Distance","display_name":"A Robust and Efficient Algorithm for the PnL Problem Using Algebraic Distance to Approximate the Reprojection Distance","publication_year":2019,"publication_date":"2019-07-17","ids":{"openalex":"https://openalex.org/W2903734451","doi":"https://doi.org/10.1609/aaai.v33i01.33019307","mag":"2903734451"},"language":"en","primary_location":{"id":"doi:10.1609/aaai.v33i01.33019307","is_oa":true,"landing_page_url":"https://doi.org/10.1609/aaai.v33i01.33019307","pdf_url":null,"source":{"id":"https://openalex.org/S4210191458","display_name":"Proceedings of the AAAI Conference on Artificial Intelligence","issn_l":"2159-5399","issn":["2159-5399","2374-3468"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310320058","host_organization_name":"Association for the Advancement of Artificial Intelligence","host_organization_lineage":["https://openalex.org/P4310320058"],"host_organization_lineage_names":["Association for the Advancement of Artificial Intelligence"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the AAAI Conference on Artificial Intelligence","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"diamond","oa_url":"https://doi.org/10.1609/aaai.v33i01.33019307","any_repository_has_fulltext":null},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5060058992","display_name":"Lipu Zhou","orcid":"https://orcid.org/0000-0003-2148-393X"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lipu Zhou","raw_affiliation_strings":["Carnegie Mellon University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005421447","display_name":"Yi Yang","orcid":"https://orcid.org/0000-0002-0512-880X"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yi Yang","raw_affiliation_strings":["Carnegie Mellon University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019471954","display_name":"Montiel Abello","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Montiel Abello","raw_affiliation_strings":["Carnegie Mellon University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014216861","display_name":"Michael Kaess","orcid":"https://orcid.org/0000-0002-7590-3357"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael Kaess","raw_affiliation_strings":["Carnegie Mellon University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":22.8515,"has_fulltext":true,"cited_by_count":20,"citation_normalized_percentile":{"value":0.99425177,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"33","issue":"01","first_page":"9307","last_page":"9315"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994999766349792,"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"}},"topics":[{"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/T10996","display_name":"Computational Geometry and Mesh Generation","score":0.9976999759674072,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"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/T12549","display_name":"Image and Object Detection Techniques","score":0.9975000023841858,"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/solver","display_name":"Solver","score":0.6976386904716492},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6212261319160461},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.6062125563621521},{"id":"https://openalex.org/keywords/polynomial","display_name":"Polynomial","score":0.5954716205596924},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.5634844303131104},{"id":"https://openalex.org/keywords/reprojection-error","display_name":"Reprojection error","score":0.4220600426197052},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4190411865711212},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3287249207496643},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10739099979400635}],"concepts":[{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.6976386904716492},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6212261319160461},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.6062125563621521},{"id":"https://openalex.org/C90119067","wikidata":"https://www.wikidata.org/wiki/Q43260","display_name":"Polynomial","level":2,"score":0.5954716205596924},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.5634844303131104},{"id":"https://openalex.org/C23903533","wikidata":"https://www.wikidata.org/wiki/Q17122739","display_name":"Reprojection error","level":3,"score":0.4220600426197052},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4190411865711212},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3287249207496643},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10739099979400635},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1609/aaai.v33i01.33019307","is_oa":true,"landing_page_url":"https://doi.org/10.1609/aaai.v33i01.33019307","pdf_url":null,"source":{"id":"https://openalex.org/S4210191458","display_name":"Proceedings of the AAAI Conference on Artificial Intelligence","issn_l":"2159-5399","issn":["2159-5399","2374-3468"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310320058","host_organization_name":"Association for the Advancement of Artificial Intelligence","host_organization_lineage":["https://openalex.org/P4310320058"],"host_organization_lineage_names":["Association for the Advancement of Artificial Intelligence"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the AAAI Conference on Artificial Intelligence","raw_type":"journal-article"},{"id":"pmh:oai:ojs.aaai.org:article/4968","is_oa":true,"landing_page_url":"https://ojs.aaai.org/index.php/AAAI/article/view/4968","pdf_url":"https://ojs.aaai.org/index.php/AAAI/article/download/4968/4841","source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2159-5399","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":{"id":"doi:10.1609/aaai.v33i01.33019307","is_oa":true,"landing_page_url":"https://doi.org/10.1609/aaai.v33i01.33019307","pdf_url":null,"source":{"id":"https://openalex.org/S4210191458","display_name":"Proceedings of the AAAI Conference on Artificial Intelligence","issn_l":"2159-5399","issn":["2159-5399","2374-3468"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310320058","host_organization_name":"Association for the Advancement of Artificial Intelligence","host_organization_lineage":["https://openalex.org/P4310320058"],"host_organization_lineage_names":["Association for the Advancement of Artificial Intelligence"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the AAAI Conference on Artificial Intelligence","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1483218536","https://openalex.org/W1970044719","https://openalex.org/W1977415556","https://openalex.org/W1991544872","https://openalex.org/W1992989752","https://openalex.org/W2006892127","https://openalex.org/W2038671794","https://openalex.org/W2039863764","https://openalex.org/W2058946587","https://openalex.org/W2061246543","https://openalex.org/W2098735323","https://openalex.org/W2103569660","https://openalex.org/W2119680802","https://openalex.org/W2129802333","https://openalex.org/W2139541242","https://openalex.org/W2142482451","https://openalex.org/W2153326665","https://openalex.org/W2160072137","https://openalex.org/W2166093077","https://openalex.org/W2167694888","https://openalex.org/W2168241268","https://openalex.org/W2180017599","https://openalex.org/W2236623899","https://openalex.org/W2292869238","https://openalex.org/W2473967151","https://openalex.org/W2519914946","https://openalex.org/W2552930270","https://openalex.org/W2613449306","https://openalex.org/W4237064534","https://openalex.org/W4243493583","https://openalex.org/W6648200313","https://openalex.org/W6658838613","https://openalex.org/W6677862510","https://openalex.org/W7028454468"],"related_works":["https://openalex.org/W1831182967","https://openalex.org/W2981356822","https://openalex.org/W2186864281","https://openalex.org/W4320491952","https://openalex.org/W1591473239","https://openalex.org/W4255427455","https://openalex.org/W2367287434","https://openalex.org/W2899563768","https://openalex.org/W1966025497","https://openalex.org/W68941528"],"abstract_inverted_index":{"This":[0,117,162],"paper":[1],"proposes":[2],"a":[3,54,77,87,157],"novel":[4,158],"algorithm":[5,163,218,265],"to":[6,82,111,222,249,268],"solve":[7,147],"the":[8,18,28,43,47,51,61,71,99,103,114,120,124,127,148,153,167,171,181,190,196,202,205,213,223,235,250,254],"pose":[9],"estimation":[10],"problem":[11,155],"from":[12,201,252],"2D/3D":[13],"line":[14,52],"correspondences,":[15],"known":[16,25],"as":[17],"Perspective-n-Line":[19],"(PnL)":[20],"problem.":[21,79],"It":[22],"is":[23,177,219,258,266],"widely":[24],"that":[26,95,212],"minimizing":[27,38,253],"geometric":[29,128],"distance":[30,49,73,94,101],"generally":[31],"results":[32,36,210,248,251],"in":[33,135,226],"more":[34,178,260],"accurate":[35],"than":[37,180,234],"an":[39,92],"algebraic":[40,93,109,132],"distance.":[41,116,129],"However,":[42],"rational":[44],"form":[45],"of":[46,50,102,126,152,166,170,204,216,228],"reprojection":[48,72,100,115,255],"yields":[53,246],"complicated":[55],"cost":[56,88,138,193,207],"function,":[57],"which":[58,85,140],"makes":[59,164],"solving":[60],"first-order":[62,149],"optimality":[63,150],"conditions":[64,151],"infeasible.":[65],"Furthermore,":[66],"iterative":[67],"algorithms":[68,225,236],"based":[69,90,237],"on":[70,91,238],"are":[74],"time-consuming":[75],"for":[76],"large-scale":[78],"In":[80],"contrast":[81],"previous":[83],"works":[84],"minimize":[86,189],"function":[89,194],"may":[96],"not":[97],"approximate":[98,113],"line,":[104],"we":[105,188],"design":[106],"two":[107,131,136],"simple":[108],"distances":[110,133],"gradually":[112],"speeds":[118],"up":[119],"computation,":[121],"and":[122,230,232],"maintains":[123],"robustness":[125],"The":[130,243],"result":[134],"polynomial":[137,173,185,192,241],"functions,":[139],"can":[141],"be":[142],"efficiently":[143],"solved.":[144],"We":[145],"directly":[146],"first":[154,206,214],"with":[156],"hidden":[159],"variable":[160],"method.":[161],"use":[165],"specific":[168],"structure":[169],"resulting":[172],"system,":[174],"therefore":[175],"it":[176],"stable":[179],"general":[182],"Gr\u00f6bner":[183,239],"basis":[184,240],"solver.":[186,242],"Then,":[187],"second":[191,244],"by":[195],"damped":[197],"Newton":[198],"iteration,":[199],"starting":[200],"solution":[203],"function.":[208],"Experimental":[209],"show":[211],"step":[215,245],"our":[217,264],"already":[220],"superior":[221],"state-of-the-art":[224],"terms":[227],"accuracy":[229],"applicability,":[231],"faster":[233],"comparable":[247],"distance,":[256],"but":[257],"much":[259],"efficient.":[261],"For":[262],"speed,":[263],"applicable":[267],"real-time":[269],"applications.":[270]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":5}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
