{"id":"https://openalex.org/W4400493668","doi":"https://doi.org/10.3390/ijgi13070246","title":"Globally Optimal Relative Pose and Scale Estimation from Only Image Correspondences with Known Vertical Direction","display_name":"Globally Optimal Relative Pose and Scale Estimation from Only Image Correspondences with Known Vertical Direction","publication_year":2024,"publication_date":"2024-07-09","ids":{"openalex":"https://openalex.org/W4400493668","doi":"https://doi.org/10.3390/ijgi13070246"},"language":"en","primary_location":{"id":"doi:10.3390/ijgi13070246","is_oa":true,"landing_page_url":"https://doi.org/10.3390/ijgi13070246","pdf_url":"https://www.mdpi.com/2220-9964/13/7/246/pdf?version=1721268841","source":{"id":"https://openalex.org/S2764431341","display_name":"ISPRS International Journal of Geo-Information","issn_l":"2220-9964","issn":["2220-9964"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ISPRS International Journal of Geo-Information","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2220-9964/13/7/246/pdf?version=1721268841","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102772662","display_name":"Zhenbao Yu","orcid":"https://orcid.org/0000-0003-0274-2684"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]},{"id":"https://openalex.org/I4210100278","display_name":"Beijing Satellite Navigation Center","ror":"https://ror.org/0188rvx33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210100278"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenbao Yu","raw_affiliation_strings":["Global Navigation Satellite System (GNSS) Research Center, Wuhan University, Wuhan 430072, China"],"raw_orcid":"https://orcid.org/0000-0003-0274-2684","affiliations":[{"raw_affiliation_string":"Global Navigation Satellite System (GNSS) Research Center, Wuhan University, Wuhan 430072, China","institution_ids":["https://openalex.org/I37461747","https://openalex.org/I4210100278"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028970592","display_name":"Shirong Ye","orcid":"https://orcid.org/0000-0001-5570-8119"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]},{"id":"https://openalex.org/I4210100278","display_name":"Beijing Satellite Navigation Center","ror":"https://ror.org/0188rvx33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210100278"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Shirong Ye","raw_affiliation_strings":["Global Navigation Satellite System (GNSS) Research Center, Wuhan University, Wuhan 430072, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Global Navigation Satellite System (GNSS) Research Center, Wuhan University, Wuhan 430072, China","institution_ids":["https://openalex.org/I37461747","https://openalex.org/I4210100278"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102635585","display_name":"Changwei Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changwei Liu","raw_affiliation_strings":["School of Future Technology, South China University of Technology, Guangzhou 510641, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Future Technology, South China University of Technology, Guangzhou 510641, China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072968984","display_name":"Ronghe Jin","orcid":"https://orcid.org/0000-0003-2035-8950"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ronghe Jin","raw_affiliation_strings":["School of Remote Sensing and Information Engineering, Wuhan University, Wuhan 430072, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Remote Sensing and Information Engineering, Wuhan University, Wuhan 430072, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049847547","display_name":"Pengfei Xia","orcid":"https://orcid.org/0000-0001-8268-2057"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]},{"id":"https://openalex.org/I4210100278","display_name":"Beijing Satellite Navigation Center","ror":"https://ror.org/0188rvx33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210100278"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Pengfei Xia","raw_affiliation_strings":["Global Navigation Satellite System (GNSS) Research Center, Wuhan University, Wuhan 430072, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Global Navigation Satellite System (GNSS) Research Center, Wuhan University, Wuhan 430072, China","institution_ids":["https://openalex.org/I37461747","https://openalex.org/I4210100278"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103108030","display_name":"Kang Yan","orcid":"https://orcid.org/0000-0002-1019-0384"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]},{"id":"https://openalex.org/I4210100278","display_name":"Beijing Satellite Navigation Center","ror":"https://ror.org/0188rvx33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210100278"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kang Yan","raw_affiliation_strings":["Global Navigation Satellite System (GNSS) Research Center, Wuhan University, Wuhan 430072, China"],"raw_orcid":"https://orcid.org/0000-0002-1019-0384","affiliations":[{"raw_affiliation_string":"Global Navigation Satellite System (GNSS) Research Center, Wuhan University, Wuhan 430072, China","institution_ids":["https://openalex.org/I37461747","https://openalex.org/I4210100278"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5028970592"],"corresponding_institution_ids":["https://openalex.org/I37461747","https://openalex.org/I4210100278"],"apc_list":{"value":1700,"currency":"CHF","value_usd":1893},"apc_paid":{"value":1700,"currency":"CHF","value_usd":1893},"fwci":1.0554,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.86041178,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"13","issue":"7","first_page":"246","last_page":"246"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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/T10638","display_name":"Optical measurement and interference 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/essential-matrix","display_name":"Essential matrix","score":0.6892220973968506},{"id":"https://openalex.org/keywords/solver","display_name":"Solver","score":0.6628522872924805},{"id":"https://openalex.org/keywords/rotation-matrix","display_name":"Rotation matrix","score":0.6289228200912476},{"id":"https://openalex.org/keywords/translation","display_name":"Translation (biology)","score":0.627453088760376},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.6032263040542603},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.594200849533081},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5320419073104858},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.5282646417617798},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.491164892911911},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.48752114176750183},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.47512465715408325},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.4561128616333008},{"id":"https://openalex.org/keywords/matrix","display_name":"Matrix (chemical analysis)","score":0.45576298236846924},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4334947466850281},{"id":"https://openalex.org/keywords/eigenvalues-and-eigenvectors","display_name":"Eigenvalues and eigenvectors","score":0.43296200037002563},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41293907165527344},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.374449759721756},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.2719442844390869},{"id":"https://openalex.org/keywords/state-transition-matrix","display_name":"State-transition matrix","score":0.1047087013721466},{"id":"https://openalex.org/keywords/symmetric-matrix","display_name":"Symmetric matrix","score":0.09819990396499634}],"concepts":[{"id":"https://openalex.org/C49996920","wikidata":"https://www.wikidata.org/wiki/Q17089185","display_name":"Essential matrix","level":5,"score":0.6892220973968506},{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.6628522872924805},{"id":"https://openalex.org/C83633838","wikidata":"https://www.wikidata.org/wiki/Q1256564","display_name":"Rotation matrix","level":2,"score":0.6289228200912476},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.627453088760376},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.6032263040542603},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.594200849533081},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5320419073104858},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.5282646417617798},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.491164892911911},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.48752114176750183},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.47512465715408325},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.4561128616333008},{"id":"https://openalex.org/C106487976","wikidata":"https://www.wikidata.org/wiki/Q685816","display_name":"Matrix (chemical analysis)","level":2,"score":0.45576298236846924},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4334947466850281},{"id":"https://openalex.org/C158693339","wikidata":"https://www.wikidata.org/wiki/Q190524","display_name":"Eigenvalues and eigenvectors","level":2,"score":0.43296200037002563},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41293907165527344},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.374449759721756},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.2719442844390869},{"id":"https://openalex.org/C22629506","wikidata":"https://www.wikidata.org/wiki/Q7602993","display_name":"State-transition matrix","level":4,"score":0.1047087013721466},{"id":"https://openalex.org/C54848796","wikidata":"https://www.wikidata.org/wiki/Q339011","display_name":"Symmetric matrix","level":3,"score":0.09819990396499634},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C105580179","wikidata":"https://www.wikidata.org/wiki/Q188928","display_name":"Messenger RNA","level":3,"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3390/ijgi13070246","is_oa":true,"landing_page_url":"https://doi.org/10.3390/ijgi13070246","pdf_url":"https://www.mdpi.com/2220-9964/13/7/246/pdf?version=1721268841","source":{"id":"https://openalex.org/S2764431341","display_name":"ISPRS International Journal of Geo-Information","issn_l":"2220-9964","issn":["2220-9964"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ISPRS International Journal of Geo-Information","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:d719ca1df20f449badd8385dc9be350e","is_oa":true,"landing_page_url":"https://doaj.org/article/d719ca1df20f449badd8385dc9be350e","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ISPRS International Journal of Geo-Information, Vol 13, Iss 7, p 246 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/ijgi13070246","is_oa":true,"landing_page_url":"https://doi.org/10.3390/ijgi13070246","pdf_url":"https://www.mdpi.com/2220-9964/13/7/246/pdf?version=1721268841","source":{"id":"https://openalex.org/S2764431341","display_name":"ISPRS International Journal of Geo-Information","issn_l":"2220-9964","issn":["2220-9964"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ISPRS International Journal of Geo-Information","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.7900000214576721,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G622907857","display_name":null,"funder_award_id":"2019YFC1509603","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G8051473297","display_name":"\u661f\u8f7dGNSS-R\u63a2\u6d4b\u6d77\u9762\u98ce\u573a\u548c\u6d77\u51b0\u7684\u5173\u952e\u6280\u672f\u7814\u7a76","funder_award_id":"41974031","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320323970","display_name":"Ministry of Industry and Information Technology of the People's Republic of China","ror":"https://ror.org/0385nmy68"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4400493668.pdf","grobid_xml":"https://content.openalex.org/works/W4400493668.grobid-xml"},"referenced_works_count":34,"referenced_works":["https://openalex.org/W81726107","https://openalex.org/W1489822167","https://openalex.org/W1683871780","https://openalex.org/W1936156518","https://openalex.org/W1977757069","https://openalex.org/W1993937002","https://openalex.org/W1999695104","https://openalex.org/W2014298160","https://openalex.org/W2057069782","https://openalex.org/W2103569660","https://openalex.org/W2115579991","https://openalex.org/W2130363675","https://openalex.org/W2169887425","https://openalex.org/W2171271990","https://openalex.org/W2400214518","https://openalex.org/W2429979354","https://openalex.org/W2495591376","https://openalex.org/W2535547924","https://openalex.org/W2537404232","https://openalex.org/W2566318300","https://openalex.org/W2737777105","https://openalex.org/W2918130261","https://openalex.org/W2963300314","https://openalex.org/W2990893211","https://openalex.org/W2996679900","https://openalex.org/W3035064389","https://openalex.org/W3089477233","https://openalex.org/W3102327032","https://openalex.org/W3195417757","https://openalex.org/W3217790267","https://openalex.org/W4285102146","https://openalex.org/W4307818886","https://openalex.org/W4396871892","https://openalex.org/W6677903668"],"related_works":["https://openalex.org/W2361465778","https://openalex.org/W2350365380","https://openalex.org/W2775431282","https://openalex.org/W1539916211","https://openalex.org/W3202943920","https://openalex.org/W3135923011","https://openalex.org/W1486776681","https://openalex.org/W2395181606","https://openalex.org/W2921699956","https://openalex.org/W2149459879"],"abstract_inverted_index":{"Installing":[0],"multi-camera":[1],"systems":[2],"and":[3,14,65,125,146,171,177],"inertial":[4],"measurement":[5],"units":[6],"(IMUs)":[7],"in":[8,32,85,141,160],"self-driving":[9],"cars,":[10],"micro":[11],"aerial":[12],"vehicles,":[13],"robots":[15],"is":[16,79,93,106,120,133],"becoming":[17],"increasingly":[18],"common.":[19],"An":[20],"IMU":[21],"provides":[22],"the":[23,42,62,76,86,90,103,110,117,137,143,150,154,157,164],"vertical":[24,73],"direction,":[25],"allowing":[26],"coordinate":[27],"frames":[28],"to":[29,49,60,81,108,149],"be":[30],"aligned":[31],"a":[33,56,71],"common":[34],"direction.":[35,74],"The":[36,114],"degrees":[37],"of":[38,41,67,116],"freedom":[39],"(DOFs)":[40],"rotation":[43,112,165],"matrix":[44,166],"are":[45],"reduced":[46],"from":[47],"3":[48],"1.":[50],"In":[51],"this":[52,161],"paper,":[53],"we":[54],"propose":[55],"globally":[57],"optimal":[58],"solver":[59,140],"calculate":[61],"relative":[63,111,144],"poses":[64],"scale":[66,172],"generalized":[68],"cameras":[69],"with":[70,98],"known":[72],"First,":[75],"cost":[77,91],"function":[78,92],"established":[80],"minimize":[82],"algebraic":[83],"error":[84,173],"least-squares":[87],"sense.":[88],"Then,":[89],"transformed":[94],"into":[95],"two":[96,100],"polynomials":[97],"only":[99],"unknowns.":[101],"Finally,":[102],"eigenvalue":[104],"method":[105,119,132,152,158],"used":[107],"solve":[109],"angle.":[113],"performance":[115],"proposed":[118,159],"verified":[121],"on":[122],"both":[123],"simulated":[124],"KITTI":[126],"datasets.":[127],"Experiments":[128],"show":[129],"that":[130],"our":[131],"more":[134],"accurate":[135],"than":[136],"existing":[138],"state-of-the-art":[139],"estimating":[142],"pose":[145],"scale.":[147],"Compared":[148],"best":[151],"among":[153],"comparison":[155],"methods,":[156],"paper":[162],"reduces":[163],"error,":[167,170],"translation":[168],"vector":[169],"by":[174],"53%,":[175],"67%,":[176],"90%,":[178],"respectively.":[179]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}