{"id":"https://openalex.org/W7169804632","doi":"https://doi.org/10.48550/arxiv.2607.15652","title":"CSS-BA: Gate-Guided Column Space Search for Bundle Adjustment","display_name":"CSS-BA: Gate-Guided Column Space Search for Bundle Adjustment","publication_year":2026,"publication_date":"2026-07-17","ids":{"openalex":"https://openalex.org/W7169804632","doi":"https://doi.org/10.48550/arxiv.2607.15652"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2607.15652","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.15652","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2607.15652","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5016003718","display_name":"Ayano Kaneda","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kaneda, Ayano","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054864352","display_name":"Takafumi Taketomi","orcid":"https://orcid.org/0000-0002-5353-0895"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Taketomi, Takafumi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013288881","display_name":"Shugo Yamaguchi","orcid":"https://orcid.org/0009-0001-6369-3540"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yamaguchi, Shugo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5083427215","display_name":"Shigeo Morishima","orcid":"https://orcid.org/0000-0001-8859-6539"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Morishima, Shigeo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.5730000138282776,"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":0.5730000138282776,"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":0.23260000348091125,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.07840000092983246,"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/bundle-adjustment","display_name":"Bundle adjustment","score":0.9053999781608582},{"id":"https://openalex.org/keywords/reprojection-error","display_name":"Reprojection error","score":0.8209999799728394},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.7056000232696533},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5482000112533569},{"id":"https://openalex.org/keywords/bundle","display_name":"Bundle","score":0.5109000205993652},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.47360000014305115}],"concepts":[{"id":"https://openalex.org/C179458375","wikidata":"https://www.wikidata.org/wiki/Q1020763","display_name":"Bundle adjustment","level":3,"score":0.9053999781608582},{"id":"https://openalex.org/C23903533","wikidata":"https://www.wikidata.org/wiki/Q17122739","display_name":"Reprojection error","level":3,"score":0.8209999799728394},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.7056000232696533},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5482000112533569},{"id":"https://openalex.org/C2778134712","wikidata":"https://www.wikidata.org/wiki/Q1047307","display_name":"Bundle","level":2,"score":0.5109000205993652},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5092999935150146},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4950000047683716},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.477400004863739},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.47360000014305115},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.444599986076355},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44110000133514404},{"id":"https://openalex.org/C2780551164","wikidata":"https://www.wikidata.org/wiki/Q2306599","display_name":"Column (typography)","level":3,"score":0.4284000098705292},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.37470000982284546},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3725999891757965},{"id":"https://openalex.org/C2776502983","wikidata":"https://www.wikidata.org/wiki/Q690182","display_name":"Contrast (vision)","level":2,"score":0.33719998598098755},{"id":"https://openalex.org/C13355873","wikidata":"https://www.wikidata.org/wiki/Q2920850","display_name":"Connection (principal bundle)","level":2,"score":0.3070000112056732},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.3027999997138977},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.2703000009059906},{"id":"https://openalex.org/C29123130","wikidata":"https://www.wikidata.org/wiki/Q874709","display_name":"Computational geometry","level":2,"score":0.2632000148296356}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2607.15652","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.15652","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2607.15652","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.15652","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Bundle":[0],"adjustment":[1],"(BA)":[2],"remains":[3],"a":[4,46,65,117],"critical":[5],"refinement":[6],"module":[7],"for":[8,120],"image-based":[9],"3D":[10],"reconstruction":[11],"and":[12,25,35,39,57,99,128,140],"continues":[13],"to":[14,64,92],"improve":[15],"geometric":[16],"accuracy":[17],"even":[18],"in":[19,23,103],"learning-based":[20],"pipelines.":[21,123],"However,":[22],"low-parallax":[24],"near-rotational":[26],"regimes,":[27],"classical":[28,54],"Schur-based":[29],"Levenberg--Marquardt":[30],"(LM)":[31],"often":[32],"becomes":[33],"ill-conditioned":[34],"yields":[36],"unreliable":[37],"pose":[38,138],"calibration":[40,142],"estimates.":[41],"We":[42],"propose":[43],"Gate-Guided":[44],"CSS-BA,":[45],"solver-side":[47],"modification":[48],"of":[49],"Schur-LM":[50,83],"that":[51],"preserves":[52],"the":[53,79,82,87,104,108],"BA":[55,122],"objective":[56],"trust-region":[58],"framework":[59],"while":[60,144],"constraining":[61],"each":[62],"update":[63,84,109],"geometrically":[66],"informed":[67],"low-dimensional":[68],"subspace.":[69],"By":[70],"integrating":[71],"Column":[72],"Space":[73],"Search":[74],"(CSS)":[75],"with":[76],"geometry-aware":[77],"gating,":[78],"method":[80,114],"stabilizes":[81],"without":[85],"altering":[86],"estimation":[88],"problem.":[89],"In":[90],"contrast":[91],"keyframe":[93],"or":[94],"state-selection":[95],"approaches,":[96],"all":[97],"camera":[98],"point":[100],"parameters":[101],"remain":[102],"optimization":[105],"problem;":[106],"only":[107],"direction":[110],"is":[111],"restricted.":[112],"The":[113],"serves":[115],"as":[116],"drop-in":[118],"replacement":[119],"existing":[121],"Experiments":[124],"on":[125],"both":[126],"generic":[127],"challenging":[129],"weak-geometry":[130],"scenarios":[131],"show":[132],"more":[133],"stable":[134],"optimization,":[135],"improved":[136],"relative":[137],"accuracy,":[139],"competitive":[141],"behavior":[143],"maintaining":[145],"reprojection":[146],"quality.":[147]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-07-21T00:00:00"}
