{"id":"https://openalex.org/W3035564402","doi":"https://doi.org/10.1109/cvpr42600.2020.00200","title":"Minimal Solutions for Relative Pose With a Single Affine Correspondence","display_name":"Minimal Solutions for Relative Pose With a Single Affine Correspondence","publication_year":2020,"publication_date":"2020-06-01","ids":{"openalex":"https://openalex.org/W3035564402","doi":"https://doi.org/10.1109/cvpr42600.2020.00200","mag":"3035564402"},"language":"en","primary_location":{"id":"doi:10.1109/cvpr42600.2020.00200","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cvpr42600.2020.00200","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)","raw_type":"proceedings-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/A5023955044","display_name":"Banglei Guan","orcid":"https://orcid.org/0000-0003-2123-0182"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Banglei Guan","raw_affiliation_strings":["College of Aerospace Science and Engineering, National University of Defense Technology, China"],"affiliations":[{"raw_affiliation_string":"College of Aerospace Science and Engineering, National University of Defense Technology, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068087511","display_name":"Ji Zhao","orcid":"https://orcid.org/0000-0002-0150-4601"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ji Zhao","raw_affiliation_strings":["College of Aerospace Science and Engineering, National University of Defense Technology, Changsha, China"],"affiliations":[{"raw_affiliation_string":"College of Aerospace Science and Engineering, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100418968","display_name":"Zhang Li","orcid":"https://orcid.org/0000-0003-1659-0466"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhang Li","raw_affiliation_strings":["College of Aerospace Science and Engineering, National University of Defense Technology, China"],"affiliations":[{"raw_affiliation_string":"College of Aerospace Science and Engineering, National University of Defense Technology, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110899962","display_name":"Fang Sun","orcid":null},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fang Sun","raw_affiliation_strings":["College of Aerospace Science and Engineering, National University of Defense Technology, China"],"affiliations":[{"raw_affiliation_string":"College of Aerospace Science and Engineering, National University of Defense Technology, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068079834","display_name":"Friedrich Fraundorfer","orcid":"https://orcid.org/0000-0002-5805-8892"},"institutions":[{"id":"https://openalex.org/I4092182","display_name":"Graz University of Technology","ror":"https://ror.org/00d7xrm67","country_code":"AT","type":"education","lineage":["https://openalex.org/I4092182"]},{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["AT","DE"],"is_corresponding":false,"raw_author_name":"Friedrich Fraundorfer","raw_affiliation_strings":["Institute for Computer Graphics and Vision, Graz University of Technology, Austria","Remote Sensing Technology Institute, German Aerospace Center, Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Computer Graphics and Vision, Graz University of Technology, Austria","institution_ids":["https://openalex.org/I4092182"]},{"raw_affiliation_string":"Remote Sensing Technology Institute, German Aerospace Center, Germany","institution_ids":["https://openalex.org/I2898391981"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5023955044"],"corresponding_institution_ids":["https://openalex.org/I170215575"],"apc_list":null,"apc_paid":null,"fwci":4.8953,"has_fulltext":false,"cited_by_count":43,"citation_normalized_percentile":{"value":0.95633362,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1926","last_page":"1935"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9988999962806702,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9987000226974487,"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/ransac","display_name":"RANSAC","score":0.9754242897033691},{"id":"https://openalex.org/keywords/affine-transformation","display_name":"Affine transformation","score":0.8491615056991577},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.6832624673843384},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.6210027933120728},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6072394847869873},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.558892011642456},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.5546285510063171},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5361981391906738},{"id":"https://openalex.org/keywords/structure-from-motion","display_name":"Structure from motion","score":0.5325388312339783},{"id":"https://openalex.org/keywords/motion-estimation","display_name":"Motion estimation","score":0.47634533047676086},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.4739794135093689},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4398096203804016},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4301726222038269},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.42527514696121216},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.37596333026885986},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.24267786741256714},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.11043375730514526}],"concepts":[{"id":"https://openalex.org/C114744707","wikidata":"https://www.wikidata.org/wiki/Q218533","display_name":"RANSAC","level":3,"score":0.9754242897033691},{"id":"https://openalex.org/C92757383","wikidata":"https://www.wikidata.org/wiki/Q382497","display_name":"Affine transformation","level":2,"score":0.8491615056991577},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.6832624673843384},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.6210027933120728},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6072394847869873},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.558892011642456},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.5546285510063171},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5361981391906738},{"id":"https://openalex.org/C146159030","wikidata":"https://www.wikidata.org/wiki/Q7625099","display_name":"Structure from motion","level":3,"score":0.5325388312339783},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.47634533047676086},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.4739794135093689},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4398096203804016},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4301726222038269},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.42527514696121216},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.37596333026885986},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.24267786741256714},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.11043375730514526},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"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/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/cvpr42600.2020.00200","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cvpr42600.2020.00200","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)","raw_type":"proceedings-article"},{"id":"pmh:oai:elib.dlr.de:138342","is_oa":false,"landing_page_url":"https://doi.org/10.1109/CVPR42600.2020.00200>.","pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"PeerReviewed"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W1606766208","https://openalex.org/W1775300292","https://openalex.org/W2006892127","https://openalex.org/W2014298160","https://openalex.org/W2015996585","https://openalex.org/W2021851106","https://openalex.org/W2033819227","https://openalex.org/W2043727268","https://openalex.org/W2052094314","https://openalex.org/W2063247621","https://openalex.org/W2071110374","https://openalex.org/W2085261163","https://openalex.org/W2096901547","https://openalex.org/W2097382602","https://openalex.org/W2105824943","https://openalex.org/W2109635530","https://openalex.org/W2119605622","https://openalex.org/W2150066425","https://openalex.org/W2151103935","https://openalex.org/W2266503745","https://openalex.org/W2325888390","https://openalex.org/W2429979354","https://openalex.org/W2471962767","https://openalex.org/W2535547924","https://openalex.org/W2599515851","https://openalex.org/W2622594279","https://openalex.org/W2737777105","https://openalex.org/W2752892522","https://openalex.org/W2790850013","https://openalex.org/W2793482652","https://openalex.org/W2795673174","https://openalex.org/W2808814854","https://openalex.org/W2895475720","https://openalex.org/W2909648691","https://openalex.org/W2948163905","https://openalex.org/W2948603267","https://openalex.org/W2962815957","https://openalex.org/W2981407987","https://openalex.org/W2981664817","https://openalex.org/W2982246383","https://openalex.org/W3091712752","https://openalex.org/W3102327032","https://openalex.org/W4220695485","https://openalex.org/W6757748362","https://openalex.org/W6760213007","https://openalex.org/W6772578805"],"related_works":["https://openalex.org/W4229588126","https://openalex.org/W2769402452","https://openalex.org/W2091258128","https://openalex.org/W1018308721","https://openalex.org/W1983540692","https://openalex.org/W4229059082","https://openalex.org/W4390872624","https://openalex.org/W2013389131","https://openalex.org/W2532401163","https://openalex.org/W1501297619"],"abstract_inverted_index":{"In":[0],"this":[1],"paper":[2],"we":[3,24],"present":[4],"four":[5,60],"cases":[6,61],"of":[7,43,88,143,147],"minimal":[8],"solutions":[9],"for":[10,28,68,81,99,107],"two-view":[11,64],"relative":[12,56,66],"pose":[13],"estimation":[14],"by":[15],"exploiting":[16],"the":[17,36,55,86,112,124,141],"affine":[18,49],"transformation":[19],"between":[20],"feature":[21],"points":[22],"and":[23,74,85,106,120],"demonstrate":[25,130],"efficient":[26],"solvers":[27],"these":[29],"cases.":[30],"It":[31],"is":[32,51],"shown,":[33],"that":[34,131],"under":[35],"planar":[37,65],"motion":[38,67,109],"assumption":[39],"or":[40],"with":[41,140],"knowledge":[42],"a":[44,47,72,75,78,89,103,144],"vertical":[45,91],"direction,":[46],"single":[48],"correspondence":[50],"sufficient":[52],"to":[53],"recover":[54],"camera":[57],"pose.":[58],"The":[59,127],"considered":[62],"are":[63,114],"calibrated":[69],"cameras":[70],"as":[71],"closed-form":[73,79],"least-squares":[76],"solution,":[77],"solution":[80],"unknown":[82],"focal":[83],"length":[84],"case":[87],"known":[90],"direction.":[92],"These":[93],"algorithms":[94],"can":[95],"be":[96],"used":[97],"efficiently":[98],"outlier":[100],"detection":[101],"within":[102],"RANSAC":[104,149],"loop":[105],"initial":[108],"estimation.":[110],"All":[111],"methods":[113,133,137],"evaluated":[115],"on":[116],"both":[117],"synthetic":[118],"data":[119],"real-world":[121],"datasets":[122],"from":[123],"KITTI":[125],"benchmark.":[126],"experimental":[128],"results":[129],"our":[132],"outperform":[134],"comparable":[135],"state-of-the-art":[136],"in":[138],"accuracy":[139],"benefit":[142],"reduced":[145],"number":[146],"needed":[148],"iterations.":[150]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":12},{"year":2020,"cited_by_count":3}],"updated_date":"2026-03-10T16:38:18.471706","created_date":"2025-10-10T00:00:00"}