{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,5,23]],"date-time":"2025-05-23T04:37:32Z","timestamp":1747975052492,"version":"3.41.0"},"publisher-location":"Cham","reference-count":36,"publisher":"Springer International Publishing","isbn-type":[{"type":"print","value":"9783319168135"},{"type":"electronic","value":"9783319168142"}],"license":[{"start":{"date-parts":[[2015,1,1]],"date-time":"2015-01-01T00:00:00Z","timestamp":1420070400000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2015]]},"DOI":"10.1007\/978-3-319-16814-2_24","type":"book-chapter","created":{"date-parts":[[2015,4,16]],"date-time":"2015-04-16T08:37:17Z","timestamp":1429173437000},"page":"366-381","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["Global Motion Estimation from Relative Measurements in the Presence of Outliers"],"prefix":"10.1007","author":[{"given":"Guillaume","family":"Bourmaud","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"R\u00e9mi","family":"M\u00e9gret","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Audrey","family":"Giremus","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yannick","family":"Berthoumieu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2015,4,17]]},"reference":[{"key":"24_CR1","doi-asserted-by":"crossref","unstructured":"Agrawal, M.: A Lie algebraic approach for consistent pose registration for general Euclidean motion. In: IROS, pp. 1891\u20131897 (2006)","DOI":"10.1109\/IROS.2006.282313"},{"key":"24_CR2","doi-asserted-by":"publisher","first-page":"381","DOI":"10.1145\/358669.358692","volume":"24","author":"MA Fischler","year":"1981","unstructured":"Fischler, M.A., Bolles, R.C.: Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography. Commun. ACM 24, 381\u2013395 (1981)","journal-title":"Commun. ACM"},{"key":"24_CR3","doi-asserted-by":"crossref","unstructured":"Roberts, R., Sinha, S.N., Szeliski, R., Steedly, D.: Structure from motion for scenes with large duplicate structures. In: 2011 IEEE Conference on Computer Vision and Pattern Recognition (CVPR), pp. 3137\u20133144. IEEE (2011)","DOI":"10.1109\/CVPR.2011.5995549"},{"key":"24_CR4","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1007\/s11263-012-0601-0","volume":"103","author":"R Hartley","year":"2013","unstructured":"Hartley, R., Trumpf, J., Dai, Y., Li, H.: Rotation averaging. Int. J. Comput. Vis. 103, 1\u201339 (2013)","journal-title":"Int. J. Comput. Vis."},{"key":"24_CR5","doi-asserted-by":"publisher","first-page":"59","DOI":"10.1007\/s11263-006-0002-3","volume":"74","author":"M Brown","year":"2007","unstructured":"Brown, M., Lowe, D.G.: Automatic panoramic image stitching using invariant features. Int. J. Comput. Vis. 74, 59\u201373 (2007)","journal-title":"Int. J. Comput. Vis."},{"key":"24_CR6","doi-asserted-by":"publisher","first-page":"1404","DOI":"10.1016\/j.acra.2008.07.004","volume":"15","author":"C Wachinger","year":"2008","unstructured":"Wachinger, C., Wein, W., Navab, N.: Registration strategies and similarity measures for three-dimensional ultrasound mosaicing. Acad. Radiol. 15, 1404\u20131415 (2008)","journal-title":"Acad. Radiol."},{"key":"24_CR7","doi-asserted-by":"publisher","DOI":"10.1007\/978-0-8176-4944-9","volume-title":"Stochastic Models, Information Theory, and Lie Groups","author":"GS Chirikjian","year":"2012","unstructured":"Chirikjian, G.S.: Stochastic Models, Information Theory, and Lie Groups, vol. 2. Springer, Boston (2012)"},{"key":"24_CR8","series-title":"NATO Science Series II: Mathematics, Physics and Chemistry","first-page":"101","volume-title":"Lie Groups and Lie Algebras in Robotics","author":"JM Selig","year":"2005","unstructured":"Selig, J.M.: Lie Groups and Lie Algebras in Robotics. NATO Science Series II: Mathematics, Physics and Chemistry, vol. 136, pp. 101\u2013125. Springer, Dordrecht (2005)"},{"key":"24_CR9","doi-asserted-by":"crossref","unstructured":"Malis, E., Hamel, T., Mahony, R., Morin, P.: Dynamic estimation of homography transformations on the special linear group of visual servo control. In: IEEE Conference on Robotics and Automation (2009)","DOI":"10.1109\/ROBOT.2009.5152384"},{"key":"24_CR10","doi-asserted-by":"crossref","unstructured":"Strasdat, H., Davison, A., Montiel, J., Konolige, K.: Double window optimisation for constant time visual SLAM. In: IEEE International Conference on Computer Vision (ICCV) (2011)","DOI":"10.1109\/ICCV.2011.6126517"},{"key":"24_CR11","doi-asserted-by":"publisher","first-page":"73","DOI":"10.1214\/aoms\/1177703732","volume":"35","author":"PJ Huber","year":"1964","unstructured":"Huber, P.J., et al.: Robust estimation of a location parameter. Ann. Math. Stat. 35, 73\u2013101 (1964)","journal-title":"Ann. Math. Stat."},{"key":"24_CR12","doi-asserted-by":"crossref","unstructured":"Bourmaud, G., M\u00e9gret, R., Giremus, A., Berthoumieu, Y.: Global motion estimation from relative measurements using iterated extended Kalman filter on matrix Lie groups. In: ICIP 2014","DOI":"10.1109\/ICIP.2014.7025680"},{"key":"24_CR13","unstructured":"Bandeira, A.S., Singer, A., Spielman, D.A.: A Cheeger inequality for the graph connection laplacian (2012). arXiv preprint arXiv:1204.3873"},{"key":"24_CR14","doi-asserted-by":"publisher","first-page":"543","DOI":"10.1137\/090767777","volume":"4","author":"A Singer","year":"2011","unstructured":"Singer, A., Shkolnisky, Y.: Three-dimensional structure determination from common lines in cryo-em by eigenvectors and semidefinite programming. SIAM J. Imaging Sci. 4, 543\u2013572 (2011)","journal-title":"SIAM J. Imaging Sci."},{"key":"24_CR15","doi-asserted-by":"crossref","unstructured":"Boumal, N., Singer, A., Absil, P.A.: Robust estimation of rotations from relative measurements by maximum likelihood. In: Proceedings of the 52nd Conference on Decision and Control, CDC (2013)","DOI":"10.1109\/CDC.2013.6760038"},{"key":"24_CR16","doi-asserted-by":"publisher","first-page":"145","DOI":"10.1093\/imaiai\/iat005","volume":"2","author":"L Wang","year":"2013","unstructured":"Wang, L., Singer, A.: Exact and stable recovery of rotations for robust synchronization. Inf. Infer. 2, 145\u2013193 (2013)","journal-title":"Inf. Infer."},{"key":"24_CR17","doi-asserted-by":"crossref","unstructured":"Hartley, R., Aftab, K., Trumpf, J.: L1 rotation averaging using the Weiszfeld algorithm. In: 2011 IEEE Conference on Computer Vision and Pattern Recognition (CVPR), pp. 3041\u20133048. IEEE (2011)","DOI":"10.1109\/CVPR.2011.5995745"},{"key":"24_CR18","doi-asserted-by":"crossref","unstructured":"Chatterjee, A., Govindu, V.M.: Efficient and robust large-scale rotation averaging. In: ICCV (2013)","DOI":"10.1109\/ICCV.2013.70"},{"key":"24_CR19","doi-asserted-by":"crossref","unstructured":"Crandall, D.J., Owens, A., Snavely, N., Huttenlocher, D.: Discrete-continuous optimization for large-scale structure from motion. In: CVPR, pp. 3001\u20133008 (2011)","DOI":"10.1109\/CVPR.2011.5995626"},{"key":"24_CR20","doi-asserted-by":"crossref","unstructured":"Enqvist, O., Kahl, F., Olsson, C.: Non-sequential structure from motion. In: ICCV Workshops, pp. 264\u2013271 (2011)","DOI":"10.1109\/ICCVW.2011.6130252"},{"key":"24_CR21","doi-asserted-by":"crossref","unstructured":"Jiang, N., Cui, Z., Tan, P.: A global linear method for camera pose registration. In: 2013 IEEE International Conference on Computer Vision","DOI":"10.1109\/ICCV.2013.66"},{"key":"24_CR22","doi-asserted-by":"crossref","unstructured":"Moulon, P., Monasse, P., Marlet, R.: Global fusion of relative motions for robust, accurate and scalable structure from motion. In: 2013 IEEE International Conference on Computer Vision","DOI":"10.1109\/ICCV.2013.403"},{"key":"24_CR23","doi-asserted-by":"crossref","unstructured":"Zach, C., Klopschitz, M., Pollefeys, M.: Disambiguating visual relations using loop constraints. In: 2010 IEEE Conference on Computer Vision and Pattern Recognition (CVPR), pp. 1426\u20131433. IEEE (2010)","DOI":"10.1109\/CVPR.2010.5539801"},{"key":"24_CR24","doi-asserted-by":"crossref","unstructured":"Jiang, N., Tan, P., Cheong, L.F.: Seeing double without confusion: Structure-from-motion in highly ambiguous scenes. In: 2012 IEEE Conference on Computer Vision and Pattern Recognition (CVPR), pp. 1458\u20131465. IEEE (2012)","DOI":"10.1109\/CVPR.2012.6247834"},{"key":"24_CR25","series-title":"Lecture Notes in Computer Science","doi-asserted-by":"publisher","first-page":"457","DOI":"10.1007\/11612704_46","volume-title":"Computer Vision \u2013 ACCV 2006","author":"VM Govindu","year":"2006","unstructured":"Govindu, V.M.: Robustness in motion averaging. In: Narayanan, P.J., Nayar, S.K., Shum, H.-Y. (eds.) ACCV 2006. LNCS, vol. 3852, pp. 457\u2013466. Springer, Heidelberg (2006)"},{"key":"24_CR26","doi-asserted-by":"crossref","unstructured":"Wilson, K., Snavely, N.: Network principles for sfm: Disambiguating repeated structures with local context. In: 2013 IEEE International Conference on Computer Vision","DOI":"10.1109\/ICCV.2013.69"},{"key":"24_CR27","doi-asserted-by":"crossref","unstructured":"Sunderhauf, N., Protzel, P.: Switchable constraints for robust pose graph SLAM. In: IROS (2012)","DOI":"10.1109\/IROS.2012.6385590"},{"issue":"14","key":"24_CR28","doi-asserted-by":"publisher","first-page":"1611","DOI":"10.1177\/0278364913498910","volume":"32","author":"Y Latif","year":"2013","unstructured":"Latif, Y., Cadena, C., Neira, J.: Robust loop closing over time for pose graph SLAM. Int. J. Robot. Res. 32(14), 1611\u20131626 (2013)","journal-title":"Int. J. Robot. Res."},{"key":"24_CR29","doi-asserted-by":"crossref","unstructured":"Olson, E., Agarwal, P.: Inference on networks of mixtures for robust robot mapping. In: RSS (2012)","DOI":"10.15607\/RSS.2012.VIII.040"},{"key":"24_CR30","unstructured":"Bourmaud, G., M\u00e9gret, R., Giremus, A., Berthoumieu, Y.: Discrete extended Kalman filter on Lie groups. In: 2013 Proceedings of the 21st European Signal Processing Conference (EUSIPCO) (2013)"},{"key":"24_CR31","doi-asserted-by":"publisher","first-page":"591","DOI":"10.1109\/TRO.2006.878978","volume":"22","author":"Y Wang","year":"2006","unstructured":"Wang, Y., Chirikjian, G.: Error propagation on the Euclidean group with applications to manipulators kinematics. IEEE Trans. Rob. 22, 591\u2013602 (2006)","journal-title":"IEEE Trans. Rob."},{"key":"24_CR32","doi-asserted-by":"crossref","first-page":"75","DOI":"10.18409\/jas.v2i1.11","volume":"2","author":"K Wolfe","year":"2011","unstructured":"Wolfe, K., Mashner, M., Chirikjian, G.: Bayesian fusion on Lie groups. J. Algebraic Stat. 2, 75\u201397 (2011)","journal-title":"J. Algebraic Stat."},{"key":"24_CR33","doi-asserted-by":"publisher","first-page":"679","DOI":"10.1109\/TRO.2014.2298059","volume":"30","author":"TD Barfoot","year":"2014","unstructured":"Barfoot, T.D., Furgale, P.T.: Associating uncertainty with three-dimensional poses for use in estimation problems. IEEE Trans. Robot. 30, 679\u2013693 (2014)","journal-title":"IEEE Trans. Robot."},{"key":"24_CR34","volume-title":"Statistical tables for biological, agricultural and medical research","author":"RA Fisher","year":"1949","unstructured":"Fisher, R.A., Yates, F., et al.: Statistical tables for biological, agricultural and medical research. Oliver & Boyd, London (1949)"},{"key":"24_CR35","unstructured":"Scheinerman, E.R.: (Matgraph: a matlab toolbox for graph theory)"},{"key":"24_CR36","doi-asserted-by":"publisher","first-page":"661","DOI":"10.1177\/0278364907080252","volume":"26","author":"S Benhimane","year":"2007","unstructured":"Benhimane, S., Malis, E.: Homography-based 2d visual tracking and servoing. Int. J. Rob. Res. 26, 661\u2013676 (2007)","journal-title":"Int. J. Rob. Res."}],"container-title":["Lecture Notes in Computer Science","Computer Vision -- ACCV 2014"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/978-3-319-16814-2_24","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,5,22]],"date-time":"2025-05-22T16:43:37Z","timestamp":1747932217000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/978-3-319-16814-2_24"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2015]]},"ISBN":["9783319168135","9783319168142"],"references-count":36,"URL":"https:\/\/doi.org\/10.1007\/978-3-319-16814-2_24","relation":{},"ISSN":["0302-9743","1611-3349"],"issn-type":[{"type":"print","value":"0302-9743"},{"type":"electronic","value":"1611-3349"}],"subject":[],"published":{"date-parts":[[2015]]},"assertion":[{"value":"17 April 2015","order":1,"name":"first_online","label":"First Online","group":{"name":"ChapterHistory","label":"Chapter History"}}]}}