{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T17:21:35Z","timestamp":1777656095992,"version":"3.51.4"},"reference-count":55,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2023,2,2]],"date-time":"2023-02-02T00:00:00Z","timestamp":1675296000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"},{"start":{"date-parts":[[2023,2,2]],"date-time":"2023-02-02T00:00:00Z","timestamp":1675296000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"}],"funder":[{"DOI":"10.13039\/501100004629","name":"Ministry for Business Innovation and Employment","doi-asserted-by":"publisher","award":["UOOX1705"],"award-info":[{"award-number":["UOOX1705"]}],"id":[{"id":"10.13039\/501100004629","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Vis Comput"],"published-print":{"date-parts":[[2024,1]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>In augmented reality applications it is essential to know the position and orientation of the user to correctly register virtual 3D content in the user\u2019s field of view. For this purpose, visual tracking through simultaneous localization and mapping (SLAM) is often used. However, when applied to the commonly occurring situation where the users are mostly stationary, many methods presented in previous research have two key limitations. First, SLAM techniques alone do not address the problem of global localization with respect to prior models of the environment. Global localization is essential in many applications where multiple users are expected to track within a shared space, such as spectators at a sporting event. Secondly, these methods often assume significant translational movement to accurately reconstruct and track from a local model of the environment, causing challenges for many stationary applications. In this paper, we extend recent research on Spherical Localization and Tracking to support relocalization after tracking failure, as well as global localization in large shared environments, and optimize the method for operation on mobile hardware. We also evaluate various state-of-the-art localization approaches, the robustness of our visual tracking method, and demonstrate the effectiveness of our system in real-life scenarios.<\/jats:p>","DOI":"10.1007\/s00371-023-02777-2","type":"journal-article","created":{"date-parts":[[2023,2,2]],"date-time":"2023-02-02T20:04:22Z","timestamp":1675368262000},"page":"227-244","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":30,"title":["Localization and tracking of stationary users for augmented reality"],"prefix":"10.1007","volume":"40","author":[{"given":"Lewis","family":"Baker","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1661-8529","authenticated-orcid":false,"given":"Jonathan","family":"Ventura","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1275-2026","authenticated-orcid":false,"given":"Tobias","family":"Langlotz","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shazia","family":"Gul","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4933-7777","authenticated-orcid":false,"given":"Steven","family":"Mills","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4690-5409","authenticated-orcid":false,"given":"Stefanie","family":"Zollmann","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2023,2,2]]},"reference":[{"key":"2777_CR1","doi-asserted-by":"crossref","unstructured":"Klein, G., Murray, D., Parallel tracking and mapping for small AR workspaces. In: 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225\u2013234. IEEE (2007)","DOI":"10.1109\/ISMAR.2007.4538852"},{"key":"2777_CR2","doi-asserted-by":"crossref","unstructured":"Liu, H., Zhang, G., Bao, H., Robust keyframe-based monocular slam for augmented reality, in,: IEEE International Symposium on Mixed and Augmented Reality (ISMAR), pp. 1\u201310. IEEE (2016)","DOI":"10.1109\/ISMAR.2016.24"},{"key":"2777_CR3","doi-asserted-by":"crossref","unstructured":"Wagner, D., Mulloni, A., Langlotz, T., Schmalstieg, D., Real-time panoramic mapping and tracking on mobile phones. In: IEEE Virtual Reality Conference (VR), pp. 211\u2013218. IEEE (2010)","DOI":"10.1109\/VR.2010.5444786"},{"issue":"4","key":"2777_CR4","doi-asserted-by":"publisher","first-page":"831","DOI":"10.1016\/j.cag.2011.04.004","volume":"35","author":"T Langlotz","year":"2011","unstructured":"Langlotz, T., Degendorfer, C., Mulloni, A., Schall, G., Reitmayr, G., Schmalstieg, D.: Robust detection and tracking of annotations for outdoor augmented reality browsing. Comput. Graph. 35(4), 831\u2013840 (2011)","journal-title":"Comput. Graph."},{"key":"2777_CR5","doi-asserted-by":"crossref","unstructured":"DiVerdi, S., Wither, J., Hollerer, T.: Envisor: online environment map construction for mixed reality. In: IEEE Virtual Reality Conference, pp. 19\u201326 (2008)","DOI":"10.1109\/VR.2008.4480745"},{"key":"2777_CR6","doi-asserted-by":"crossref","unstructured":"Zollmann, S., Langlotz, T., Loos, M., Lo, W.H., Baker, L.: ARSpectator: exploring augmented reality for sport events. In: SIGGRAPH Asia. Technical Briefs, pp. 75\u201378 (2019)","DOI":"10.1145\/3355088.3365162"},{"key":"2777_CR7","volume-title":"Augmented Reality Browser Survey","author":"J Grubert","year":"2012","unstructured":"Grubert, J., Langlotz, T., Grasset, R.: Augmented Reality Browser Survey. Graz University of Technology, Tech. Rep. (2012)"},{"issue":"2","key":"2777_CR8","doi-asserted-by":"publisher","first-page":"155","DOI":"10.1109\/JPROC.2013.2294255","volume":"102","author":"T Langlotz","year":"2014","unstructured":"Langlotz, T., Nguyen, T., Schmalstieg, D., Grasset, R.: Next-generation augmented reality browsers: rich, seamless, and adaptive. Proc. IEEE 102(2), 155\u2013169 (2014)","journal-title":"Proc. IEEE"},{"issue":"2","key":"2777_CR9","doi-asserted-by":"publisher","first-page":"56","DOI":"10.1109\/MPRV.2010.69","volume":"11","author":"T Langlotz","year":"2010","unstructured":"Langlotz, T., Wagner, D., Mulloni, A., Schmalstieg, D.: Online creation of panoramic augmented reality annotations on mobile phones. IEEE Pervasive Comput. 11(2), 56\u201363 (2010)","journal-title":"IEEE Pervasive Comput."},{"key":"2777_CR10","doi-asserted-by":"crossref","unstructured":"Langlotz, T., Zingerle, M., Grasset, R., Kaufmann, H., Reitmayr G.: Ar record &replay: situated compositing of video content in mobile augmented reality. In: Proceedings of the 24th Australian Computer-Human Interaction Conference, pp. 318\u2013326 (2012)","DOI":"10.1145\/2414536.2414588"},{"key":"2777_CR11","doi-asserted-by":"crossref","unstructured":"Ventura J.: Structure from motion on a sphere. In: European Conference on Computer Vision, pp. 53\u201368. Springer (2016)","DOI":"10.1007\/978-3-319-46487-9_4"},{"issue":"5","key":"2777_CR12","doi-asserted-by":"publisher","first-page":"1147","DOI":"10.1109\/TRO.2015.2463671","volume":"31","author":"R Mur-Artal","year":"2015","unstructured":"Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: ORB-SLAM: a versatile and accurate monocular SLAM system. IEEE Trans. Robot. 31(5), 1147\u20131163 (2015)","journal-title":"IEEE Trans. Robot."},{"key":"2777_CR13","doi-asserted-by":"crossref","unstructured":"Baker, L., Ventura, J., Zollmann, S., Mills, S., Langlotz, T.: SPLAT: spherical localization and tracking in large spaces. In: 2020 IEEE Conference on Virtual Reality and 3D User Interfaces (VR), pp. 809\u2013817. IEEE (2020)","DOI":"10.1109\/VR46266.2020.1581313017497"},{"key":"2777_CR14","unstructured":"Sweeney, C., Holynski, A., Curless, B., Seitz, S.M.: Structure from motion for panorama-style videos. arXiv:1906.03539 (2019)"},{"key":"2777_CR15","doi-asserted-by":"crossref","unstructured":"Baker, L., Mills, S., Zollmann, S., Ventura, J.: CasualStereo: casual capture of stereo panoramas with spherical structure-from-motion. In: 2020 IEEE Conference on Virtual Reality and 3D User Interfaces (VR), pp. 782\u2013790. IEEE (2020)","DOI":"10.1109\/VR46266.2020.1581313146787"},{"issue":"4","key":"2777_CR16","doi-asserted-by":"publisher","first-page":"531","DOI":"10.1109\/TVCG.2014.27","volume":"20","author":"J Ventura","year":"2014","unstructured":"Ventura, J., Arth, C., Reitmayr, G., Schmalstieg, D.: Global localization from monocular SLAM on a mobile phone. IEEE Trans. Vis. Comput. Graph. 20(4), 531\u2013539 (2014)","journal-title":"IEEE Trans. Vis. Comput. Graph."},{"issue":"11","key":"2777_CR17","first-page":"1309","volume":"21","author":"C Arth","year":"2015","unstructured":"Arth, C., Pirchheim, C., Ventura, J., Schmalstieg, D., Lepetit, V.: Instant outdoor localization and slam initialization from 2.5 d maps. IEEE Ann. Hist. Comput. 21(11), 1309\u20131318 (2015)","journal-title":"IEEE Ann. Hist. Comput."},{"key":"2777_CR18","doi-asserted-by":"crossref","unstructured":"Davison, A.J.: Real-time simultaneous localisation and mapping with a single camera. In: Proceedings Ninth IEEE International Conference on Computer Vision, vol. 2, pp. 1403\u20131410 (2003)","DOI":"10.1109\/ICCV.2003.1238654"},{"issue":"6","key":"2777_CR19","doi-asserted-by":"publisher","first-page":"1052","DOI":"10.1109\/TPAMI.2007.1049","volume":"29","author":"AJ Davison","year":"2007","unstructured":"Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: MonoSLAM: real-time single camera SLAM. IEEE Trans. Pattern Anal. Mach. Intell. 29(6), 1052\u20131067 (2007)","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"issue":"1","key":"2777_CR20","doi-asserted-by":"publisher","first-page":"16","DOI":"10.1186\/s41074-017-0027-2","volume":"9","author":"T Taketomi","year":"2017","unstructured":"Taketomi, T., Uchiyama, H., Ikeda, S.: Visual SLAM algorithms: a survey from 2010 to 2016. IPSJ Trans. Comput. Vis. Appl. 9(1), 16 (2017)","journal-title":"IPSJ Trans. Comput. Vis. Appl."},{"issue":"6","key":"2777_CR21","doi-asserted-by":"publisher","first-page":"39","DOI":"10.1109\/MCG.2002.1046627","volume":"22","author":"SJ Prince","year":"2002","unstructured":"Prince, S.J., Xu, K., Cheok, A.D.: Augmented reality camera tracking with homographies. IEEE Comput. Graph. Appl. 22(6), 39\u201345 (2002)","journal-title":"IEEE Comput. Graph. Appl."},{"key":"2777_CR22","doi-asserted-by":"crossref","unstructured":"Hadian, M., Kasaei, S.: Fast homography refinement in soccer videos. In: 2015 9th Iranian Conference on Machine Vision and Image Processing (MVIP). IEEE, pp. 185\u2013188 (2015)","DOI":"10.1109\/IranianMVIP.2015.7397533"},{"issue":"3","key":"2777_CR23","first-page":"6","volume":"21","author":"M Billinghurst","year":"2001","unstructured":"Billinghurst, M., Kato, H., Poupyrev, I.: The magicbook-moving seamlessly between reality and virtuality. IEEE Comput. Graph. Appl. 21(3), 6\u20138 (2001)","journal-title":"IEEE Comput. Graph. Appl."},{"key":"2777_CR24","doi-asserted-by":"crossref","unstructured":"Wagner, D., Langlotz, T., Schmalstieg, D.: Robust and unobtrusive marker tracking on mobile phones. In: 7th IEEE\/ACM International Symposium on Mixed and Augmented Reality, IEEE. pp. 121\u2013124 (2008)","DOI":"10.1109\/ISMAR.2008.4637337"},{"issue":"7","key":"2777_CR25","doi-asserted-by":"publisher","first-page":"50","DOI":"10.1145\/159544.159581","volume":"36","author":"R Azuma","year":"1993","unstructured":"Azuma, R.: Tracking requirements for augmented reality. Commun. ACM 36(7), 50\u201351 (1993)","journal-title":"Commun. ACM"},{"key":"2777_CR26","doi-asserted-by":"crossref","unstructured":"Khan, N.Y., McCane, B.: Smartphone application for indoor scene localization. In: Proceedings of the 14th International ACM SIGACCESS Conference on Computers and Accessibility, pp. 201\u2013202 (2012)","DOI":"10.1145\/2384916.2384953"},{"key":"2777_CR27","doi-asserted-by":"crossref","unstructured":"Sch\u00f6nberger, J.L., Frahm, J.-M.: Structure-from-motion revisited. In: Conference on Computer Vision and Pattern Recognition (CVPR) (2016)","DOI":"10.1109\/CVPR.2016.445"},{"key":"2777_CR28","doi-asserted-by":"crossref","unstructured":"Sch\u00f6nberger, J.L., Zheng, E., Pollefeys, M., Frahm, J.-M.: Pixelwise view selection for unstructured multi-view stereo. In: European Conference on Computer Vision (ECCV) (2016)","DOI":"10.1007\/978-3-319-46487-9_31"},{"key":"2777_CR29","doi-asserted-by":"crossref","unstructured":"David, P., DeMenthon, D., Duraiswami, R., Samet, H.: Simultaneous pose and correspondence determination using line features. In: Computer Vision and Pattern Recognition, 2003. Proceedings. 2003 IEEE Computer Society Conference on, vol.\u00a02. pp. II\u2013II, IEEE (2003)","DOI":"10.1109\/CVPR.2003.1211499"},{"key":"2777_CR30","doi-asserted-by":"crossref","unstructured":"Kendall, A., Grimes, M., Cipolla, R.: PoseNet: a convolutional network for real-time 6-DOF camera relocalization. In: Proceedings of the IEEE International Conference on Computer Vision, pp. 2938\u20132946 (2015)","DOI":"10.1109\/ICCV.2015.336"},{"key":"2777_CR31","doi-asserted-by":"crossref","unstructured":"Brachmann, E., Rother, C.: Expert sample consensus applied to camera re-localization. In: Proceedings of the IEEE International Conference on Computer Vision, pp. 7525\u20137534 (2019)","DOI":"10.1109\/ICCV.2019.00762"},{"key":"2777_CR32","doi-asserted-by":"crossref","unstructured":"Sattler, T., Maddern, W., Toft, C., Torii, A., Hammarstrand, L., Stenborg, E., Safari, D., Okutomi, M., Pollefeys, M., Sivic J., et\u00a0al.: Benchmarking 6dof outdoor visual localization in changing conditions. In: Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, pp. 8601\u20138610 (2018)","DOI":"10.1109\/CVPR.2018.00897"},{"issue":"5","key":"2777_CR33","doi-asserted-by":"publisher","first-page":"1188","DOI":"10.1109\/TRO.2012.2197158","volume":"28","author":"D G\u00e1lvez-L\u00f3pez","year":"2012","unstructured":"G\u00e1lvez-L\u00f3pez, D., Tard\u00f3s, J.D.: Bags of binary words for fast place recognition in image sequences. IEEE Trans. Robot. 28(5), 1188\u20131197 (2012)","journal-title":"IEEE Trans. Robot."},{"key":"2777_CR34","doi-asserted-by":"publisher","DOI":"10.1016\/j.patcog.2019.107193","volume":"101","author":"R Mu\u00f1oz-Salinas","year":"2020","unstructured":"Mu\u00f1oz-Salinas, R., Medina-Carnicer, R.: UcoSLAM: simultaneous localization and mapping by fusion of keypoints and squared planar markers. Pattern Recognit. 101, 107193 (2020)","journal-title":"Pattern Recognit."},{"key":"2777_CR35","doi-asserted-by":"crossref","unstructured":"Rublee, E., Rabaud, V., Konolige, K., Bradski, G.: ORB: an efficient alternative to SIFT or SURF. In: International Conference on Computer Vision, pp. 2564\u20132571. IEEE (2011)","DOI":"10.1109\/ICCV.2011.6126544"},{"issue":"1\u201310","key":"2777_CR36","first-page":"4","volume":"5","author":"J-Y Bouguet","year":"2001","unstructured":"Bouguet, J.-Y., et al.: Pyramidal implementation of the affine Lucas Kanade feature tracker description of the algorithm. Intel Corp. 5(1\u201310), 4 (2001)","journal-title":"Intel Corp."},{"issue":"5","key":"2777_CR37","doi-asserted-by":"publisher","first-page":"321","DOI":"10.1007\/s00138-005-0006-y","volume":"16","author":"D Nist\u00e9r","year":"2005","unstructured":"Nist\u00e9r, D.: Preemptive RANSAC for live structure and motion estimation. Mach. Vis. Appl. 16(5), 321\u2013329 (2005)","journal-title":"Mach. Vis. Appl."},{"issue":"2","key":"2777_CR38","doi-asserted-by":"publisher","first-page":"79","DOI":"10.1016\/0167-8655(82)90016-2","volume":"1","author":"J Sklansky","year":"1982","unstructured":"Sklansky, J.: Finding the convex hull of a simple polygon. Pattern Recognit. Lett. 1(2), 79\u201383 (1982)","journal-title":"Pattern Recognit. Lett."},{"key":"2777_CR39","unstructured":"Engels, C. Stew\u00e9nius, H., Nist\u00e9r, D.: Bundle adjustment rules. Photogram. comput. vis. 2(32) (2006)"},{"key":"2777_CR40","doi-asserted-by":"crossref","unstructured":"Lowe, D.\u00a0G.: Object recognition from local scale-invariant features. In: Proceedings of the Seventh IEEE International Conference on Computer Vision, vol.\u00a02, pp. 1150\u20131157. IEEE (1999)","DOI":"10.1109\/ICCV.1999.790410"},{"issue":"8","key":"2777_CR41","doi-asserted-by":"publisher","first-page":"930","DOI":"10.1109\/TPAMI.2003.1217599","volume":"25","author":"X-S Gao","year":"2003","unstructured":"Gao, X.-S., Hou, X.-R., Tang, J., Cheng, H.-F.: Complete solution classification for the perspective-three-point problem. IEEE Trans. Pattern Anal. Mach. Intell. 25(8), 930\u2013943 (2003)","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"key":"2777_CR42","doi-asserted-by":"crossref","unstructured":"Li, Y., Snavely, N., Huttenlocher, D.P.: Location recognition using prioritized feature matching. In: European Conference on Computer Vision, pp. 791\u2013804. Springer (2010)","DOI":"10.1007\/978-3-642-15552-9_57"},{"key":"2777_CR43","doi-asserted-by":"crossref","unstructured":"Sattler, T., Leibe, B., Kobbelt, L.: Improving image-based localization by active correspondence search. In: European Conference on Computer Vision, pp. 752\u2013765. Springer (2012)","DOI":"10.1007\/978-3-642-33718-5_54"},{"issue":"2","key":"2777_CR44","doi-asserted-by":"publisher","first-page":"91","DOI":"10.1023\/B:VISI.0000029664.99615.94","volume":"60","author":"DG Lowe","year":"2004","unstructured":"Lowe, D.G.: Distinctive image features from scale-invariant keypoints. Int. J. Comput. Vis. 60(2), 91\u2013110 (2004)","journal-title":"Int. J. Comput. Vis."},{"key":"2777_CR45","doi-asserted-by":"crossref","unstructured":"Brachmann, E., Krull, A., Nowozin, S., Shotton, J., Michel, F., Gumhold, S., Rother, C.: DSAC-differentiable RANSAC for camera localization. In: Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, pp. 6684\u20136692 (2017)","DOI":"10.1109\/CVPR.2017.267"},{"key":"2777_CR46","doi-asserted-by":"crossref","unstructured":"E.\u00a0Brachmann and C.\u00a0Rother, Learning less is more-6D camera localization via 3D surface regression. In: Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, pp. 4654\u20134662. (2018)","DOI":"10.1109\/CVPR.2018.00489"},{"issue":"5","key":"2777_CR47","doi-asserted-by":"publisher","first-page":"1255","DOI":"10.1109\/TRO.2017.2705103","volume":"33","author":"R Mur-Artal","year":"2017","unstructured":"Mur-Artal, R., Tard\u00f3s, J.D.: ORB-SLAM2: an open-source SLAM system for monocular, stereo, and RGB-D cameras. IEEE Trans. Robot. 33(5), 1255\u20131262 (2017)","journal-title":"IEEE Trans. Robot."},{"key":"2777_CR48","unstructured":"Karami, E., Prasad, S., Shehata, M.: Image matching using SIFT, SURF, BRIEF and ORB: performance comparison for distorted images. arXiv:1710.02726 (2017)"},{"key":"2777_CR49","unstructured":"Muja, M., Lowe, D.G.: Fast approximate nearest neighbors with automatic algorithm configuration. In: VISAPP (1), vol.\u00a02, no. 331\u2013340, p.\u00a02. (2009)"},{"key":"2777_CR50","unstructured":"Hartley, R., Zisserman, A.: Multiple View Geometry in Computer Vision. Cambridge university press (2003) Shaftesbury Road Cambridge CB2 8EA https:\/\/www.cambridge.org\/contact-us"},{"issue":"6","key":"2777_CR51","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(6), 381\u2013395 (1981)","journal-title":"Commun. ACM"},{"key":"2777_CR52","doi-asserted-by":"crossref","unstructured":"Sturm, J., Engelhard, N., Endres, F., Burgard, W., Cremers, D.: A benchmark for the evaluation of RGB-D SLAM systems. In: 2012 IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 573\u2013580. IEEE (2012)","DOI":"10.1109\/IROS.2012.6385773"},{"key":"2777_CR53","unstructured":"Grupp, M.: evo: Python package for the evaluation of odometry and SLAM. https:\/\/github.com\/MichaelGrupp\/evo, [Software; odometry benchmarking tools] (2017)"},{"key":"2777_CR54","doi-asserted-by":"crossref","unstructured":"Gul, S., Baker, L., Boult, R., Mills, S., Zollmann, S.: Expert sample consensus applied to camera localization for AR sports spectators. In: 2021 36th International Conference on Image and Vision Computing New Zealand (IVCNZ), pp. 1\u20136. IEEE (2021)","DOI":"10.1109\/IVCNZ54163.2021.9653307"},{"issue":"9","key":"2777_CR55","doi-asserted-by":"publisher","first-page":"1744","DOI":"10.1109\/TPAMI.2016.2611662","volume":"39","author":"T Sattler","year":"2016","unstructured":"Sattler, T., Leibe, B., Kobbelt, L.: Efficient & effective prioritized matching for large-scale image-based localization. IEEE Trans. Pattern Anal. Mach. Intell. 39(9), 1744\u20131756 (2016)","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."}],"container-title":["The Visual Computer"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s00371-023-02777-2.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s00371-023-02777-2\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s00371-023-02777-2.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,10,13]],"date-time":"2024-10-13T14:18:36Z","timestamp":1728829116000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s00371-023-02777-2"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,2,2]]},"references-count":55,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2024,1]]}},"alternative-id":["2777"],"URL":"https:\/\/doi.org\/10.1007\/s00371-023-02777-2","relation":{},"ISSN":["0178-2789","1432-2315"],"issn-type":[{"value":"0178-2789","type":"print"},{"value":"1432-2315","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,2,2]]},"assertion":[{"value":"6 January 2023","order":1,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"2 February 2023","order":2,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The authors have no competing interests to declare that are relevant to the content of this article.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest"}}]}}