{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,24]],"date-time":"2026-04-24T14:06:54Z","timestamp":1777039614346,"version":"3.51.4"},"reference-count":30,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2020,12,14]],"date-time":"2020-12-14T00:00:00Z","timestamp":1607904000000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2020,12,14]],"date-time":"2020-12-14T00:00:00Z","timestamp":1607904000000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Sci. China Inf. Sci."],"published-print":{"date-parts":[[2021,1]]},"DOI":"10.1007\/s11432-019-2690-0","type":"journal-article","created":{"date-parts":[[2021,1,5]],"date-time":"2021-01-05T13:06:32Z","timestamp":1609851992000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":16,"title":["Homography-based camera pose estimation with known gravity direction for UAV navigation"],"prefix":"10.1007","volume":"64","author":[{"given":"Chunhui","family":"Zhao","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Bin","family":"Fan","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jinwen","family":"Hu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Quan","family":"Pan","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhao","family":"Xu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2020,12,14]]},"reference":[{"key":"2690_CR1","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, 2015, 31: 1147\u20131163","journal-title":"IEEE Trans Robot"},{"key":"2690_CR2","doi-asserted-by":"publisher","first-page":"010204","DOI":"10.1007\/s11432-018-9579-3","volume":"62","author":"Y H Qu","year":"2019","unstructured":"Qu Y H, Zhang F, Wu X W, et al. Cooperative geometric localization for a ground target based on the relative distances by multiple UAVs. Sci China Inf Sci, 2019, 62: 010204","journal-title":"Sci China Inf Sci"},{"key":"2690_CR3","doi-asserted-by":"publisher","first-page":"024101","DOI":"10.1007\/s11432-018-9590-5","volume":"62","author":"S H Liu","year":"2019","unstructured":"Liu S H, Wang S Q, Shi W H, et al. Vehicle tracking by detection in UAV aerial video. Sci China Inf Sci, 2019, 62: 024101","journal-title":"Sci China Inf Sci"},{"key":"2690_CR4","doi-asserted-by":"publisher","first-page":"756","DOI":"10.1109\/TPAMI.2004.17","volume":"26","author":"D Nister","year":"2004","unstructured":"Nister D. An efficient solution to the five-point relative pose problem. IEEE Trans Pattern Anal Machine Intell, 2004, 26: 756\u2013770","journal-title":"IEEE Trans Pattern Anal Machine Intell"},{"key":"2690_CR5","doi-asserted-by":"crossref","unstructured":"Kneip L, Siegwart R, Pollefeys M. Finding the exact rotation between two images independently of the translation. In: Proceedings of the European Conference on Computer Vision, 2012. 696\u2013709","DOI":"10.1007\/978-3-642-33783-3_50"},{"key":"2690_CR6","volume-title":"Multiple View Geometry in Computer Vision","author":"R Hartley","year":"2003","unstructured":"Hartley R, Zisserman A. Multiple View Geometry in Computer Vision. Cambridge: Cambridge University Press, 2003"},{"key":"2690_CR7","doi-asserted-by":"publisher","first-page":"580","DOI":"10.1109\/34.601246","volume":"19","author":"R Hartley","year":"1997","unstructured":"Hartley R. In defense of the eight-point algorithm. IEEE Trans Pattern Anal Mach Intell, 1997, 19: 580\u2013593","journal-title":"IEEE Trans Pattern Anal Mach Intell"},{"key":"2690_CR8","unstructured":"Li H, Hartley R, Kim J H. A linear approach to motion estimation using generalized camera models. In: Proceedings of the International Conference on Computer Vision and Pattern Recognition, 2008. 1\u20138"},{"key":"2690_CR9","doi-asserted-by":"crossref","unstructured":"Kneip L, Lynen S. Direct optimization of frame-to-frame rotation. In: Proceedings of the International Conference on Computer Vision, 2013. 2352\u20132359","DOI":"10.1109\/ICCV.2013.292"},{"key":"2690_CR10","doi-asserted-by":"publisher","first-page":"381","DOI":"10.1145\/358669.358692","volume":"24","author":"M A 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, 1981, 24: 381\u2013395","journal-title":"Commun ACM"},{"key":"2690_CR11","unstructured":"Kneip L, Furgale P. OpenGV: a unified and generalized approach to real-time calibrated geometric vision. In: Proceedings of the International Conference on Robotics and Automation, 2014. 1\u20138"},{"key":"2690_CR12","doi-asserted-by":"publisher","first-page":"1682","DOI":"10.1007\/s11432-010-4017-6","volume":"53","author":"S J Zhang","year":"2010","unstructured":"Zhang S J, Cao X B, Zhang F, et al. Monocular vision-based iterative pose estimation algorithm from corresponding feature points. Sci China Inf Sci, 2010, 53: 1682\u20131696","journal-title":"Sci China Inf Sci"},{"key":"2690_CR13","doi-asserted-by":"crossref","unstructured":"Fraundorfer F, Tanskanen P, Pollefeys M. A minimal case solution to the calibrated relative pose problem for the case of two known orientation angles. In: Proceedings of the European Conference on Computer Vision, 2010. 269\u2013282","DOI":"10.1007\/978-3-642-15561-1_20"},{"key":"2690_CR14","doi-asserted-by":"publisher","first-page":"259","DOI":"10.1007\/s10851-010-0234-2","volume":"39","author":"M Kalantari","year":"2011","unstructured":"Kalantari M, Hashemi A, Jung F, et al. A new solution to the relative orientation problem using only 3 points and the vertical direction. J Math Imag Vis, 2011, 39: 259\u2013268","journal-title":"J Math Imag Vis"},{"key":"2690_CR15","doi-asserted-by":"crossref","unstructured":"Lee G H, Pollefeys M, Fraundorfer F. Relative pose estimation for a multi-camera system with known vertical direction. In: Proceedings of the International Conference on Computer Vision and Pattern Recognition, 2014. 540\u2013547","DOI":"10.1109\/CVPR.2014.76"},{"key":"2690_CR16","doi-asserted-by":"publisher","first-page":"818","DOI":"10.1109\/TPAMI.2011.226","volume":"34","author":"O Naroditsky","year":"2012","unstructured":"Naroditsky O, Zhou X S, Gallier J, et al. Two efficient solutions for visual odometry using directional correspondence. IEEE Trans Pattern Anal Mach Intell, 2012, 34: 818\u2013824","journal-title":"IEEE Trans Pattern Anal Mach Intell"},{"key":"2690_CR17","doi-asserted-by":"publisher","first-page":"1127","DOI":"10.1364\/JOSAA.5.001127","volume":"5","author":"B K P Horn","year":"1988","unstructured":"Horn B K P, Hilden H M, Negahdaripour S. Closed-form solution of absolute orientation using orthonormal matrices. J Opt Soc Am A, 1988, 5: 1127\u20131135","journal-title":"J Opt Soc Am A"},{"key":"2690_CR18","doi-asserted-by":"publisher","first-page":"1730","DOI":"10.1007\/s11431-016-6097-z","volume":"59","author":"H Li","year":"2016","unstructured":"Li H, Duan H B. Verification of monocular and binocular pose estimation algorithms in vision-based UAVs autonomous aerial refueling system. Sci China Technol Sci, 2016, 59: 1730\u20131738","journal-title":"Sci China Technol Sci"},{"key":"2690_CR19","doi-asserted-by":"crossref","unstructured":"Kneip L, Chli M, Siegwart R Y. Robust real-time visual odometry with a single camera and an IMU. In: Proceedings of the British Machine Vision Conference, 2011. 1\u201311","DOI":"10.5244\/C.25.16"},{"key":"2690_CR20","doi-asserted-by":"publisher","first-page":"1565","DOI":"10.1109\/TPAMI.2012.264","volume":"35","author":"J Bazin","year":"2013","unstructured":"Bazin J, Li H D, Kweon I S, et al. A branch-and-bound approach to correspondence and grouping problems. IEEE Trans Pattern Anal Mach Intell, 2013, 35: 1565\u20131576","journal-title":"IEEE Trans Pattern Anal Mach Intell"},{"key":"2690_CR21","doi-asserted-by":"crossref","unstructured":"Guan B, Vasseur P, Demonceaux C, et al. Visual odometry using a homography formulation with decoupled rotation and translation estimation using minimal solutions. In: Proceedings of the International Conference on Robotics and Automation, 2018. 2320\u20132327","DOI":"10.1109\/ICRA.2018.8460747"},{"key":"2690_CR22","doi-asserted-by":"publisher","first-page":"327","DOI":"10.1109\/TPAMI.2016.2545663","volume":"39","author":"O Saurer","year":"2017","unstructured":"Saurer O, Vasseur P, Boutteau R, et al. Homography based egomotion estimation with a common direction. IEEE Trans Pattern Anal Mach Intell, 2017, 39: 327\u2013341","journal-title":"IEEE Trans Pattern Anal Mach Intell"},{"key":"2690_CR23","unstructured":"Saurer O, Fraundorfer F, Pollefeys M. Homography based visual odometry with known vertical direction and weak Manhattan world assumption. In: Proceedings of IROS Workshop on Visual Control of Mobile Robots (ViCoMoR 2012), Vilamoura, 2012. 25\u201330"},{"key":"2690_CR24","doi-asserted-by":"publisher","first-page":"131","DOI":"10.5194\/isprsannals-III-3-131-2016","volume":"3","author":"S Urban","year":"2016","unstructured":"Urban S, Leitloff J, Hinz S. MLPNP-a real-time maximum likelihood solution to the perspective-n-point problem. ISPRS Ann Photogramm Remote Sens Spatial Inf Sci, 2016, 3: 131\u2013138","journal-title":"ISPRS Ann Photogramm Remote Sens Spatial Inf Sci"},{"key":"2690_CR25","doi-asserted-by":"crossref","unstructured":"Conrad D, Desouza G N. Homography-based ground plane detection for mobile robot navigation using a modified EM algorithm. In: Proceedings of the International Conference on Robotics and Automation, 2010. 910\u2013950","DOI":"10.1109\/ROBOT.2010.5509457"},{"key":"2690_CR26","doi-asserted-by":"publisher","first-page":"431","DOI":"10.1002\/rob.21581","volume":"33","author":"M Faessler","year":"2016","unstructured":"Faessler M, Fontana F, Forster C, et al. Autonomous, vision-based flight and live dense 3D mapping with a quadrotor micro aerial vehicle. J Field Robotics, 2016, 33: 431\u2013450","journal-title":"J Field Robotics"},{"key":"2690_CR27","doi-asserted-by":"publisher","first-page":"91","DOI":"10.1023\/B:VISI.0000029664.99615.94","volume":"60","author":"D G Lowe","year":"2004","unstructured":"Lowe D G. Distinctive image features from scale-invariant keypoints. Int J Comput Vision, 2004, 60: 91\u2013110","journal-title":"Int J Comput Vision"},{"key":"2690_CR28","first-page":"158","volume":"39","author":"C Zhao","year":"2018","unstructured":"Zhao C, Fan B, Tian L, et al. Statistical optimization feature matching algorithm based on epipolar geometry (in Chinese). Acta Aeronautica et Astronaut Sin, 2018, 39: 158\u2013166","journal-title":"Acta Aeronautica et Astronaut Sin"},{"key":"2690_CR29","doi-asserted-by":"crossref","unstructured":"Sturm J, Engelhard N, Endres F, et al. A benchmark for the evaluation of RGB-D SLAM slam systems. In: Proceedings of the International Conference on Intelligent Robots and Systems, 2012. 573\u2013580","DOI":"10.1109\/IROS.2012.6385773"},{"key":"2690_CR30","doi-asserted-by":"crossref","unstructured":"Huang A S, Bachrach A, Henry P, et al. Visual odometry and mapping for autonomous flight using an RGB-D camera. In: Proceedings of the International Conference on Robotics Research, 2017. 235\u2013252","DOI":"10.1007\/978-3-319-29363-9_14"}],"container-title":["Science China Information Sciences"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s11432-019-2690-0.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s11432-019-2690-0\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s11432-019-2690-0.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,1,6]],"date-time":"2021-01-06T01:32:13Z","timestamp":1609896733000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s11432-019-2690-0"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,12,14]]},"references-count":30,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2021,1]]}},"alternative-id":["2690"],"URL":"https:\/\/doi.org\/10.1007\/s11432-019-2690-0","relation":{},"ISSN":["1674-733X","1869-1919"],"issn-type":[{"value":"1674-733X","type":"print"},{"value":"1869-1919","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,12,14]]},"assertion":[{"value":"26 April 2019","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"22 July 2019","order":2,"name":"revised","label":"Revised","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"27 September 2019","order":3,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"14 December 2020","order":4,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}],"article-number":"112204"}}