{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,9]],"date-time":"2026-01-09T00:56:44Z","timestamp":1767920204509,"version":"3.49.0"},"reference-count":28,"publisher":"Oxford University Press (OUP)","issue":"3","license":[{"start":{"date-parts":[[2022,5,12]],"date-time":"2022-05-12T00:00:00Z","timestamp":1652313600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by-nc\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100003725","name":"National Research Foundation of Korea","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100003725","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100003052","name":"Ministry of Trade, Industry and Energy, Korea","doi-asserted-by":"publisher","award":["20-SN-GU-01"],"award-info":[{"award-number":["20-SN-GU-01"]}],"id":[{"id":"10.13039\/501100003052","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2022,6,21]]},"abstract":"<jats:title>Abstract<\/jats:title>\n               <jats:p>Visual localization is defined as finding the camera pose from two-dimensional images, which is a core technique in many computer vision tasks, including robot navigation, autonomous driving, augmented\/mixed\/virtual reality, mapping, etc. In this study, we address the pose estimation problem from a single-color image using a neural network. We propose a coarse-to-fine approach based on a deep learning framework, which consists of two steps: direct regression-based coarse pose estimation that obtains a pose by finding a pose-based similar image retrieval and Siamese network-based essential matrix estimation to obtain a refined pose. Experimental results using the 7-scenes, Cambridge, and RobotCar datasets demonstrate that the proposed method performs better than the existing methods in terms of accuracy and stability.<\/jats:p>","DOI":"10.1093\/jcde\/qwac046","type":"journal-article","created":{"date-parts":[[2022,5,11]],"date-time":"2022-05-11T11:43:27Z","timestamp":1652269407000},"page":"1097-1106","source":"Crossref","is-referenced-by-count":2,"title":["Learning-based essential matrix estimation for visual localization"],"prefix":"10.1093","volume":"9","author":[{"given":"Moongu","family":"Son","sequence":"first","affiliation":[{"name":"School of Mechanical Engineering, Gwangju Institute of Science and Technology , Cheomdangwagi-ro 123, Buk-gu, Gwangju 61005, Republic of Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7668-5796","authenticated-orcid":false,"given":"Kwanghee","family":"Ko","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Gwangju Institute of Science and Technology , Cheomdangwagi-ro 123, Buk-gu, Gwangju 61005, Republic of Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"286","published-online":{"date-parts":[[2022,5,12]]},"reference":[{"issue":"6","key":"2022062110003349000_bib1","doi-asserted-by":"crossref","first-page":"1437","DOI":"10.1109\/TPAMI.2017.2711011","article-title":"NetVLAD: CNN architecture for weakly supervised place recognition","volume":"40","author":"Arandjelovic","year":"2018","journal-title":"IEEE Transactions on Pattern Analysis and Machine Intelligence"},{"key":"2022062110003349000_bib2","doi-asserted-by":"crossref","first-page":"270","DOI":"10.1016\/j.cag.2017.07.019","article-title":"Sequence searching with CNN features for robust and fast visual place recognition","volume":"70","author":"Bai","year":"2018","journal-title":"Computers and Graphics"},{"key":"2022062110003349000_bib3","first-page":"782","article-title":"RelocNet: Continuous metric learning relocalisation using neural nets","volume-title":"Computer Vision \u2013 ECCV 2018. ECCV 2018. Lecture Notes in Computer Science","author":"Balntas","year":"2018"},{"key":"2022062110003349000_bib4","first-page":"404","article-title":"Surf: Speeded up robust features","volume-title":"Computer Vision \u2013 ECCV 2006. ECCV 2006. Lecture Notes in Computer Science","author":"Bay","year":"2006"},{"key":"2022062110003349000_bib5","first-page":"6684","article-title":"DSAC \u2013 Differentiable RANSAC for camera localization","volume-title":"Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition","author":"Brachmann","year":"2017"},{"key":"2022062110003349000_bib6","first-page":"4654","article-title":"Learning less is more \u2013 6D camera localization via 3D surface regression","volume-title":"Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition","author":"Brachmann","year":"2018"},{"key":"2022062110003349000_bib7","doi-asserted-by":"crossref","DOI":"10.1109\/TPAMI.2021.3070754","article-title":"Visual camera re-localization from RGB and RGB-D images using DSAC","author":"Brachmann","year":"2021","journal-title":"IEEE Transactions on Pattern Analysis and Machine Intelligence"},{"key":"2022062110003349000_bib8","first-page":"2616","article-title":"Geometry-aware learning of maps for camera localization","volume-title":"Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition","author":"Brahmbhatt","year":"2018"},{"key":"2022062110003349000_bib9","article-title":"Universal correspondence network","volume":"29","author":"Choy","year":"2016","journal-title":"Advances in Neural Information Processing Systems"},{"key":"2022062110003349000_bib10","first-page":"1","article-title":"Visual categorization with bags of keypoints","volume-title":"ECCV Workshop on Statistical Learning in Computer Vision","author":"Csurka","year":"2004"},{"key":"2022062110003349000_bib11","first-page":"2871","article-title":"CamNet: Coarse-to-fine retrieval for camera re-localization","volume-title":"Proceedings of the IEEE\/CVF International Conference on Computer Vision","author":"Ding","year":"2019"},{"key":"2022062110003349000_bib12","first-page":"738","article-title":"RPNet: An end-to-end network for relative camera pose estimation","volume-title":"Computer Vision \u2013 ECCV 2018 Workshops. ECCV 2018. Lecture Notes in Computer Science","author":"En","year":"2019"},{"key":"2022062110003349000_bib13","first-page":"2017","article-title":"Spatial transformer networks","volume":"28","author":"Jaderberg","year":"2015","journal-title":"Advances in Neural Information Processing Systems"},{"key":"2022062110003349000_bib14","first-page":"5974","article-title":"Geometric loss functions for camera pose regression with deep learning","volume-title":"Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition","author":"Kendall","year":"2017"},{"key":"2022062110003349000_bib15","first-page":"2938","article-title":"PoseNet: A convolutional network for real-time 6-dof camera relocalization","volume-title":"Proceedings of the IEEE International Conference on Computer Vision","author":"Kendall","year":"2015"},{"key":"2022062110003349000_bib16","first-page":"929","article-title":"Camera relocalization by computing pairwise relative poses using convolutional neural network","volume-title":"Proceedings of the IEEE International Conference on Computer Vision Workshops","author":"Laskar","year":"2017"},{"key":"2022062110003349000_bib17","first-page":"2231","article-title":"Local to global: Efficient visual localization for a monocular camera","volume-title":"Proceedings of the IEEE\/CVF Winter Conference on Applications of Computer Vision","author":"Lee","year":"2021"},{"key":"2022062110003349000_bib18","first-page":"11983","article-title":"Hierarchical scene coordinate classification and regression for visual localization","volume-title":"Proceedings of the IEEE\/CVF Conference on Computer Vision and Pattern Recognition","author":"Li","year":"2020"},{"issue":"2","key":"2022062110003349000_bib19","doi-asserted-by":"crossref","first-page":"91","DOI":"10.1023\/B:VISI.0000029664.99615.94","article-title":"Distinctive image features from scale-invariant keypoints","volume":"60","author":"Lowe","year":"2004","journal-title":"International Journal of Computer Vision"},{"issue":"1","key":"2022062110003349000_bib20","doi-asserted-by":"crossref","first-page":"3","DOI":"10.1177\/0278364916679498","article-title":"1 year, 1000 km: The Oxford RobotCar dataset","volume":"36","author":"Maddern","year":"2017","journal-title":"International Journal of Robotics Research"},{"key":"2022062110003349000_bib21","first-page":"879","article-title":"Image-based localization using Hourglass networks","volume-title":"Proceedings of the IEEE International Conference on Computer Vision Workshops","author":"Melekhov","year":"2017"},{"key":"2022062110003349000_bib22","doi-asserted-by":"crossref","first-page":"127","DOI":"10.1109\/ISMAR.2011.6092378","article-title":"KinectFusion: Real-time dense surface mapping and tracking","volume-title":"10th IEEE International Symposium on Mixed and Augmented Reality, 2011","author":"Newcombe","year":"2011"},{"key":"2022062110003349000_bib23","first-page":"485","article-title":"Deep fundamental matrix estimation without correspondences","volume-title":"Computer Vision \u2013 ECCV 2018 Workshops. ECCV 2018. Lecture Notes in Computer Science","author":"Poursaeed","year":"2019"},{"key":"2022062110003349000_bib24","doi-asserted-by":"crossref","first-page":"2564","DOI":"10.1109\/ICCV.2011.6126544","article-title":"ORB: An efficient alternative to SIFT or SURF","volume-title":"International Conference on Computer Vision, 2011","author":"Rublee","year":"2011"},{"issue":"9","key":"2022062110003349000_bib25","doi-asserted-by":"crossref","first-page":"1744","DOI":"10.1109\/TPAMI.2016.2611662","article-title":"Efficient and effective prioritized matching for large-scale image-based localization","volume":"39","author":"Sattler","year":"2017","journal-title":"IEEE Transactions on Pattern Analysis and Machine Intelligence"},{"key":"2022062110003349000_bib26","first-page":"6896","article-title":"Semantic visual localization","volume-title":"Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition","author":"Sch\u00f6nberger","year":"2018"},{"key":"2022062110003349000_bib27","first-page":"2930","article-title":"Scene coordinate regression forests for camera relocalization in RGB-D images","volume-title":"Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition","author":"Shotton","year":"2013"},{"key":"2022062110003349000_bib28","first-page":"627","article-title":"Image-based localization using LSTMs for structured feature correlation","volume-title":"Proceedings of the IEEE International Conference on Computer Vision","author":"Walch","year":"2017"}],"container-title":["Journal of Computational Design and Engineering"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/academic.oup.com\/jcde\/advance-article-pdf\/doi\/10.1093\/jcde\/qwac046\/43691203\/qwac046.pdf","content-type":"application\/pdf","content-version":"am","intended-application":"syndication"},{"URL":"https:\/\/academic.oup.com\/jcde\/article-pdf\/9\/3\/1097\/44152164\/qwac046.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"syndication"},{"URL":"https:\/\/academic.oup.com\/jcde\/article-pdf\/9\/3\/1097\/44152164\/qwac046.pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,6,21]],"date-time":"2022-06-21T10:01:19Z","timestamp":1655805679000},"score":1,"resource":{"primary":{"URL":"https:\/\/academic.oup.com\/jcde\/article\/9\/3\/1097\/6584844"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,5,12]]},"references-count":28,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2022,6,21]]}},"URL":"https:\/\/doi.org\/10.1093\/jcde\/qwac046","relation":{},"ISSN":["2288-5048"],"issn-type":[{"value":"2288-5048","type":"electronic"}],"subject":[],"published-other":{"date-parts":[[2022,6]]},"published":{"date-parts":[[2022,5,12]]}}}