{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,7,30]],"date-time":"2025-07-30T14:09:45Z","timestamp":1753884585822,"version":"3.41.2"},"reference-count":44,"publisher":"World Scientific Pub Co Pte Ltd","issue":"Supp02","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Inter. Net."],"published-print":{"date-parts":[[2022,4]]},"abstract":"<jats:p> Estimating the relative pose between two calibrated views with 2D-to-2D correspondences is a fundamental problem in computer vision and 2D perception. In this paper, we present the first certifiably globally optimal solver that can simultaneously incorporate both points and lines as the non-minimal 2D-to-2D correspondences for this problem. Our first contribution is to derive a generalized polynomial-based objective function based on the geometric constraints of orthogonal and parallel line pairs. Built upon it, our second contribution is to reformulate the relative pose estimation problem as a constrained global optimization problem with a unified representation of both point and line pair correspondences. Our third contribution lies in relaxing this non-convex optimization problem to a convex Semi-Definite Program (SDP) using Sum of Squares (SOS) relaxations so as to solve it via Gloptipoly 3 with a reliable guarantee of global optimality. In both synthetic and real experiments, we show that adopting line pairs as supplementary correspondences can greatly improve estimation accuracy, especially in the point-sparse situations, and that our solver, named SPLP (SOS-Point-and-Line-Pair), can outperform other state-of-the-art solvers. <\/jats:p>","DOI":"10.1142\/s0219265921430453","type":"journal-article","created":{"date-parts":[[2022,2,11]],"date-time":"2022-02-11T06:32:57Z","timestamp":1644561177000},"source":"Crossref","is-referenced-by-count":0,"title":["SPLP: A Certifiably Globally Optimal Solution to the Relative Pose Estimation Problem Using Points and Line Pairs"],"prefix":"10.1142","volume":"22","author":[{"given":"Lei","family":"Sun","sequence":"first","affiliation":[{"name":"School of Mechanical and Power Engineering, East China University of Science and Technology, Shanghai 200237, P. R. China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"219","published-online":{"date-parts":[[2022,2,10]]},"reference":[{"key":"S0219265921430453BIB001","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2017.620"},{"key":"S0219265921430453BIB003","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6385802"},{"key":"S0219265921430453BIB004","doi-asserted-by":"publisher","DOI":"10.1007\/s10851-015-0620-x"},{"key":"S0219265921430453BIB005","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2017.595"},{"key":"S0219265921430453BIB006","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2018.00023"},{"key":"S0219265921430453BIB007","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2011.5995512"},{"key":"S0219265921430453BIB008","doi-asserted-by":"publisher","DOI":"10.1145\/358669.358692"},{"key":"S0219265921430453BIB009","doi-asserted-by":"publisher","DOI":"10.5244\/C.2.23"},{"volume-title":"Multiple View Geometry in Computer Vision","year":"2003","author":"Hartley Richard","key":"S0219265921430453BIB010"},{"key":"S0219265921430453BIB011","doi-asserted-by":"publisher","DOI":"10.1109\/34.601246"},{"key":"S0219265921430453BIB012","doi-asserted-by":"publisher","DOI":"10.1023\/A:1007936012022"},{"key":"S0219265921430453BIB013","doi-asserted-by":"publisher","DOI":"10.1080\/10556780802699201"},{"key":"S0219265921430453BIB014","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-46484-8_36"},{"key":"S0219265921430453BIB015","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-92957-4_19"},{"key":"S0219265921430453BIB016","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-33783-3_50"},{"key":"S0219265921430453BIB017","doi-asserted-by":"publisher","DOI":"10.1016\/j.cviu.2005.04.005"},{"key":"S0219265921430453BIB018","first-page":"2419","volume-title":"2014 22nd International Conference on Pattern Recognition","author":"YubinKuang","year":"2014"},{"key":"S0219265921430453BIB019","doi-asserted-by":"publisher","DOI":"10.1137\/S1052623400366802"},{"key":"S0219265921430453BIB020","doi-asserted-by":"publisher","DOI":"10.1007\/s10107-006-0085-1"},{"key":"S0219265921430453BIB021","volume-title":"Moments, Positive Polynomials and Their Applications","volume":"1","author":"Lasserre Jean-Bernard","year":"2010"},{"key":"S0219265921430453BIB022","doi-asserted-by":"publisher","DOI":"10.1007\/978-0-387-09686-5_7"},{"key":"S0219265921430453BIB023","doi-asserted-by":"crossref","first-page":"630","DOI":"10.1109\/ICPR.2006.579","volume-title":"18th International Conference on Pattern Recognition (ICPR\u201906)","volume":"1","author":"Li Hongdong","year":"2006"},{"key":"S0219265921430453BIB024","doi-asserted-by":"publisher","DOI":"10.1109\/CACSD.2004.1393890"},{"key":"S0219265921430453BIB025","doi-asserted-by":"publisher","DOI":"10.1038\/293133a0"},{"key":"S0219265921430453BIB026","doi-asserted-by":"publisher","DOI":"10.1023\/B:VISI.0000029664.99615.94"},{"key":"S0219265921430453BIB027","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2011.5995529"},{"key":"S0219265921430453BIB028","doi-asserted-by":"publisher","DOI":"10.1007\/s10107-013-0680-x"},{"key":"S0219265921430453BIB029","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2004.17"},{"volume-title":"IMA workshop on Optimization and Control, Univ. Minnesota, Minneapolis.","year":"2007","author":"Polik Imre","key":"S0219265921430453BIB030"},{"key":"S0219265921430453BIB031","doi-asserted-by":"publisher","DOI":"10.1512\/iumj.1993.42.42045"},{"key":"S0219265921430453BIB032","doi-asserted-by":"publisher","DOI":"10.1007\/11744023_34"},{"key":"S0219265921430453BIB033","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-46478-7_49"},{"key":"S0219265921430453BIB034","doi-asserted-by":"publisher","DOI":"10.1016\/j.isprsjprs.2006.03.005"},{"key":"S0219265921430453BIB035","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6385773"},{"key":"S0219265921430453BIB036","doi-asserted-by":"publisher","DOI":"10.1145\/3412382.3458262"},{"journal-title":"IEEE Access","year":"2020","author":"Sun Lei","key":"S0219265921430453BIB037"},{"volume-title":"Robotics: Science and Systems (RSS) in the Workshop thee Problem of Mobile Sensors","year":"2015","author":"Tron Roberto","key":"S0219265921430453BIB038"},{"key":"S0219265921430453BIB039","doi-asserted-by":"publisher","DOI":"10.1109\/JSYST.2018.2828879"},{"key":"S0219265921430453BIB040","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR42600.2020.00070"},{"issue":"1","key":"S0219265921430453BIB041","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1186\/s13673-014-0018-6","volume":"5","author":"Saravanan V.","year":"2015","journal-title":"Human-centric Computing and Information Sciences"},{"key":"S0219265921430453BIB042","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2020.3030161"},{"key":"S0219265921430453BIB043","doi-asserted-by":"publisher","DOI":"10.1109\/SmartIoT.2018.00039"},{"key":"S0219265921430453BIB044","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2019.2892372"},{"key":"S0219265921430453BIB045","doi-asserted-by":"publisher","DOI":"10.1109\/JIOT.2020.3022322"}],"container-title":["Journal of Interconnection Networks"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.worldscientific.com\/doi\/pdf\/10.1142\/S0219265921430453","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,10,14]],"date-time":"2022-10-14T04:24:25Z","timestamp":1665721465000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.worldscientific.com\/doi\/10.1142\/S0219265921430453"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,2,10]]},"references-count":44,"journal-issue":{"issue":"Supp02","published-print":{"date-parts":[[2022,4]]}},"alternative-id":["10.1142\/S0219265921430453"],"URL":"https:\/\/doi.org\/10.1142\/s0219265921430453","relation":{},"ISSN":["0219-2659","1793-6713"],"issn-type":[{"type":"print","value":"0219-2659"},{"type":"electronic","value":"1793-6713"}],"subject":[],"published":{"date-parts":[[2022,2,10]]},"article-number":"2143045"}}