{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,6,19]],"date-time":"2025-06-19T04:54:27Z","timestamp":1750308867128,"version":"3.41.0"},"reference-count":63,"publisher":"Association for Computing Machinery (ACM)","issue":"6","license":[{"start":{"date-parts":[[2018,11,13]],"date-time":"2018-11-13T00:00:00Z","timestamp":1542067200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"funder":[{"DOI":"10.13039\/100000001","name":"National Science Foundation","doi-asserted-by":"publisher","award":["1657600"],"award-info":[{"award-number":["1657600"]}],"id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]},{"name":"ONR","award":["N00014-17-1-2867"],"award-info":[{"award-number":["N00014-17-1-2867"]}]},{"name":"San Diego State University Presidential Leadership Funds"},{"name":"DARPA SIMPLEX program","award":["58723A"],"award-info":[{"award-number":["58723A"]}]}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["ACM Trans. Intell. Syst. Technol."],"published-print":{"date-parts":[[2018,11,30]]},"abstract":"<jats:p>This article presents a high-precision multi-modal approach for localizing moving cameras with monocular videos, which has wide potentials in many intelligent applications, including robotics, autonomous vehicles, and so on. Existing visual odometry methods often suffer from symmetric or repetitive scene patterns, e.g., windows on buildings or parking stalls. To address this issue, we introduce a robust camera localization method that contributes in two aspects. First, we formulate feature tracking, the critical step of visual odometry, as a hierarchical min-cost network flow optimization task, and we regularize the formula with flow constraints, cross-scale consistencies, and motion heuristics. The proposed regularized formula is capable of adaptively selecting distinctive features or feature combinations, which is more effective than traditional methods that detect and group repetitive patterns in a separate step. Second, we develop a joint formula for integrating dense visual odometry and sparse GPS readings in a common reference coordinate. The fusion process is guided with high-order statistics knowledge to suppress the impacts of noises, clusters, and model drifting. We evaluate the proposed camera localization method on both public video datasets and a newly created dataset that includes scenes full of repetitive patterns. Results with comparisons show that our method can achieve comparable performance to state-of-the-art methods and is particularly effective for addressing repetitive pattern issues.<\/jats:p>","DOI":"10.1145\/3226111","type":"journal-article","created":{"date-parts":[[2018,11,13]],"date-time":"2018-11-13T13:20:16Z","timestamp":1542115216000},"page":"1-21","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":0,"title":["High-Precision Camera Localization in Scenes with Repetitive Patterns"],"prefix":"10.1145","volume":"9","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-2086-5410","authenticated-orcid":false,"given":"Xiaobai","family":"Liu","sequence":"first","affiliation":[{"name":"Department of Computer Science, San Diego State University, San Diego, CA, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Qian","family":"Xu","sequence":"additional","affiliation":[{"name":"XreLab Inc., San Diego, CA, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yadong","family":"Mu","sequence":"additional","affiliation":[{"name":"Institute of Computer Science and Technology, Beijing, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jiadi","family":"Yang","sequence":"additional","affiliation":[{"name":"University of California, San Jose, California, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Liang","family":"Lin","sequence":"additional","affiliation":[{"name":"School of Advanced Computing, Sun Yat-Sen University, Guangzhou, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shuicheng","family":"Yan","sequence":"additional","affiliation":[{"name":"Qihoo\/360 Inc., China; National University of Singapore, Singapore"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"320","published-online":{"date-parts":[[2018,11,13]]},"reference":[{"key":"e_1_2_1_1_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICPR.2006.962"},{"volume-title":"Proceedings of the International Conference on Robot Vision.","author":"Leibe K. Schindler B.","key":"e_1_2_1_2_1","unstructured":"K. Schindler B. Leibe and L. V. Gool . 2008. Accurate image matching in scenes including repetitive patterns . In Proceedings of the International Conference on Robot Vision. K. Schindler B. Leibe and L. V. Gool. 2008. Accurate image matching in scenes including repetitive patterns. In Proceedings of the International Conference on Robot Vision."},{"key":"e_1_2_1_3_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICCVW.2013.37"},{"key":"e_1_2_1_4_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.cviu.2007.09.014"},{"key":"e_1_2_1_5_1","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2011.21"},{"key":"e_1_2_1_6_1","doi-asserted-by":"publisher","DOI":"10.1109\/TVLSI.2009.2013957"},{"key":"e_1_2_1_7_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.dsp.2012.05.013"},{"key":"e_1_2_1_8_1","first-page":"12","article-title":"Robust contour tracking by combining region and boundary information","volume":"21","author":"Cai L.","year":"2011","unstructured":"L. Cai , L. He , T. Yamashita , Y. Xu , Y. Zhao , and X. Yang . 2011 . Robust contour tracking by combining region and boundary information . IEEE Trans. Circ. Syst. Video Technol. 21 , 12 (Dec 2011), 1784--1794. L. Cai, L. He, T. Yamashita, Y. Xu, Y. Zhao, and X. Yang. 2011. Robust contour tracking by combining region and boundary information. IEEE Trans. Circ. Syst. Video Technol. 21, 12 (Dec 2011), 1784--1794.","journal-title":"IEEE Trans. Circ. Syst. Video Technol."},{"key":"e_1_2_1_9_1","doi-asserted-by":"crossref","unstructured":"M. Celis J. Dennis and R. Tapia. 1984. A trust region strategy for nonlinear equality constrained optimization. Numer. Optim. (1984) 71--82.  M. Celis J. Dennis and R. Tapia. 1984. A trust region strategy for nonlinear equality constrained optimization. Numer. Optim. (1984) 71--82.","DOI":"10.21236\/ADA454933"},{"key":"e_1_2_1_10_1","doi-asserted-by":"publisher","DOI":"10.1109\/TIP.2014.2336547"},{"key":"e_1_2_1_11_1","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2005.177"},{"key":"e_1_2_1_12_1","doi-asserted-by":"publisher","DOI":"10.5555\/946247.946734"},{"volume-title":"A Practical Guide to Splines","author":"de Boor C.","key":"e_1_2_1_13_1","unstructured":"C. de Boor . 1978. A Practical Guide to Splines . Springer-Verlag . C. de Boor. 1978. A Practical Guide to Splines. Springer-Verlag."},{"volume-title":"Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR\u201909)","author":"Dubbelman Gijs","key":"e_1_2_1_14_1","unstructured":"Gijs Dubbelman and Frans C. A. Groen . 2009. Bias reduction for stereo based motion estimation with applications to large scale visual odometry . In Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR\u201909) . IEEE, 2222--2229. Gijs Dubbelman and Frans C. A. Groen. 2009. Bias reduction for stereo based motion estimation with applications to large scale visual odometry. In Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR\u201909). IEEE, 2222--2229."},{"key":"e_1_2_1_15_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-10605-2_54"},{"key":"e_1_2_1_16_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.patrec.2011.07.029"},{"key":"e_1_2_1_17_1","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2016.7535500"},{"key":"e_1_2_1_18_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.imavis.2017.08.002"},{"volume-title":"Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition.","author":"Geiger A.","key":"e_1_2_1_19_1","unstructured":"A. Geiger , P. Lenz , and R. Urtasun . 2012. Are we ready for autonomous driving the KITTI vision benchmark suite . In Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition. A. Geiger, P. Lenz, and R. Urtasun. 2012. Are we ready for autonomous driving the KITTI vision benchmark suite. In Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition."},{"volume-title":"Proceedings of the Intelligent Vehicles Symposium.","author":"Geiger A.","key":"e_1_2_1_20_1","unstructured":"A. Geiger , J. Ziegler , and C. Stiller . 2011. StereoScan: Dense 3D reconstruction in real-time . In Proceedings of the Intelligent Vehicles Symposium. A. Geiger, J. Ziegler, and C. Stiller. 2011. StereoScan: Dense 3D reconstruction in real-time. In Proceedings of the Intelligent Vehicles Symposium."},{"key":"e_1_2_1_21_1","doi-asserted-by":"publisher","DOI":"10.1109\/MCG.2010.23"},{"key":"e_1_2_1_22_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMM.2013.2265674"},{"key":"e_1_2_1_23_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMM.2009.2032684"},{"key":"e_1_2_1_24_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.imavis.2012.06.006"},{"key":"e_1_2_1_25_1","doi-asserted-by":"publisher","DOI":"10.1109\/TIP.2011.2179053"},{"key":"e_1_2_1_26_1","doi-asserted-by":"publisher","DOI":"10.1145\/1073204.1073323"},{"volume-title":"Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR\u201909)","author":"Jegou H.","key":"e_1_2_1_27_1","unstructured":"H. Jegou , M. Douze , and C. Schmid . 2009. On the burstiness of visual elements . In Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR\u201909) . H. Jegou, M. Douze, and C. Schmid. 2009. On the burstiness of visual elements. In Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR\u201909)."},{"key":"e_1_2_1_28_1","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2008.102"},{"volume-title":"Proceedings of the IEEE Conference on Computer Vision.","author":"Leibe B.","key":"e_1_2_1_29_1","unstructured":"B. Leibe , K. Schindler , and L. V. Gool . 2007. Coupled detection and trajectory estimation for multi-object tracking . In Proceedings of the IEEE Conference on Computer Vision. B. Leibe, K. Schindler, and L. V. Gool. 2007. Coupled detection and trajectory estimation for multi-object tracking. In Proceedings of the IEEE Conference on Computer Vision."},{"key":"e_1_2_1_30_1","doi-asserted-by":"publisher","DOI":"10.1109\/TCSVT.2015.2452781"},{"key":"e_1_2_1_31_1","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2010.147"},{"key":"e_1_2_1_32_1","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2013.84"},{"key":"e_1_2_1_33_1","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2013.393"},{"key":"e_1_2_1_34_1","doi-asserted-by":"publisher","DOI":"10.1109\/TCSVT.2007.903781"},{"key":"e_1_2_1_35_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-11752-2_45"},{"key":"e_1_2_1_36_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-24947-6_24"},{"key":"e_1_2_1_37_1","doi-asserted-by":"publisher","DOI":"10.1109\/TCSVT.2014.2308628"},{"key":"e_1_2_1_38_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2017.2705103"},{"key":"e_1_2_1_39_1","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-005-0609-1"},{"key":"e_1_2_1_40_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICPR.2010.782"},{"volume-title":"Proceedings of the IEEE International Symposium on Industrial Electronics.","author":"Parra Ignacio","key":"e_1_2_1_41_1","unstructured":"Ignacio Parra , Miguel Angel Sotelo , David F. Llorca , C. Fernandez , A. Llamazares , N. Hernandez , and I. Garcfa . 2011. Visual odometry and map fusion for GPS navigation assistance . In Proceedings of the IEEE International Symposium on Industrial Electronics. Ignacio Parra, Miguel Angel Sotelo, David F. Llorca, C. Fernandez, A. Llamazares, N. Hernandez, and I. Garcfa. 2011. Visual odometry and map fusion for GPS navigation assistance. In Proceedings of the IEEE International Symposium on Industrial Electronics."},{"key":"e_1_2_1_42_1","doi-asserted-by":"publisher","DOI":"10.1109\/TCSVT.2015.2424091"},{"volume-title":"Proceedings of the International Conference on Robotics and Automation.","author":"Rehder J.","key":"e_1_2_1_43_1","unstructured":"J. Rehder , K. Upta , and S. Nuske , and S. Singh. 2008. Global pose estimation with limited GPS and long range visual odometry . In Proceedings of the International Conference on Robotics and Automation. J. Rehder, K. Upta, and S. Nuske, and S. Singh. 2008. Global pose estimation with limited GPS and long range visual odometry. In Proceedings of the International Conference on Robotics and Automation."},{"volume-title":"Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition.","author":"Schindler G.","key":"e_1_2_1_44_1","unstructured":"G. Schindler , M. Brown , and R. Szeliski . 2007. City-scale location recognition . In Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition. G. Schindler, M. Brown, and R. Szeliski. 2007. City-scale location recognition. In Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition."},{"key":"e_1_2_1_45_1","doi-asserted-by":"publisher","DOI":"10.1109\/TCSVT.2012.2202070"},{"key":"e_1_2_1_46_1","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2005.1"},{"key":"e_1_2_1_47_1","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2014.203"},{"key":"e_1_2_1_48_1","doi-asserted-by":"publisher","DOI":"10.1109\/70.768189"},{"key":"e_1_2_1_49_1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2008.4651205"},{"key":"e_1_2_1_50_1","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2013.119"},{"volume-title":"Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR\u201912)","author":"Vaca-Castano G.","key":"e_1_2_1_51_1","unstructured":"G. Vaca-Castano , A. Zamir , and M. Shah . 2012. City scale geo-spatial trajectory estimation of a moving camera . In Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR\u201912) . G. Vaca-Castano, A. Zamir, and M. Shah. 2012. City scale geo-spatial trajectory estimation of a moving camera. In Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR\u201912)."},{"volume-title":"Proceedings of the IEEE Conference on Computer Vision (CV\u201903)","author":"Vermaak J.","key":"e_1_2_1_52_1","unstructured":"J. Vermaak , A. Doucet , and P. Perez . 2003. Maintaining multimodality through mixture tracking . In Proceedings of the IEEE Conference on Computer Vision (CV\u201903) . J. Vermaak, A. Doucet, and P. Perez. 2003. Maintaining multimodality through mixture tracking. In Proceedings of the IEEE Conference on Computer Vision (CV\u201903)."},{"key":"e_1_2_1_53_1","doi-asserted-by":"publisher","DOI":"10.1155\/2011\/439074"},{"key":"e_1_2_1_54_1","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2011.41"},{"key":"e_1_2_1_55_1","doi-asserted-by":"publisher","DOI":"10.1093\/jof\/103.4.169"},{"key":"e_1_2_1_56_1","doi-asserted-by":"crossref","unstructured":"Ying Nian Wu Cheng-En Guo and Song-Chun Zhu. 2008. From information scaling of natural images to regimes of statistical models. Quart. Appl. Math. (2008) 81--122.  Ying Nian Wu Cheng-En Guo and Song-Chun Zhu. 2008. From information scaling of natural images to regimes of statistical models. Quart. Appl. Math. (2008) 81--122.","DOI":"10.1090\/S0033-569X-07-01063-2"},{"volume-title":"Proceedings of the IEEE Conference on Computer Vision.","author":"Yu Q.","key":"e_1_2_1_57_1","unstructured":"Q. Yu , G. Medioni , and I. Cohen . 2007. Multiple target tracking using spatio-temporal Markov chain Monte Carlo data association . In Proceedings of the IEEE Conference on Computer Vision. Q. Yu, G. Medioni, and I. Cohen. 2007. Multiple target tracking using spatio-temporal Markov chain Monte Carlo data association. In Proceedings of the IEEE Conference on Computer Vision."},{"volume-title":"Proceedings of the European Conference on Computer Vision.","author":"Zamir A.","key":"e_1_2_1_58_1","unstructured":"A. Zamir and M. Shah . 2010. Accurate image localization based on Google maps street view . In Proceedings of the European Conference on Computer Vision. A. Zamir and M. Shah. 2010. Accurate image localization based on Google maps street view. In Proceedings of the European Conference on Computer Vision."},{"volume-title":"Proceedings of the Robotics: Science and Systems Conference.","author":"Zhang J.","key":"e_1_2_1_59_1","unstructured":"J. Zhang and S. Singh . 2014. LOAM: Lidar odometry and mapping in real-time . In Proceedings of the Robotics: Science and Systems Conference. J. Zhang and S. Singh. 2014. LOAM: Lidar odometry and mapping in real-time. In Proceedings of the Robotics: Science and Systems Conference."},{"key":"e_1_2_1_60_1","doi-asserted-by":"publisher","DOI":"10.1109\/TCSVT.2013.2269772"},{"key":"e_1_2_1_61_1","doi-asserted-by":"publisher","DOI":"10.1007\/s11263-012-0582-z"},{"key":"e_1_2_1_62_1","doi-asserted-by":"publisher","DOI":"10.1109\/TCSVT.2015.2493498"},{"key":"e_1_2_1_63_1","doi-asserted-by":"publisher","DOI":"10.1016\/S0262-8856(03)00137-9"}],"container-title":["ACM Transactions on Intelligent Systems and Technology"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3226111","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3226111","content-type":"application\/pdf","content-version":"vor","intended-application":"syndication"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3226111","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,18]],"date-time":"2025-06-18T21:15:08Z","timestamp":1750281308000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3226111"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2018,11,13]]},"references-count":63,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2018,11,30]]}},"alternative-id":["10.1145\/3226111"],"URL":"https:\/\/doi.org\/10.1145\/3226111","relation":{},"ISSN":["2157-6904","2157-6912"],"issn-type":[{"type":"print","value":"2157-6904"},{"type":"electronic","value":"2157-6912"}],"subject":[],"published":{"date-parts":[[2018,11,13]]},"assertion":[{"value":"2017-10-01","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2018-05-01","order":1,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2018-11-13","order":2,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}