Related papers: Linearly Solving Robust Rotation Estimation
Rotation estimation plays a fundamental role in many computer vision and robot tasks. However, efficiently estimating rotation in large inputs containing numerous outliers (i.e., mismatches) and noise is a recognized challenge. Many robust…
In this paper we explore the role of duality principles within the problem of rotation averaging, a fundamental task in a wide range of computer vision applications. In its conventional form, rotation averaging is stated as a minimization…
The rotation averaging problem is a fundamental task in computer vision applications. It is generally very difficult to solve due to the nonconvex rotation constraints. While a sufficient optimality condition is available in the literature,…
We demonstrate that, under orthographic projection and with a camera fixated on a point located on a rigid body, the rotation of that body can be analytically obtained by tracking only one other feature in the image. With some exceptions,…
Why is it that semidefinite relaxations have been so successful in numerous applications in computer vision and robotics for solving non-convex optimization problems involving rotations? In studying the empirical performance we note that…
Multiple rotation averaging is an essential task for structure from motion, mapping, and robot navigation. The task is to estimate the absolute orientations of several cameras given some of their noisy relative orientation measurements. The…
Robust optimization(RO) is an important tool for handling optimization problem with uncertainty. The main objective of RO is to solve optimization problems due to uncertainty associated with constraints satisfying all realizations of…
Given 2D point correspondences between an image pair, inferring the camera motion is a fundamental issue in the computer vision community. The existing works generally set out from the epipolar constraint and estimate the essential matrix,…
This paper revisits the topic of rotation estimation through the lens of special unitary matrices. We begin by reformulating Wahba's problem using $SU(2)$ to derive multiple solutions that yield linear constraints on corresponding…
Rotation averaging is a key subproblem in applications of computer vision and robotics. Many methods for solving this problem exist, and there are also several theoretical results analyzing difficulty and optimality. However, one aspect…
In this paper, we consider the problem of identifying a linear map from measurements which are subject to intermittent and arbitarily large errors. This is a fundamental problem in many estimation-related applications such as fault…
Rotation averaging (RA) is a fundamental problem in robotics and computer vision. In RA, the goal is to estimate a set of $N$ unknown orientations $R_{1}, ..., R_{N} \in SO(3)$, given noisy measurements $R_{ij} \sim R^{-1}_{i} R_{j}$ of a…
A cornerstone of geometric reconstruction, rotation averaging seeks the set of absolute rotations that optimally explains a set of measured relative orientations between them. In addition to being an integral part of bundle adjustment and…
Recently, Zhuang, Roth, \& Sudhakar [1] proposed a method that allows simultaneous computation of the rigid transformations from world frame to robot base frame and from hand frame to camera frame. Their method attempts to solve a…
We present a novel two-view geometry estimation framework which is based on a differentiable robust loss function fitting. We propose to treat the robust fundamental matrix estimation as an implicit layer, which allows us to avoid…
A cornerstone of geometric reconstruction, rotation averaging seeks the set of absolute rotations that optimally explains a set of measured relative orientations between them. In spite of being an integral part of bundle adjustment and…
A viewing graph is a set of unknown camera poses, as the vertices, and the observed relative motions, as the edges. Solving the viewing graph is an essential step in a Structure-from-Motion procedure, where a set of relative motions is…
Pose estimation is a widely explored problem, enabling many robotic tasks such as grasping and manipulation. In this paper, we tackle the problem of pose estimation for objects that exhibit rotational symmetry, which are common in man-made…
Rotation averaging is a synchronization process on single or multiple rotation groups, and is a fundamental problem in many computer vision tasks such as multi-view structure from motion (SfM). Specifically, rotation averaging involves the…
Existing shape estimation methods for deformable object manipulation suffer from the drawbacks of being off-line, model dependent, noise-sensitive or occlusion-sensitive, and thus are not appropriate for manipulation tasks requiring high…