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Incremental Rotation Averaging

文献类型：期刊论文

作者Gao, Xiang2; Zhu, Lingjie1,3; Xie, Zexiao2; Liu, Hongmin4; Shen, Shuhan1,3
刊名INTERNATIONAL JOURNAL OF COMPUTER VISION
出版日期2021-01-16
页码15
关键词Rotation averaging Incremental estimation Accuracy and robustness
ISSN号0920-5691
DOI10.1007/s11263-020-01427-7
通讯作者Liu, Hongmin(hmliu_82@163.com) ; Shen, Shuhan(shshen@nlpr.ia.ac.cn)
英文摘要In this paper, we present a simple yet effective rotation averaging pipeline, termed Incremental Rotation Averaging (IRA), which is inspired by the well-developed incremental Structure from Motion (SfM) techniques. Unlike the traditional rotation averaging methods which estimate all the absolute rotations simultaneously and focus on designing either robust loss function or outlier filtering strategy, here the absolute rotations are estimated in an incremental way. Similar to the incremental SfM, our IRA is robust to relative rotation outliers and could achieve accurate rotation averaging results. In addition, we propose several key techniques, such as initial triplet and Next-Best-View selection, Weighted Local/Global Optimization, and Re-Rotation Averaging, to push the rotation averaging results one step further. Ablation studies and comparison experiments on the 1DSfM, Campus, and San Francisco datasets demonstrate the effectiveness of our IRA and its advantages over the state-of-the-art rotation averaging methods in accuracy and robustness.
资助项目National Key Research and Development Program of China[2020YFB1313002] ; National Science Foundation of China[62003319] ; National Science Foundation of China[62076026] ; National Science Foundation of China[61873265] ; Shandong Provincial Natural Science Foundation[ZR2020QF075] ; China Postdoctoral Science Foundation[2020M682239] ; National Laboratory of Pattern Recognition[202000010]
WOS研究方向Computer Science
语种英语
WOS记录号WOS:000608098500001
出版者SPRINGER
资助机构National Key Research and Development Program of China ; National Science Foundation of China ; Shandong Provincial Natural Science Foundation ; China Postdoctoral Science Foundation ; National Laboratory of Pattern Recognition
源URL[http://ir.ia.ac.cn/handle/173211/42593]  
专题自动化研究所_模式识别国家重点实验室_机器人视觉团队
中科院工业视觉智能装备工程实验室
通讯作者Liu, Hongmin; Shen, Shuhan
作者单位1.Chinese Acad Sci, Inst Automat, Natl Lab Pattern Recognit, Beijing 100190, Peoples R China
2.Ocean Univ China, Coll Engn, Qingdao 266100, Peoples R China
3.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
4.Univ Sci & Technol Beijing, Sch Automat & Elect Engn, Beijing 100083, Peoples R China
推荐引用方式
GB/T 7714		 Gao, Xiang,Zhu, Lingjie,Xie, Zexiao,et al. Incremental Rotation Averaging[J]. INTERNATIONAL JOURNAL OF COMPUTER VISION,2021:15.
APA Gao, Xiang,Zhu, Lingjie,Xie, Zexiao,Liu, Hongmin,&Shen, Shuhan.(2021).Incremental Rotation Averaging.INTERNATIONAL JOURNAL OF COMPUTER VISION,15.
MLA Gao, Xiang,et al."Incremental Rotation Averaging".INTERNATIONAL JOURNAL OF COMPUTER VISION (2021):15.

入库方式： OAI收割

来源：自动化研究所

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