中国科学院机构知识库网格
Chinese Academy of Sciences Institutional Repositories Grid
首页 机构 成果 学者
  
  1. CAS IR Grid
  2. 自动化研究所
  3. 中国科学院自动化研究所
  4. 多模态人工智能系统全国重点实验室
  5. 机器人视觉团队
Cayley Rotation Averaging: Multiple Camera Averaging Under the Cayley Framework

文献类型：期刊论文

作者Dong, Qiulei1,2,3; Deng, Shuang1,2,3; Liu, Yuzhen1,2,3
刊名IEEE TRANSACTIONS ON IMAGE PROCESSING
出版日期2024
卷号33页码:4173-4187
关键词Cayley rotation representation rotation averaging structure from motion Cayley rotation representation rotation averaging structure from motion
ISSN号1057-7149
DOI10.1109/TIP.2024.3416057
通讯作者Dong, Qiulei(qldong@nlpr.ia.ac.cn)
英文摘要Rotation averaging, which aims to calculate the absolute rotations of a set of cameras from a redundant set of their relative rotations, is an important and challenging topic arising in the study of structure from motion. A central problem in rotation averaging is how to alleviate the influence of noise and outliers. Addressing this problem, we investigate rotation averaging under the Cayley framework in this paper, inspired by the extra-constraint-free nature of the Cayley rotation representation. Firstly, for the relative rotation of an arbitrary pair of cameras regardless of whether it is corrupted by noise/outliers or not, a general Cayley rotation constraint equation is derived for reflecting the relationship between this relative rotation and the absolute rotations of the two cameras, according to the Cayley rotation representation. Then based on such a set of Cayley rotation constraint equations, a Cayley-based approach for Rotation Averaging is proposed, called CRA, where an adaptive regularizer is designed for further alleviating the influence of outliers. Finally, a unified iterative algorithm for minimizing some commonly-used loss functions is proposed under this approach. Experimental results on 16 real-world datasets and multiple synthetic datasets demonstrate that the proposed CRA approach achieves a better accuracy in comparison to several typical rotation averaging approaches in most cases.
WOS关键词ROBUST ; CALIBRATION ; MOTION
资助项目Pre-Research Project on Civil Aerospace Technologies[D030312]
WOS研究方向Computer Science ; Engineering
语种英语
WOS记录号WOS:001272193200002
出版者IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
资助机构Pre-Research Project on Civil Aerospace Technologies
源URL[http://ir.ia.ac.cn/handle/173211/59263]  
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
通讯作者Dong, Qiulei
作者单位1.Chinese Acad Sci, Inst Automat, State Key Lab Multimodal Artificial Intelligence S, Beijing 100190, Peoples R China
2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 101408, Peoples R China
3.Chinese Acad Sci, Ctr Excellence Brain Sci & Intelligence Technol, Shanghai 200031, Peoples R China
推荐引用方式
GB/T 7714		 Dong, Qiulei,Deng, Shuang,Liu, Yuzhen. Cayley Rotation Averaging: Multiple Camera Averaging Under the Cayley Framework[J]. IEEE TRANSACTIONS ON IMAGE PROCESSING,2024,33:4173-4187.
APA Dong, Qiulei,Deng, Shuang,&Liu, Yuzhen.(2024).Cayley Rotation Averaging: Multiple Camera Averaging Under the Cayley Framework.IEEE TRANSACTIONS ON IMAGE PROCESSING,33,4173-4187.
MLA Dong, Qiulei,et al."Cayley Rotation Averaging: Multiple Camera Averaging Under the Cayley Framework".IEEE TRANSACTIONS ON IMAGE PROCESSING 33(2024):4173-4187.

入库方式： OAI收割

来源：自动化研究所

浏览0
下载0
收藏0
其他版本

除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。