This paper proposes a robust method to solve the absolute rotation estimation problem, which arises in global registration of 3D point sets and in structure-from-motion. A novel cost function is formulated which inherently copes with outliers. In particular, the proposed algorithm handles both outlier and missing relative rotations, by casting the problem as a "low-rank & sparse" matrix decomposition. As a side effect, this solution can be seen as a valid and costeffective detector of inconsistent pairwise rotations. Computational efficiency and numerical accuracy, are demonstrated by simulated and real experiments

Robust Absolute Rotation Estimation via Low-rank and Sparse Matrix Decomposition / Arrigoni, Federica; Magri, Luca; Rossi, Beatrice; Fragneto, Pasqualina; Fusiello, Andrea. - (2015), pp. 491-498. (Intervento presentato al convegno 3DV 2014 tenutosi a Tokyo nel 8th-11th December 2014) [10.1109/3DV.2014.48].

Robust Absolute Rotation Estimation via Low-rank and Sparse Matrix Decomposition

Arrigoni, Federica;
2015-01-01

Abstract

This paper proposes a robust method to solve the absolute rotation estimation problem, which arises in global registration of 3D point sets and in structure-from-motion. A novel cost function is formulated which inherently copes with outliers. In particular, the proposed algorithm handles both outlier and missing relative rotations, by casting the problem as a "low-rank & sparse" matrix decomposition. As a side effect, this solution can be seen as a valid and costeffective detector of inconsistent pairwise rotations. Computational efficiency and numerical accuracy, are demonstrated by simulated and real experiments
2015
Proceedings 2014 International Conference on 3D Vision Workshops
Piscataway, NJ
Institute of Electrical and Electronics Engineers Inc.
978-1-4799-7001-8
Arrigoni, Federica; Magri, Luca; Rossi, Beatrice; Fragneto, Pasqualina; Fusiello, Andrea
Robust Absolute Rotation Estimation via Low-rank and Sparse Matrix Decomposition / Arrigoni, Federica; Magri, Luca; Rossi, Beatrice; Fragneto, Pasqualina; Fusiello, Andrea. - (2015), pp. 491-498. (Intervento presentato al convegno 3DV 2014 tenutosi a Tokyo nel 8th-11th December 2014) [10.1109/3DV.2014.48].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11572/272062
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