Hybrid Rotation Averaging: A Fast and Robust Rotation Averaging Approach

doi:10.1109/CVPR46437.2021.01022

KMS > 信息科学与技术学院 > PI研究组 > Laurent Kneip组

	Hybrid Rotation Averaging: A Fast and Robust Rotation Averaging Approach
	Chen, Yu 1; Zhao, Ji 2; Kneip, Laurent3
	2021
会议录名称	2021 IEEE/CVF CONFERENCE ON COMPUTER VISION AND PATTERN RECOGNITION, CVPR 2021
ISSN	1063-6919
发表状态	已发表
DOI	10.1109/CVPR46437.2021.01022
摘要	We address rotation averaging (RA) and its application to real-world 3D reconstruction. Local optimisation based approaches are the de facto choice, though they only guarantee a local optimum. Global optimisers ensure global optimality in low noise conditions, but they are inefficient and may easily deviate under the influence of outliers or elevated noise levels. We push the envelope of rotation averaging by leveraging the advantages of a global RA method and a local RA method. Combined with a fast view graph filtering as preprocessing, the proposed hybrid approach is robust to outliers. We further apply the proposed hybrid rotation averaging approach to incremental Structure from Motion (SfM), the accuracy and robustness of SfM are both improved by adding the resulting global rotations as regularisers to bundle adjustment. Overall, we demonstrate high practicality of the proposed method as bad camera poses are effectively corrected and drift is reduced.
会议名称	IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)
出版地	10662 LOS VAQUEROS CIRCLE, PO BOX 3014, LOS ALAMITOS, CA 90720-1264 USA
会议地点	null,null,ELECTR NETWORK
会议日期	JUN 19-25, 2021
URL	查看原文
收录类别	CPCI-S ; EI ; CPCI
语种	英语
资助项目	Natural Science Foundation of Shanghai[19ZR1434000]
WOS研究方向	Computer Science ; Imaging Science & Photographic Technology
WOS类目	Computer Science, Artificial Intelligence ; Imaging Science & Photographic Technology
WOS记录号	WOS:000742075000035
出版者	IEEE COMPUTER SOC
来源库	IEEE
引用统计	正在获取...
文献类型	会议论文
条目标识符	https://kms.shanghaitech.edu.cn/handle/2MSLDSTB/153569
专题	信息科学与技术学院_PI研究组_Laurent Kneip组
通讯作者	Chen, Yu
作者单位	1.Peking Univ, Beijing, Peoples R China 2.TuSimple, San Diego, CA USA 3.ShanghaiTech Univ, Shanghai, Peoples R China
推荐引用方式 GB/T 7714	Chen, Yu,Zhao, Ji,Kneip, Laurent. Hybrid Rotation Averaging: A Fast and Robust Rotation Averaging Approach[C]. 10662 LOS VAQUEROS CIRCLE, PO BOX 3014, LOS ALAMITOS, CA 90720-1264 USA:IEEE COMPUTER SOC,2021.