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Showing 1 to 3 of 3 for “"rotation averaging"”.
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Manifold Optimization for Robotic Perception
… and SLAM problems typically involve estimating rotations. However, they naturally reside in the manifold space, i.e., the special orthogonal group SO(3), where Euclidean geometry with which we are familiar is no longer applicable. To reliably and accurately deploy state estimation algorithms for …
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Algorithms and Systems for Scalable Multi-Agent Geometric Estimation
… specialized solvers for collaborative rotation averaging and translation estimation are developed, which exploit spectral graph theoretic methods to achieve fast convergence. These algorithmic contributions, together with opensource code and datasets, facilitate the development of …
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Graph-Theoretic Outlier Rejection: From Instance to Category-Level Perception
… perception problems such as single rotation averaging and 3D point cloud registration. ROBIN boosts robustness of existing solvers (making them robust to more than 95% outliers), while running in milliseconds in large problems. With ROBIN developed, we then consider a category-level …