Rotation-Only Bundle Adjustment

• URL: http://arxiv.org/abs/2011.11724v2
• Date: Sat, 27 Mar 2021 23:23:05 GMT
• Title: Rotation-Only Bundle Adjustment
• Authors: Seong Hun Lee, Javier Civera
• Abstract summary: We propose a novel method for estimating the global rotations of the cameras independently of their positions and the scene structure. We extend this idea to multiple views, thereby decoupling the rotation estimation from the translation and structure estimation. We perform extensive evaluations on both synthetic and real datasets, demonstrating consistent and significant gains in accuracy when used with the state-of-the-art rotation averaging method.
• Score: 20.02647320786556
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: We propose a novel method for estimating the global rotations of the cameras independently of their positions and the scene structure. When two calibrated cameras observe five or more of the same points, their relative rotation can be recovered independently of the translation. We extend this idea to multiple views, thereby decoupling the rotation estimation from the translation and structure estimation. Our approach provides several benefits such as complete immunity to inaccurate translations and structure, and the accuracy improvement when used with rotation averaging. We perform extensive evaluations on both synthetic and real datasets, demonstrating consistent and significant gains in accuracy when used with the state-of-the-art rotation averaging method.

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