1,758 research outputs found
Robust Rotation Synchronization via Low-rank and Sparse Matrix Decomposition
This paper deals with the rotation synchronization problem, which arises in
global registration of 3D point-sets and in structure from motion. The problem
is formulated in an unprecedented way as a "low-rank and sparse" matrix
decomposition that handles both outliers and missing data. A minimization
strategy, dubbed R-GoDec, is also proposed and evaluated experimentally against
state-of-the-art algorithms on simulated and real data. The results show that
R-GoDec is the fastest among the robust algorithms.Comment: The material contained in this paper is part of a manuscript
submitted to CVI
On Computing the Translations Norm in the Epipolar Graph
This paper deals with the problem of recovering the unknown norm of relative
translations between cameras based on the knowledge of relative rotations and
translation directions. We provide theoretical conditions for the solvability
of such a problem, and we propose a two-stage method to solve it. First, a
cycle basis for the epipolar graph is computed, then all the scaling factors
are recovered simultaneously by solving a homogeneous linear system. We
demonstrate the accuracy of our solution by means of synthetic and real
experiments.Comment: Accepted at 3DV 201
- …