1 research outputs found
Non-iterative, fast SE(3) path smoothing
In this paper, we present a fast, non-iterative
approach to smooth a noisy input on the Special Euclidean
Group, SE(3) manifold. The translational part can be smoothed
by a simple Gaussian convolution.We then proposed a novel approach
to rotation smoothing. Unlike existing rotation smoothing
methods using either iterative optimization methods or
stochastic filtering methods, our method allows direct computation
of the smoothing result and allows parallelization of the
computation. Furthermore, we have done a comparative study
on Jia and Evans’s method published in 2014 [1], and shown
that our method can better smooth an input rotation sequence,
with shorter computational time. The smoothed camera path is
then used for video stabilisation, which shows fluid and smooth
camera motion.Australian ARC Centre of Excellence for
Robotic Vision (CE140100016