L1 rotation averaging using the Weiszfeld algorithm

  title={L1 rotation averaging using the Weiszfeld algorithm},
  author={Richard I. Hartley and Khurrum Aftab and Jochen Trumpf},
  journal={CVPR 2011},
We consider the problem of rotation averaging under the L1 norm. This problem is related to the classic Fermat-Weber problem for finding the geometric median of a set of points in IRn. We apply the classical Weiszfeld algorithm to this problem, adapting it iteratively in tangent spaces of SO(3) to obtain a provably convergent algorithm for finding the L1 mean. This results in an extremely simple and rapid averaging algorithm, without the need for line search. The choice of L1 mean (also called… CONTINUE READING
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