L1 rotation averaging using the Weiszfeld algorithm

@article{Hartley2011L1RA,
  title={L1 rotation averaging using the Weiszfeld algorithm},
  author={Richard I. Hartley and Khurrum Aftab and Jochen Trumpf},
  journal={CVPR 2011},
  year={2011},
  pages={3041-3048}
}
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
Highly Influential
This paper has highly influenced 10 other papers. REVIEW HIGHLY INFLUENTIAL CITATIONS
Highly Cited
This paper has 108 citations. REVIEW CITATIONS

4 Figures & Tables

Topics

Statistics

010202012201320142015201620172018
Citations per Year

108 Citations

Semantic Scholar estimates that this publication has 108 citations based on the available data.

See our FAQ for additional information.