Optimal Estimation of Three-Dimensional Rotation and Reliability Evaluation

  title={Optimal Estimation of Three-Dimensional Rotation and Reliability Evaluation},
  author={Naoya Ohta and Kenichi Kanatani},
We discuss optimal rotation estimation from two sets of 3-D points in the presence of anisotropic and inhomogeneous noise. We rst present a theoretical accuracy bound and then give a method that attains that bound, which can be viewed as describing the reliability of the solution. We also show that an e cient computational scheme can be obtained by using quaternions and applying renormalization. Using real stereo images for 3-D reconstruction, we demonstrate that our method is superior to the… CONTINUE READING
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