Corpus ID: 237532253

Rotation Averaging in a Split Second: A Primal-Dual Method and a Closed-Form for Cycle Graphs

  title={Rotation Averaging in a Split Second: A Primal-Dual Method and a Closed-Form for Cycle Graphs},
  author={Gabriel Moreira and Manuel Marques and Jo{\~a}o Paulo Costeira},
A cornerstone of geometric reconstruction, rotation averaging seeks the set of absolute rotations that optimally explains a set of measured relative orientations between them. In spite of being an integral part of bundle adjustment and structure-from-motion, averaging rotations is both a nonconvex and high-dimensional optimization problem. In this paper, we address it from a maximum likelihood estimation standpoint and make a twofold contribution. Firstly, we set forth a novel initialization… Expand

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