Cramer-Rao bounds for synchronization of rotations

DOI10.1093/IMAIAI/IAT006MaRDI QIDQ5177861zbMATH OpenOpenAlexFDO

Authors Nicolas Boumal, A. Singer, P.-A. Absil, Vincent D. Blondel

Publication date 6 March 2015

Published in Information and Inference: A Journal of the IMA (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1211.1621

zbMATH Keywords

Cramér-Rao boundsdistributions on the rotation groupestimation on graphsestimation on manifoldsFisher informationgraph LaplacianLangevinsynchronization of rotations

Mathematics Subject Classification ID

Information theory (general) (94A15)

Abstract: Synchronization of rotations is the problem of estimating a set of rotations R_i in SO(n), i = 1, ..., N, based on noisy measurements of relative rotations R_i R_j^T. This fundamental problem has found many recent applications, most importantly in structural biology. We provide a framework to study synchronization as estimation on Riemannian manifolds for arbitrary n under a large family of noise models. The noise models we address encompass zero-mean isotropic noise, and we develop tools for Gaussian-like as well as heavy-tail types of noise in particular. As a main contribution, we derive the Cram'er-Rao bounds of synchronization, that is, lower-bounds on the variance of unbiased estimators. We find that these bounds are structured by the pseudoinverse of the measurement graph Laplacian, where edge weights are proportional to measurement quality. We leverage this to provide interpretation in terms of random walks and visualization tools for these bounds in both the anchored and anchor-free scenarios. Similar bounds previously established were limited to rotations in the plane and Gaussian-like noise.

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