On the tightness of semidefinite relaxations for rotation estimation

DOI10.1007/S10851-021-01054-YMaRDI QIDQ2127273zbMATH OpenOpenAlexFDO

Authors Lucas Brynte, Viktor Larsson, José Pedro Iglesias, Carl Olsson, Fredrik Kahl

Publication date 20 April 2022

Published in Journal of Mathematical Imaging and Vision (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://arxiv.org/abs/2101.02099

zbMATH Keywords

algebraic geometryalmost minimal varietiesdualityrotation estimationSDP relaxationssum-of-squares

Mathematics Subject Classification ID

Computer science (68-XX) Information and communication theory, circuits (94-XX)

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Cites work

• L_q-closest-point to affine subspaces using the generalized Weiszfeld algorithm
• A bounded degree SOS hierarchy for polynomial optimization
• Global optimization with polynomials and the problem of moments
• Global registration of multiple point clouds using semidefinite programming
• Globally optimal estimates for geometric reconstruction problems
• scientific article; zbMATH DE number 2107836 (Why is no real title available?)
• Near-optimal bounds for phase synchronization
• ORBITOPES
• Rotation averaging
• Sparse-BSOS: a bounded degree SOS hierarchy for large scale polynomial optimization with sparsity
• Sums of squares and varieties of minimal degree
• The degree of \(\text{SO}(n,\mathbb{C})\)
• The geometry of SDP-exactness in quadratic optimization
• The moment-SOS hierarchy. Lectures in probability, statistics, computational geometry, control and nonlinear PDEs

Cited in

(2)

• On the sensitivity of pose estimation neural networks: rotation parameterizations, Lipschitz constants, and provable bounds
• Fast certifiable algorithm for the absolute pose estimation of a camera

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Uses Software

• SE-Sync

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