Spectral synchronization of multiple views in SE(3)

DOI10.1137/16M1060248zbMATH Open1409.68299arXiv1506.08765MaRDI QIDQ5266397FDOQ5266397

Authors: Federica Arrigoni, Beatrice Rossi, Andrea Fusiello 

Publication date: 2 June 2017

Published in: SIAM Journal on Imaging Sciences (Search for Journal in Brave)

Abstract: This paper addresses the problem of motion synchronization (or averaging) and describes a simple, closed-form solution based on a spectral decomposition, which does not consider rotation and translation separately but works straight in SE(3), the manifold of rigid motions. Besides its theoretical interest, being the first closed form solution in SE(3), experimental results show that it compares favourably with the state of the art both in terms of precision and speed.

Full work available at URL: https://arxiv.org/abs/1506.08765

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zbMATH Keywords

spectral decompositioniteratively reweighted least squaresstructure-from-motionmultiple point-set registrationmotion averagingmotion registrationrigid-motion synchronization

Mathematics Subject Classification ID

Computer graphics; computational geometry (digital and algorithmic aspects) (68U05) Computing methodologies for image processing (68U10) Machine vision and scene understanding (68T45)

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Cited In (12)

• Robust group synchronization via cycle-edge message passing
• Time Synchronisation of Low-cost Camera Images with IMU Data based on Similar Motion
• Numerical approaches for constrained and unconstrained, static optimization on the special Euclidean group \(\mathsf{SE}(3)\)
• Motion averaging in 3D reconstruction problems
• A Spectral Method for Joint Community Detection and Orthogonal Group Synchronization
• Nonlinear algebra and applications
• Near-optimal performance bounds for orthogonal and permutation group synchronization via spectral methods
• The noise-sensitivity phase transition in spectral group synchronization over compact groups
• Multiple model synchronization with multiary delta lenses
• SE(3) synchronization by eigenvectors of dual quaternion matrices
• Synchronization over Cartan motion groups via contraction
• Synchronization problems in computer vision with closed-form solutions

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