Spectral synchronization of multiple views in SE(3)

DOI10.1137/16M1060248MaRDI QIDQ5266397zbMATH OpenFDO

Authors Federica Arrigoni, Beatrice Rossi, Andrea Fusiello

Publication date 2 June 2017

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

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

zbMATH Keywords

iteratively reweighted least squaresmotion averagingmotion registrationmultiple point-set registrationrigid-motion synchronizationspectral decompositionstructure-from-motion

Mathematics Subject Classification ID

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

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.

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Cited in

(13)

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

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