论文标题
仅旋转束调节
Rotation-Only Bundle Adjustment
论文作者
论文摘要
我们提出了一种新颖的方法，可以独立于其位置和场景结构来估算相机的全球旋转。当两个校准的摄像机观察到五个或更多相同点时，它们的相对旋转可以独立于翻译而恢复。我们将这个想法扩展到多个视图，从而将旋转估计与翻译和结构估计分离。我们的方法提供了一些好处，例如完全免疫不准确的翻译和结构，以及与旋转平均一起使用时的准确性提高。我们对合成数据集和真实数据集进行了广泛的评估，与最先进的旋转平均方法一起使用时表明准确性一致且显着提高。
We propose a novel method for estimating the global rotations of the cameras independently of their positions and the scene structure. When two calibrated cameras observe five or more of the same points, their relative rotation can be recovered independently of the translation. We extend this idea to multiple views, thereby decoupling the rotation estimation from the translation and structure estimation. Our approach provides several benefits such as complete immunity to inaccurate translations and structure, and the accuracy improvement when used with rotation averaging. We perform extensive evaluations on both synthetic and real datasets, demonstrating consistent and significant gains in accuracy when used with the state-of-the-art rotation averaging method.
