2020
On the Distribution of Minima in Intrinsic-Metric Rotation Averaging
CVPR 2020poster
Rotation Averaging is a non-convex optimization problem that determines orientations of a collection of cameras from their images of a 3D scene. The problem has been studied using a variety of distances and robustifiers. The intrinsic (or geodesic) distance on SO(3) is geometrically meaningful; but…