Optimal Estimation of Three-Dimensional Rotation and Reliability Evaluation
Optimal Estimation of Three-Dimensional Rotation and Reliability Evaluation
复制标题
三维旋转的最优估计及可靠性评估
DOI：
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发表时间：
1998
期刊：
影响因子：
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通讯作者：
K. Kanatani
中科院分区：
文献类型：
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作者：
N. Ohta;K. Kanatani
我们讨论了最佳旋转估计从两组3-D点在各向异性和非均匀噪声的存在。我们首先提出了一个理论上的精度界，然后给出了一种方法，达到该界，这可以被看作是描述的解决方案的可靠性。我们还表明，一个有效的计算方案，可以通过使用四元数和应用重整化。使用真实的立体图像的3-D重建，我们证明了我们的方法是上级的最小二乘法和确认我们的理论预测的理论应用自举过程。
We discuss optimal rotation estimation from two sets of 3-D points in the presence of anisotropic and inhomogeneous noise. We first present a theoretical accuracy bound and then give a method that attains that bound, which can be viewed as describing the reliability of the solution. We also show that an efficient computational scheme can be obtained by using quaternions and applying renormalization. Using real stereo images for 3-D reconstruction, we demonstrate that our method is superior to the least-squares method and confirm the theoretical predictions of our theory by applying the bootstrap procedure.